Python connectPorts Examples

Example #1

File: face.py Project: emijah/hrprtc-grx-cvprocessor

def init(host='localhost'):
  global vs, vs_svc, cvp, cvp_svc
  global vs_head, vs_head_svc, cvp_head, cvp_head_svc

  sample.init(host)

  # for hand
  vs = rtm.findRTC("VideoStream0_hand")
  if vs != None:
    vs_svc = Img.CameraCaptureServiceHelper.narrow(vs.service('service0'))
    vs.start()

    cvp = rtm.findRTC("CvProcessor0_hand")
    cvp_svc = OpenHRP.CvProcessorServiceHelper.narrow(cvp.service('service0'))
    cvp.start()

    rtm.connectPorts(vs.port("MultiCameraImages"),   cvp.port("MultiCameraImage"))
    vs_svc.take_one_frame()

  # for head
  vs_head = rtm.findRTC("VideoStream0_head")
  if vs_head != None:
    vs_head_svc = Img.CameraCaptureServiceHelper.narrow(vs_head.service('service0'))
    vs_head.start()

    cvp_head = rtm.findRTC("CvProcessor0_head")
    cvp_head_svc = OpenHRP.CvProcessorServiceHelper.narrow(cvp_head.service('service0'))
    cvp_head.start()

    rtm.connectPorts(vs_head.port("MultiCameraImages"),   cvp_head.port("MultiCameraImage"))
    vs_head_svc.take_one_frame()

  time.sleep(1)

Example #2

File: visionTest.py Project: hattorishizuko/hrpsys-base

def total():
    global vc, rg2, ri, je, jd, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("RGB2Gray")
    mgr.load("ResizeImage")
    mgr.load("JpegEncoder")
    mgr.load("JpegDecoder")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    r2g = mgr.create("RGB2Gray")
    ri = mgr.create("ResizeImage")
    je = mgr.create("JpegEncoder")
    jd = mgr.create("JpegDecoder")
    civ = mgr.create("CameraImageViewer")

    ri.setProperty("scale", "0.5")

    rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb"))
    rtm.connectPorts(r2g.port("gray"), ri.port("original"))
    rtm.connectPorts(ri.port("resized"), je.port("decoded"))
    rtm.connectPorts(je.port("encoded"), jd.port("encoded"))
    rtm.connectPorts(jd.port("decoded"), civ.port("imageIn"))
    rtm.serializeComponents([vc, r2g, ri, je, jd, civ])
    vc.start()
    r2g.start()
    ri.start()
    je.start()
    jd.start()
    civ.start()

Example #3

def total():
    global vc, rg2, ri, je, jd, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("RGB2Gray")
    mgr.load("ResizeImage")
    mgr.load("JpegEncoder")
    mgr.load("JpegDecoder")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    r2g = mgr.create("RGB2Gray")
    ri = mgr.create("ResizeImage")
    je = mgr.create("JpegEncoder")
    jd = mgr.create("JpegDecoder")
    civ = mgr.create("CameraImageViewer")

    ri.setProperty("scale", "0.5")

    rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb"))
    rtm.connectPorts(r2g.port("gray"), ri.port("original"))
    rtm.connectPorts(ri.port("resized"), je.port("decoded"))
    rtm.connectPorts(je.port("encoded"), jd.port("encoded"))
    rtm.connectPorts(jd.port("decoded"), civ.port("imageIn"))
    rtm.serializeComponents([vc, r2g, ri, je, jd, civ])
    vc.start()
    r2g.start()
    ri.start()
    je.start()
    jd.start()
    civ.start()

Example #4

File: sim_mc.py Project: wyqsnddd/panda_cnoid

def connectMCControl():
    connectPorts(rh.port("q"), mc.port("qIn"))
    connectPorts(rh.port("wristsensorA"), mc.port("@SENSOR_PORT_A@"))
    connectPorts(rh.port("wristsensorB"), mc.port("@SENSOR_PORT_B@"))
    if use_udp:
      connectPorts(mc_ctrl.port("qOut"), sh.port("qIn"))
    else:
      connectPorts(mc.port("qOut"), sh.port("qIn"))

Example #5

File: sim_mc.py Project: wyqsnddd/panda_cnoid

def connectComps():
    connectPorts(rh.port("q"), [sh.port("currentQIn")])
    # for the kinematics mode
    if kinematics_mode == 1:
        connectPorts(sh.port("qOut"), rh.port("qIn"))
        connectPorts(sh.port("baseTformOut"), rh.port("baseTformIn"))
    #
    if not rh.port("baseTform"):
        connectPorts(sh.port("qOut"), servo.port("angleRef"))
    else:
        connectPorts(sh.port("baseTformOut"), rh.port("baseTform"))

Example #6

File: sample.py Project: emijah/hrprtc-grx-video-stream

def init():
  global vs_svc, vs_port, md_port
  vs = rtm.findRTC('VideoStream0')
  vs.start()
  vs_svc = Img.CameraCaptureServiceHelper.narrow(vs.service('service0'))
  vs_port = vs.port('MultiCameraImages')

  # if you setup MultiDisp RTC (OpenVGR)
  md = rtm.findRTC('MultiDisp0')
  if md != None:
    md_port = md.port('images')
    rtm.connectPorts(vs_port, md_port)
    md.start()

Example #7

File: visionTest.py Project: hattorishizuko/hrpsys-base

def capture():
    global vc, civ, ccs
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    civ = mgr.create("CameraImageViewer")

    ccs = rtm.narrow(vc.service("service0"), "CameraCaptureService", "Img")

    rtm.connectPorts(vc.port("CameraImage"), civ.port("imageIn"))
    rtm.serializeComponents([vc, civ])
    vc.start()
    civ.start()

Example #8

def capture():
    global vc, civ, ccs
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    civ = mgr.create("CameraImageViewer")

    ccs = rtm.narrow(vc.service("service0"), "CameraCaptureService", "Img")

    rtm.connectPorts(vc.port("CameraImage"), civ.port("imageIn"))
    rtm.serializeComponents([vc, civ])
    vc.start()
    civ.start()

Example #9

def rgb2gray():
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("RGB2Gray")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    r2g = mgr.create("RGB2Gray")
    civ = mgr.create("CameraImageViewer")

    rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb"))
    rtm.connectPorts(r2g.port("gray"), civ.port("imageIn"))
    rtm.serializeComponents([vc, r2g, civ])
    vc.start()
    r2g.start()
    civ.start()

Example #10

File: visionTest.py Project: hattorishizuko/hrpsys-base

def rgb2gray():
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("RGB2Gray")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    r2g = mgr.create("RGB2Gray")
    civ = mgr.create("CameraImageViewer")

    rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb"))
    rtm.connectPorts(r2g.port("gray"), civ.port("imageIn"))
    rtm.serializeComponents([vc, r2g, civ])
    vc.start()
    r2g.start()
    civ.start()

Example #11

File: visionTest.py Project: hattorishizuko/hrpsys-base

def resize():
    global vc, ri, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("ResizeImage")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    ri = mgr.create("ResizeImage")
    civ = mgr.create("CameraImageViewer")

    ri.setProperty("scale", "0.5")

    rtm.connectPorts(vc.port("CameraImage"), ri.port("original"))
    rtm.connectPorts(ri.port("resized"), civ.port("imageIn"))
    rtm.serializeComponents([vc, ri, civ])
    vc.start()
    ri.start()
    civ.start()

Example #12

def resize():
    global vc, ri, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("ResizeImage")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    ri = mgr.create("ResizeImage")
    civ = mgr.create("CameraImageViewer")

    ri.setProperty("scale", "0.5")

    rtm.connectPorts(vc.port("CameraImage"), ri.port("original"))
    rtm.connectPorts(ri.port("resized"), civ.port("imageIn"))
    rtm.serializeComponents([vc, ri, civ])
    vc.start()
    ri.start()
    civ.start()

Example #13

File: cvadjuster.py Project: emijah/hrprtc-grx-cvprocessor

def init(host='localhost', refSuffix=""):
  global vs, vs_svc, cvp, cvp_svc
  if robotHost != None:
    print 'robot host = '+robotHost
    java.lang.System.setProperty('NS_OPT',
        '-ORBInitRef NameService=corbaloc:iiop:'+robotHost+':2809/NameService')
    rtm.initCORBA()

  if refSuffix == None:
     refSuffix = ''
  elif refSuffix != '':
    refSuffix = '_'+refSuffix
    print 'suffix = '+refSuffix
  vs = rtm.findRTC("VideoStream0"+refSuffix)
  vs_svc = Img.CameraCaptureServiceHelper.narrow(vs.service('service0'))
  vs.start()

  cvp = rtm.findRTC("CvProcessor0"+refSuffix)
  cvp_svc = OpenHRP.CvProcessorServiceHelper.narrow(cvp.service('service0'))
  cvp.start()

  rtm.connectPorts(vs.port("MultiCameraImages"), cvp.port("MultiCameraImage"))

Example #14

File: visionTest.py Project: hattorishizuko/hrpsys-base

def jpeg():
    global vc, je, jd, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("JpegEncoder")
    mgr.load("JpegDecoder")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    je = mgr.create("JpegEncoder")
    jd = mgr.create("JpegDecoder")
    civ = mgr.create("CameraImageViewer")

    rtm.connectPorts(vc.port("CameraImage"), je.port("decoded"))
    rtm.connectPorts(je.port("encoded"), jd.port("encoded"))
    rtm.connectPorts(jd.port("decoded"), civ.port("imageIn"))
    rtm.serializeComponents([vc, je, jd, civ])
    vc.start()
    je.start()
    jd.start()
    civ.start()
    time.sleep(3)
    print "jpeg quality 95 -> 30"
    je.setProperty("quality", "30")

Example #15

def jpeg():
    global vc, je, jd, civ
    mgr = rtm.findRTCmanager()
    mgr.load("VideoCapture")
    mgr.load("JpegEncoder")
    mgr.load("JpegDecoder")
    mgr.load("CameraImageViewer")

    vc = mgr.create("VideoCapture")
    je = mgr.create("JpegEncoder")
    jd = mgr.create("JpegDecoder")
    civ = mgr.create("CameraImageViewer")

    rtm.connectPorts(vc.port("CameraImage"), je.port("decoded"))
    rtm.connectPorts(je.port("encoded"), jd.port("encoded"))
    rtm.connectPorts(jd.port("decoded"), civ.port("imageIn"))
    rtm.serializeComponents([vc, je, jd, civ])
    vc.start()
    je.start()
    jd.start()
    civ.start()
    time.sleep(3)
    print "jpeg quality 95 -> 30"
    je.setProperty("quality", "30")

Example #16

File: hrpclient.py Project: emijah/hrprtc-grx-contents-player

def connectComps():
    rtm.connectPorts(rh.port("q"),          sh.port("currentQIn"))
    rtm.connectPorts(sh.port("qOut"),       seq.port("qInit"))
    rtm.connectPorts(sh.port("basePosOut"), seq.port("basePosInit"))
    rtm.connectPorts(sh.port("baseRpyOut"), seq.port("baseRpyInit"))
    rtm.connectPorts(seq.port("qRef"),      sh.port("qIn"))
    rtm.connectPorts(seq.port("baseRpy"),   sh.port("baseRpyIn"))
    if servo != None:
        rtm.connectPorts(sh.port("qOut"), servo.port("qRef"))
    else:
        rtm.connectPorts(sh.port("qOut"), rh.port("qIn"))

Example #17

File: setup.py Project: devrt/midjaxon-controller

rtm.rootnc.rebind([CosNaming.NameComponent('MIDJAXON', 'rtc')], midjaxon.ref)
rtm.rootnc.rebind([CosNaming.NameComponent('PDcontrollerMIDJAXON0', 'rtc')], rh.ref)
rtm.rootnc.rebind([CosNaming.NameComponent('seq', 'rtc')], seq.ref)
rtm.rootnc.rebind([CosNaming.NameComponent('sh', 'rtc')], sh.ref)
rtm.rootnc.rebind([CosNaming.NameComponent('fk', 'rtc')], fk.ref)

js = mgr.create('Joystick', 'js')
js.setProperty('device', '/dev/input/js0')
#js.setProperty('debugLevel', '1')
midc = mgr2.create('MidJaxonController', 'midc')
#midc.setProperty('debugLevel', '1')
midc.setProperty('autobalance', '1')
rtm.rootnc.rebind([CosNaming.NameComponent('midc', 'rtc')], midc.ref)

rtm.connectPorts(sh.port("qOut"), rh.port("angleRef"))
rtm.connectPorts(midjaxon.port("q"), [sh.port("currentQIn"),
                                      fk.port("q"),
                                      midc.port("q")])  # connection for actual joint angles
rtm.connectPorts(sh.port("qOut"), fk.port("qRef"))
rtm.connectPorts(seq.port("qRef"), midc.port("qUpstream"))
rtm.connectPorts(midc.port("qRef"), sh.port("qIn"))
#rtm.connectPorts(seq.port("qRef"), sh.port("qIn"))
rtm.connectPorts(seq.port("zmpRef"), sh.port("zmpIn"))
rtm.connectPorts(seq.port("optionalData"), sh.port("optionalDataIn"))
rtm.connectPorts(sh.port("basePosOut"), [seq.port("basePosInit"),
                                         fk.port("basePosRef")])
rtm.connectPorts(sh.port("baseRpyOut"), [seq.port("baseRpyInit"),
                                         fk.port("baseRpyRef")])
rtm.connectPorts(sh.port("qOut"), seq.port("qInit"))
rtm.connectPorts(sh.port("zmpOut"), seq.port("zmpRefInit"))

Example #18

File: user.py Project: s-creek/script

def connectComps():
    rtm.connectPorts(rh.port("qCur"),   sh.port("qCur"))
    rtm.connectPorts(sh.port("qOut"),   servo.port("qRef"))

    rtm.connectPorts(rh.port("gyrometer"), kf.port("rate"))
    rtm.connectPorts(rh.port("gsensor"),   kf.port("acc"))

    rtm.connectPorts(sh.port("qOut"),        seq.port("qInit"))
    rtm.connectPorts(sh.port("basePosOut"),  seq.port("basePosInit"))
    rtm.connectPorts(sh.port("baseRpyOut"),  seq.port("baseRpyInit"))
    rtm.connectPorts(sh.port("zmpRefOut"),   seq.port("zmpRefInit"))
    rtm.connectPorts(seq.port("qRef"),     sh.port("qIn"))
    rtm.connectPorts(seq.port("basePos"),  sh.port("basePosIn"))
    rtm.connectPorts(seq.port("baseRpy"),  sh.port("baseRpyIn"))
    rtm.connectPorts(seq.port("zmpRef"),   sh.port("zmpRefIn"))

Example #19

File: user.py Project: hsnuhayato/sony_cnoid

def connectComps():
    #rtm.connectPorts(user.port("refq"),    servo.port("qRefIn"))
    #rtm.connectPorts(user.port("refq"),    user.port("mc"))#tempepory
    #rtm.connectPorts(rh.port("q"),    user.port("mc"))#tempepory
    rtm.connectPorts(rh.port("rfsensor"), user.port("rfsensor"))
    rtm.connectPorts(rh.port("lfsensor"), user.port("lfsensor"))
    rtm.connectPorts(rh.port("rhsensor"), user.port("rhsensor"))
    rtm.connectPorts(rh.port("lhsensor"), user.port("lhsensor"))
    rtm.connectPorts(user.port("light"), rh.port("light"))

    if joystick!=None:
        print "connect to gamepad"
        rtm.connectPorts(joystick.port("axes"),user.port("axes"))
        rtm.connectPorts(joystick.port("buttons"),user.port("buttons"))

    if kf != None:
        rtm.connectPorts(rh.port("gsensor"),  kf.port("acc"))
        rtm.connectPorts(rh.port("gyrometer"),  kf.port("rate"))
        
    if st!= None:
        rtm.connectPorts(kf.port("rpy"), st.port("rpy"))
        rtm.connectPorts(rh.port("rfsensor"), st.port("forceR"))
        rtm.connectPorts(rh.port("lfsensor"), st.port("forceL"))
        rtm.connectPorts(rh.port("q"), st.port("qCurrent"))
        rtm.connectPorts(user.port("refq"), st.port("qRef"))
        rtm.connectPorts(user.port("rzmp"), st.port("zmpRef"))
        rtm.connectPorts(user.port("basePosOut"), st.port("basePosIn"))
        rtm.connectPorts(user.port("baseRpyOut"), st.port("baseRpyIn"))
        rtm.connectPorts(user.port("contactStates"), st.port("contactStates"))
        rtm.connectPorts(user.port("localEEpos"), st.port("localEEpos"))
        rtm.connectPorts(st.port("q"),  servo.port("qRefIn"))
        rtm.connectPorts(st.port("q"),    user.port("mc"))

Example #20

File: SyncV4L2Camera-HRP.py Project: t-ueshiba/hrp5p-comps

    rtm.initCORBA()

    setupRTM()  # Set NameServer to this host.
    viewer = findRTC("ImageViewer0")  # Find for existing viewer.
    cpanel = findRTC("ControlPanel0")  # Find for existing control panel.

    vision_pc = setupNameserver()  # Set NameServer to control PC.
    robohw = findRTC("RobotHardware0")  # Find for existing robot hardware.

    mgr = rtm.findRTCmanager(vision_pc)  # Find RTC manager on vision PC.
    if mgr == None:
        raise Exception("Failed to find manager on {}.".format(vision_pc))

    camera = createRTC(mgr, "V4L2CameraRTC", "v4l2")
    syncer = createRTC(mgr, "VideoSynchronizerRTC", "sync")

    syncer.setProperty("verbose", "1")

    rtm.connectPorts(camera.port("TimedCameraImage"), syncer.port("primary"))
    rtm.connectPorts(robohw.port("q"), syncer.port("secondary"))
    rtm.connectPorts(cpanel.port("Command"), camera.port("Command"))
    rtm.connectPorts(syncer.port("primaryOut"), viewer.port("images"))

    cpanel.start()
    viewer.start()
    robohw.start()
    syncer.start()
    camera.start()
except Exception as err:
    print(err)

Example #21

File: sample.py Project: kensuke-harada/hironx-interface

def connectComps():
    rtm.connectPorts(rh.port("jointDatOut"),   seq.port("jointDatIn"))
    rtm.connectPorts(rh.port("jointDatOut"),  armR.port("jointDatIn"))
    rtm.connectPorts(rh.port("jointDatOut"),  armL.port("jointDatIn"))

    rtm.connectPorts(  seq.port("jointDatOut"),    sa.port("jointDatIn0"))
    rtm.connectPorts( armR.port("jointDatOut"),    sa.port("jointDatIn1"))
    rtm.connectPorts( armL.port("jointDatOut"),    sa.port("jointDatIn2"))

    rtm.connectPorts(   sa.port("jointDatOut"), grsp.port("jointDatIn"))
    rtm.connectPorts( grsp.port("jointDatOut"),   gf.port("jointDatIn"))
    rtm.connectPorts(   gf.port("jointDatOut"),   ca.port("jointDatIn"))
    rtm.connectPorts(   ca.port("jointDatOut"),   rh.port("jointDatIn"))

Example #22

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def setupLogger():
    global log_svc
    log_svc = OpenHRP.DataLoggerServiceHelper.narrow(log.service("service0"))
    log_svc.add("TimedDoubleSeq", "q")
    log_svc.add("TimedDoubleSeq", "qRefst")
    log_svc.add("TimedDoubleSeq", "qOutsh")
    log_svc.add("TimedDoubleSeq", "qRefsot")
    log_svc.add("TimedDoubleSeq", "zmpRefSeq")
    log_svc.add("TimedDoubleSeq", "zmpRefKpg")
    log_svc.add("TimedDoubleSeq", "basePos")
    log_svc.add("TimedDoubleSeq", "rpy")
    log_svc.add("TimedDoubleSeq", "forceL")
    log_svc.add("TimedDoubleSeq", "forceR")

    rtm.connectPorts(rh.port("q"), log.port("q"))
    rtm.connectPorts(rh.port("rfsensor"), log.port("forceR"))
    rtm.connectPorts(rh.port("lfsensor"), log.port("forceL"))
    rtm.connectPorts(sh.port("qOut"), log.port("qOutsh"))
    rtm.connectPorts(sot.port("qRef"), log.port("qRefsot"))
    if useStabilizerComp:
        rtm.connectPorts(st.port("qRefOut"), log.port("qRefst"))
        rtm.connectPorts(kf.port("rpy"), log.port("rpy"))
    rtm.connectPorts(seq.port("zmpRef"), log.port("zmpRefSeq"))
    rtm.connectPorts(sot.port("zmpRef"), log.port("zmpRefKpg"))
    rtm.connectPorts(sh.port("basePosOut"), log.port("basePos"))

Example #23

import rtm

rtm.nshost="localhost"
rtm.nsport=2809
rtm.initCORBA()

mgr = rtm.findRTCmanager()

mgr.load("CameraImageLoader")
loader = mgr.create("CameraImageLoader")

mgr.load("ColorExtractor")
extractor = mgr.create("ColorExtractor")
extractor.setProperty("minPixels","10")
extractor.setProperty("rgbRegion","100,0,0,255,100,100")

mgr.load("CameraImageViewer")
viewer = mgr.create("CameraImageViewer")

#rtm.serializeComponents([loader, extractor, viewer])

rtm.connectPorts(loader.port("image"), extractor.port("original"))
rtm.connectPorts(extractor.port("result"), viewer.port("imageIn"))

viewer.start()
extractor.start()
loader.start()

Example #24

File: sample.py Project: kensuke-harada/hironx-interface

def setupLogger():
    log_svc.add("TimedJointData", "jointDatServo")
    log_svc.add("TimedJointData", "jointDatSeq")
    rtm.connectPorts( rh.port("jointDatOut"),  log.port("jointDatServo"))
    rtm.connectPorts( seq.port("jointDatOut"), log.port("jointDatSeq"))

Example #25

File: user.py Project: hsnuhayato/sony_cnoid

def setupLogger():
    global log_svc
    log_svc = OpenHRP.DataLoggerServiceHelper.narrow(log.service("service0"))
    log_svc.add("TimedDoubleSeq", "q")
    log_svc.add("TimedDoubleSeq", "qRef")
    log_svc.add("TimedDoubleSeq", "zmpRefSeq")
    log_svc.add("TimedDoubleSeq", "zmpRefKpg")
    log_svc.add("TimedDoubleSeq", "basePos")
    log_svc.add("TimedDoubleSeq", "rpy")
    rtm.connectPorts(rh.port("q"), log.port("q"))
    rtm.connectPorts(st.port("qRefOut"), log.port("qRef"))
    rtm.connectPorts(seq.port("zmpRef"), log.port("zmpRefSeq"))
    rtm.connectPorts(kpg.port("zmpRef"), log.port("zmpRefKpg"))
    rtm.connectPorts(sh.port("basePosOut"), log.port("basePos"))
    rtm.connectPorts(kf.port("rpy"), log.port("rpy"))

Example #26

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def connectComps():
    if useStabilizerComp:
        rtm.connectPorts(rh.port("q"), [sh.port("currentQIn"), st.port("q")])
    else:
        rtm.connectPorts(rh.port("q"), sh.port("currentQIn"))
    if servo != None:
        if useStabilizerComp:
            rtm.connectPorts(rh.port("rfsensor"), st.port("forceR"))
            rtm.connectPorts(rh.port("lfsensor"), st.port("forceL"))
            rtm.connectPorts(rh.port("gyrometer"), [st.port("rate"), kf.port("rate")])
            rtm.connectPorts(rh.port("gsensor"), [kf.port("acc"), st.port("acc")])
        rtm.connectPorts(rh.port("rfsensor"), sot.port("forcesRF"))
        rtm.connectPorts(rh.port("lfsensor"), sot.port("forcesLF"))
        rtm.connectPorts(rh.port("rhsensor"), sot.port("forcesRH"))
        rtm.connectPorts(rh.port("lhsensor"), sot.port("forcesLH"))
    #
    rtm.connectPorts(seq.port("qRef"), sh.port("qIn"))
    rtm.connectPorts(seq.port("basePos"), sh.port("basePosIn"))
    rtm.connectPorts(seq.port("baseRpy"), sh.port("baseRpyIn"))
    if useStabilizerComp:
        rtm.connectPorts(seq.port("accRef"), kf.port("accRef"))
        rtm.connectPorts(seq.port("zmpRef"), st.port("zmpRef"))
        rtm.connectPorts(sot.port("accRef"), kf.port("accRef"))
        rtm.connectPorts(sot.port("zmpRef"), st.port("zmpRef"))
        rtm.connectPorts(sh.port("qOut"), st.port("qRefIn"))
        rtm.connectPorts(sh.port("baseRpyOut"), st.port("rpyRef"))

    rtm.connectPorts(sot.port("qRef"), sh.port("qIn"))
    rtm.connectPorts(sot.port("pRef"), sh.port("basePosIn"))
    rtm.connectPorts(sot.port("rpyRef"), sh.port("baseRpyIn"))
    #
    rtm.connectPorts(sh.port("qOut"), [seq.port("qInit"), sot.port("qInit")])
    rtm.connectPorts(sh.port("basePosOut"), [seq.port("basePosInit"), sot.port("pInit")])
    rtm.connectPorts(sh.port("baseRpyOut"), [seq.port("baseRpyInit"), sot.port("rpyInit")])
    #
    if servo:  # simulation_mode with dynamics or real robot mode
        if useStabilizerComp:
            rtm.connectPorts(st.port("qRefOut"), servo.port("qRef"))
        else:
            rtm.connectPorts(sh.port("qOut"), servo.port("qRef"))
    else:  # simulation mode without dynamics
        rtm.connectPorts(sh.port("qOut"), rh.port("qIn"))

Example #27

File: sim_mc.py Project: arntanguy/mc_openrtm

def connectComps():
    connectPorts(rh.port("q"), [sh.port("currentQIn")])
    connectPorts(rh.port("gyrometer"), [kf.port("rate")])
    connectPorts(rh.port("gsensor"), [kf.port("acc")])
    # for the kinematics mode
    if kinematics_mode == 1:
        connectPorts(sh.port("qOut"), rh.port("qIn"))
        connectPorts(sh.port("baseTformOut"), rh.port("baseTformIn"))
    #
    if not rh.port("baseTform"):
        # connectPorts(st.port("qRefOut"), servo.port("qRef"))
        connectPorts(sh.port("qOut"), servo.port("angleRef"))
    else:
        # connectPorts(st.port("qRefOut"), rh.port("qRef"))
        connectPorts(sh.port("baseTformOut"), rh.port("baseTform"))

Example #28

File: user.py Project: hsnuhayato/tsml

def connectComps():
    rtm.connectPorts(rh.port("q"),   sh.port("qCur"))
    rtm.connectPorts(sh.port("qOut"),   servo.port("qRef"))

    rtm.connectPorts(rh.port("gyrometer"), kf.port("rate"))
    rtm.connectPorts(rh.port("gsensor"),   kf.port("acc"))

    rtm.connectPorts(sh.port("qOut"),        seq.port("qInit"))
    rtm.connectPorts(sh.port("basePosOut"),  seq.port("basePosInit"))
    rtm.connectPorts(sh.port("baseRpyOut"),  seq.port("baseRpyInit"))
    rtm.connectPorts(sh.port("zmpRefOut"),   seq.port("zmpRefInit"))
    rtm.connectPorts(seq.port("qRef"),     sh.port("qIn"))
    rtm.connectPorts(seq.port("basePos"),  sh.port("basePosIn"))
    rtm.connectPorts(seq.port("baseRpy"),  sh.port("baseRpyIn"))
    rtm.connectPorts(seq.port("zmpRef"),   sh.port("zmpRefIn"))

    rtm.connectPorts(rh.port("q"),   servoC.port("qIn"))
    rtm.connectPorts(kf.port("rpy"),    servoC.port("baseRpy"))
    rtm.connectPorts(sh.port("basePosOut"),  servoC.port("basePos"))

    rtm.connectPorts(sh.port("qOut"),        servoC.port("qRef"))
    rtm.connectPorts(sh.port("baseRpyOut"),  servoC.port("baseRpyRef"))
    rtm.connectPorts(sh.port("zmpRefOut"),   servoC.port("zmpRef"))
    rtm.connectPorts(rh.port("rfsensor"),    servoC.port("rfsensor"))
    rtm.connectPorts(rh.port("lfsensor"),    servoC.port("lfsensor"))
    rtm.connectPorts(rh.port("rhsensor"),    servoC.port("rhsensor"))
    rtm.connectPorts(rh.port("lhsensor"),    servoC.port("lhsensor"))


    if wpg != None:
        rtm.connectPorts(rh.port("rfsensor"),  wpg.port("rfsensor"))
        rtm.connectPorts(rh.port("lfsensor"),  wpg.port("lfsensor"))
        rtm.connectPorts(rh.port("rhsensor"),  wpg.port("rhsensor"))
        rtm.connectPorts(rh.port("lhsensor"),  wpg.port("lhsensor"))
        rtm.connectPorts(sh.port("qOut"),   wpg.port("mc"))
        rtm.connectPorts(wpg.port("refq"),  sh.port("qIn"))
        rtm.connectPorts(wpg.port("rzmp"), sh.port("zmpRefIn"))
        rtm.connectPorts(wpg.port("basePosOut"), sh.port("basePosIn"))
        rtm.connectPorts(wpg.port("baseRpyOut"), sh.port("baseRpyIn"))

    if st!= None:
        rtm.connectPorts(kf.port("rpy"), st.port("rpy"))
        rtm.connectPorts(rh.port("rfsensor"), st.port("forceR"))
        rtm.connectPorts(rh.port("lfsensor"), st.port("forceL"))
        rtm.connectPorts(rh.port("q"), st.port("qCurrent"))
        rtm.connectPorts(sh.port("qOut"), st.port("qRef"))
        rtm.connectPorts(sh.port("zmpRefOut"), st.port("zmpRef"))
        rtm.connectPorts(sh.port("basePosOut"), st.port("basePosIn"))
        rtm.connectPorts(sh.port("baseRpyOut"), st.port("baseRpyIn"))
        rtm.connectPorts(wpg.port("contactStates"), st.port("contactStates"))
        #rtm.connectPorts(wpg.port("localEEpos"), st.port("localEEpos"))
        rtm.connectPorts(st.port("q"),  servo.port("qRef"))
        #rtm.connectPorts(st.port("q"),  wpg.port("mc"))
    else:
        rtm.connectPorts(sh.port("qOut"),   servo.port("qRef"))

    if camera != None:
        rtm.connectPorts(rh.port("rcamera"),    camera.port("rcamera"))
        rtm.connectPorts(rh.port("lcamera"),    camera.port("lcamera"))
        rtm.connectPorts(rh.port("rhcamera"),   camera.port("rhcamera"))
        rtm.connectPorts(rh.port("lhcamera"),   camera.port("lhcamera"))

        rtm.connectPorts(servoC.port("rcameraPose"),    camera.port("rcameraPose"))
        rtm.connectPorts(servoC.port("lcameraPose"),    camera.port("lcameraPose"))
        rtm.connectPorts(servoC.port("rhcameraPose"),   camera.port("rhcameraPose"))
        rtm.connectPorts(servoC.port("lhcameraPose"),   camera.port("lhcameraPose"))

    if stick != None:
        rtm.connectPorts(stick.port("axes"), wpg.port("axes"))
        rtm.connectPorts(stick.port("buttons"), wpg.port("buttons"))
        rtm.connectPorts(stick.port("axes"), pcl.port("axes"))
        rtm.connectPorts(stick.port("buttons"), pcl.port("buttons"))
        
    if pcl != None:
        rtm.connectPorts(rh.port("ranger"), pcl.port("ranger"))
        rtm.connectPorts(rh.port("q"),   pcl.port("qCur"))
        rtm.connectPorts(kf.port("rpy"),    pcl.port("baseRpyAct"))
        #rtm.connectPorts(sh.port("baseRpyOut"), pcl.port("baseRpyAct"))
        rtm.connectPorts(sh.port("baseRpyOut"), pcl.port("baseRpy"))
        rtm.connectPorts(sh.port("basePosOut"), pcl.port("basePos"))
        rtm.connectPorts(pcl.port("baseRpyOut"), wpg.port("baseRpyInit"))
        rtm.connectPorts(pcl.port("basePosOut"), wpg.port("basePosInit"))
        rtm.connectPorts(pcl.port("baseRpyOut"), sh.port("baseRpyIn"))
        rtm.connectPorts(pcl.port("basePosOut"), sh.port("basePosIn"))

    if arm != None:
        rtm.connectPorts(sh.port("qOut"),        arm.port("qCur"))
        rtm.connectPorts(sh.port("basePosOut"),  arm.port("basePos"))
        rtm.connectPorts(sh.port("baseRpyOut"),  arm.port("baseRpy"))
        rtm.connectPorts(stick.port("axes"),     arm.port("axes"))
        rtm.connectPorts(stick.port("buttons"),  arm.port("buttons"))
        rtm.connectPorts(arm.port("qRef"),       sh.port("qIn"))

Example #29

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def setupLogger():
    global log_svc
    log_svc = OpenHRP.DataLoggerServiceHelper.narrow(log.service("service0"))
    log_svc.add("TimedDoubleSeq", "q")
    log_svc.add("TimedDoubleSeq", "qRefst")
    log_svc.add("TimedDoubleSeq", "qOutsh")
    log_svc.add("TimedDoubleSeq", "qRefsot")
    log_svc.add("TimedDoubleSeq", "zmpRefSeq")
    log_svc.add("TimedDoubleSeq", "zmpRefKpg")
    log_svc.add("TimedDoubleSeq", "basePos")
    log_svc.add("TimedDoubleSeq", "rpy")
    log_svc.add("TimedDoubleSeq", "forceL")
    log_svc.add("TimedDoubleSeq", "forceR")

    rtm.connectPorts(rh.port("q"), log.port("q"))
    rtm.connectPorts(rh.port("rfsensor"), log.port("forceR"))
    rtm.connectPorts(rh.port("lfsensor"), log.port("forceL"))
    rtm.connectPorts(sh.port("qOut"), log.port("qOutsh"))
    rtm.connectPorts(sot.port("qRef"), log.port("qRefsot"))
    if useStabilizerComp:
        rtm.connectPorts(st.port("qRefOut"), log.port("qRefst"))
        rtm.connectPorts(kf.port("rpy"), log.port("rpy"))
    rtm.connectPorts(seq.port("zmpRef"), log.port("zmpRefSeq"))
    rtm.connectPorts(sot.port("zmpRef"), log.port("zmpRefKpg"))
    rtm.connectPorts(sh.port("basePosOut"), log.port("basePos"))

Example #30

File: user.py Project: hsnuhayato/tsml

def connectComps():
    rtm.connectPorts(rh.port("q"),   sh.port("qCur"))
    rtm.connectPorts(sh.port("qOut"),   servo.port("qRef"))

    rtm.connectPorts(rh.port("gyrometer"), kf.port("rate"))
    rtm.connectPorts(rh.port("gsensor"),   kf.port("acc"))

    rtm.connectPorts(sh.port("qOut"),        seq.port("qInit"))
    rtm.connectPorts(sh.port("basePosOut"),  seq.port("basePosInit"))
    rtm.connectPorts(sh.port("baseRpyOut"),  seq.port("baseRpyInit"))
    rtm.connectPorts(sh.port("zmpRefOut"),   seq.port("zmpRefInit"))
    rtm.connectPorts(seq.port("qRef"),     sh.port("qIn"))
    rtm.connectPorts(seq.port("basePos"),  sh.port("basePosIn"))
    rtm.connectPorts(seq.port("baseRpy"),  sh.port("baseRpyIn"))
    rtm.connectPorts(seq.port("zmpRef"),   sh.port("zmpRefIn"))

    rtm.connectPorts(rh.port("q"),   servoC.port("qIn"))
    rtm.connectPorts(kf.port("rpy"),    servoC.port("baseRpy"))
    rtm.connectPorts(sh.port("basePosOut"),  servoC.port("basePos"))

    if camera != None:
        rtm.connectPorts(rh.port("rcamera"),    camera.port("rcamera"))
        rtm.connectPorts(rh.port("lcamera"),    camera.port("lcamera"))
        rtm.connectPorts(rh.port("rhcamera"),   camera.port("rhcamera"))
        rtm.connectPorts(rh.port("lhcamera"),   camera.port("lhcamera"))

        rtm.connectPorts(servoC.port("rcameraPose"),    camera.port("rcameraPose"))
        rtm.connectPorts(servoC.port("lcameraPose"),    camera.port("lcameraPose"))
        rtm.connectPorts(servoC.port("rhcameraPose"),   camera.port("rhcameraPose"))
        rtm.connectPorts(servoC.port("lhcameraPose"),   camera.port("lhcameraPose"))

Example #31

import rtm

rtm.nsport = 2809
rtm.initCORBA()

mgr = rtm.findRTCmanager()

mgr.load("PCDLoader")
mgr.load("PointCloudViewer")

pcl = mgr.create("PCDLoader")
pcv = mgr.create("PointCloudViewer")

rtm.connectPorts(pcl.port("cloud"), pcv.port("cloud"))

pcl.setProperty("fields", "XYZRGB")
pcl.start()
pcv.start()

Example #32

import rtm
import commands

mgr = rtm.findRTCmanager()
mgr.load("VirtualCamera")
mgr.load("OccupancyGridMap3D")
mgr.load("OGMap3DViewer")

vc = mgr.create("VirtualCamera")
ogmap = mgr.create("OccupancyGridMap3D")
viewer = mgr.create("OGMap3DViewer")

openhrp_dir = commands.getoutput("pkg-config --variable=prefix openhrp3.1")
project = "file://" + openhrp_dir + "/share/OpenHRP-3.1/sample/project/SampleRobot_inHouse.xml"
vc.setProperty("project", project)
vc.setProperty("camera", "Robot:VISION_SENSOR1")
vc.setProperty("generateRange", "0")
vc.setProperty("generatePointCloud", "1")
vc.setProperty("generatePointCloudStep", "5")

ogmap.setProperty("resolution", "0.05")

rtm.connectPorts(vc.port("cloud"), ogmap.port("cloud"))
rtm.connectPorts(vc.port("poseSensor"), ogmap.port("pose"))
rtm.connectPorts(ogmap.port("OGMap3DService"), viewer.port("OGMap3DService"))

rtm.serializeComponents([vc, ogmap])
vc.start()
ogmap.start()
viewer.start()

Example #33

File: sample.py Project: 130s/hrpsys-base

# -*- coding: utf-8 -*-
import rtm

global mgr, rtc1, rtc2

# Managerへの参照を取得します
mgr = rtm.findRTCmanager()
# NullComponent.soをロードします
mgr.load("NullComponent")
# NullComponentのインスタンスを2つ作ります
rtc1 = mgr.create("NullComponent", "np1")
rtc2 = mgr.create("NullComponent", "np2")
# 2つのコンポーネントを接続します
rtm.connectPorts(rtc1.port("dataOut"), rtc2.port("dataIn"))
rtcs = [rtc1, rtc2]
# 2つのコンポーネントが同期実行されるように設定します
rtm.serializeComponents(rtcs)
# 2つのコンポーネントをアクティベートします
rtc1.start()
rtc2.start()

Example #34

File: sim_mc.py Project: arntanguy/mc_openrtm

def connectMCControl():
    connectPorts(rh.port("q"), mc.port("qIn"))
    connectPorts(rh.port("tauOut"), mc.port("taucIn"))
    connectPorts(rh.port("gyrometer"), mc.port("rateIn"))
    connectPorts(rh.port("gsensor"), mc.port("accIn"))
    connectPorts(rh.port("rfsensor"), mc.port("RightFootForceSensor"))
    connectPorts(rh.port("lfsensor"), mc.port("LeftFootForceSensor"))
    connectPorts(rh.port("rhsensor"), mc.port("RightHandForceSensor"))
    connectPorts(rh.port("lhsensor"), mc.port("LeftHandForceSensor"))
    connectPorts(sh.port("basePosOut"), mc.port("pIn"))
    connectPorts(kf.port("rpy"), mc.port("rpyIn"))
    connectPorts(mc.port("qOut"), sh.port("qIn"))
    connectPorts(rh.port("waistAbsTransform"), mc.port("basePoseIn"))
    connectPorts(rh.port("waistAbsVelocity"), mc.port("baseVelIn"))
    connectPorts(rh.port("waistAbsAcceleration"), mc.port("baseAccIn"))

Example #35

File: test.py Project: YoheiKakiuchi/hrpsys-base

import rtm

rtm.nsport=2809
rtm.initCORBA()

mgr = rtm.findRTCmanager()

mgr.load("PCDLoader")
mgr.load("PointCloudViewer")

pcl = mgr.create("PCDLoader")
pcv = mgr.create("PointCloudViewer")

rtm.connectPorts(pcl.port("cloud"), pcv.port("cloud"))

pcl.setProperty("fields", "XYZRGB")
pcl.start()
pcv.start()

Example #36

#
# test script for Simulator and Viewer components
#
# start SimulatorComp and ViewerComp before running this script
#
import rtm
import commands

openhrp_dir = commands.getoutput("pkg-config --variable=prefix openhrp3.1")
project = "file://" + openhrp_dir + "/share/OpenHRP-3.1/sample/project/SamplePD.xml"
sim = rtm.findRTC("Simulator0")
print "sim:", sim
sim.setProperty("project", project)
vwr = rtm.findRTC("Viewer0")
print "vwr:", vwr
vwr.setProperty("project", project)
rtm.connectPorts(sim.port("state"), vwr.port("state"))
vwr.start()
sim.start()

Example #37

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def connectComps():
    if useStabilizerComp:
        rtm.connectPorts(rh.port("q"), [sh.port("currentQIn"), st.port("q")])
    else:
        rtm.connectPorts(rh.port("q"), sh.port("currentQIn"))
    if servo != None:
        if useStabilizerComp:
            rtm.connectPorts(rh.port("rfsensor"), st.port("forceR"))
            rtm.connectPorts(rh.port("lfsensor"), st.port("forceL"))
            rtm.connectPorts(
                rh.port("gyrometer"),
                [st.port("rate"), kf.port("rate")])
            rtm.connectPorts(rh.port("gsensor"),
                             [kf.port("acc"), st.port("acc")])
        rtm.connectPorts(rh.port("rfsensor"), sot.port("forcesRF"))
        rtm.connectPorts(rh.port("lfsensor"), sot.port("forcesLF"))
        rtm.connectPorts(rh.port("rhsensor"), sot.port("forcesRH"))
        rtm.connectPorts(rh.port("lhsensor"), sot.port("forcesLH"))
    #
    rtm.connectPorts(seq.port("qRef"), sh.port("qIn"))
    rtm.connectPorts(seq.port("basePos"), sh.port("basePosIn"))
    rtm.connectPorts(seq.port("baseRpy"), sh.port("baseRpyIn"))
    if useStabilizerComp:
        rtm.connectPorts(seq.port("accRef"), kf.port("accRef"))
        rtm.connectPorts(seq.port("zmpRef"), st.port("zmpRef"))
        rtm.connectPorts(sot.port("accRef"), kf.port("accRef"))
        rtm.connectPorts(sot.port("zmpRef"), st.port("zmpRef"))
        rtm.connectPorts(sh.port("qOut"), st.port("qRefIn"))
        rtm.connectPorts(sh.port("baseRpyOut"), st.port("rpyRef"))

    rtm.connectPorts(sot.port("qRef"), sh.port("qIn"))
    rtm.connectPorts(sot.port("pRef"), sh.port("basePosIn"))
    rtm.connectPorts(sot.port("rpyRef"), sh.port("baseRpyIn"))
    #
    rtm.connectPorts(sh.port("qOut"), [seq.port("qInit"), sot.port("qInit")])
    rtm.connectPorts(
        sh.port("basePosOut"),
        [seq.port("basePosInit"), sot.port("pInit")])
    rtm.connectPorts(
        sh.port("baseRpyOut"),
        [seq.port("baseRpyInit"), sot.port("rpyInit")])
    #
    if servo:  # simulation_mode with dynamics or real robot mode
        if useStabilizerComp:
            rtm.connectPorts(st.port("qRefOut"), servo.port("qRef"))
        else:
            rtm.connectPorts(sh.port("qOut"), servo.port("qRef"))
    else:  # simulation mode without dynamics
        rtm.connectPorts(sh.port("qOut"), rh.port("qIn"))