def setup(parse_sys=True):
global mode,klampt_model,motion_server_addr
import os
import motion
motion_root = os.getenv("MOTION_API_PATH","./")
if parse_sys:
parse_args()
print "Loading Motion Module model",klampt_model
motion.setup(mode=mode,klampt_model=klampt_model,libpath=motion_root,server_addr=motion_server_addr)
def setup(parse_sys=True):
global mode,klampt_model,motion_server_addr
import os
import motion
ebolabot_root = os.getenv("EBOLABOT_PATH","./")
if parse_sys:
parse_args()
print "Loading Motion Module model",klampt_model
motion.setup(mode=mode,klampt_model=klampt_model,libpath=ebolabot_root,server_addr=motion_server_addr)
if __name__=='__main__':
print('Program is starting')
global currentHour
global beginningHour
#global r
currentHour = int(datetime.today().strftime('%H'))
print "Current Hour: " + str(currentHour)
beginningHour = currentHour
try:
bub = time.time()
motion_sensor_queue = mp.Queue() #used to get info from motion sensor
motion_sensor_lock = mp.Lock()
setup() #sets up Power Relay
off()
x = threading.Thread( target = lcd_multithread.LCDprint, args=("You could not Live with your own failure. Where did that bring you? Back to me",) )
x.daemon = True
x.start() #start LCD
motion.setup( motion_sensor_queue, motion_sensor_lock )
y = mp.Process(target = motion.loop, args = () )
y.start()
t = threading.Thread ( target = Timer_Thread, args = () )
t.daemon = True
t.start() #start timer thread (controls LCD and power relay)
loop()
except KeyboardInterrupt:
turn_that_trash_off()
r = False
print "Exiting\n"
date = str(month) + '/' + str(day) + '/' + str(year)
print date
currentHour = int(datetime.today().strftime('%H'))
beginningHour = currentHour
#wait another hour to check
if __name__=='__main__':
print('Program is starting')
global currentHour
global beginningHour
global r
currentHour = int(datetime.today().strftime('%H'))
beginningHour = currentHour
"""
This is where we shall start the thread for the LCD.
"""
try:
x = threading.Thread(target=lcd_multithread.LCDprint,args=("Tom is stupid
x.start()
motion.setup()
y = threading.Thread(target = motion.loop, args
y.start()
loop()
except KeyboardInterrupt:
r = False
print "Exiting\n"
def keyboardfunc(self,c,x,y):
#Put your keyboard handler here
#the current example toggles simulation / movie mode
print c,"pressed"
if c == 'q':
motion.robot.shutdown()
exit(0)
glutPostRedisplay()
if __name__ == "__main__":
print "motion_visualizer.py: sets up a visualizer for testing Motion"
print "control loops. Press q to exit."
print
print "Loading APC Motion model",klampt_model
motion.setup(mode=mode,klampt_model=klampt_model,libpath="./")
res = motion.robot.startup()
if not res:
print "Error starting up APC Motion"
exit(1)
time.sleep(0.1)
world = WorldModel()
res = world.readFile(klampt_model)
if not res:
raise RuntimeError("Unable to load APC Motion model "+fn)
viewer = MyGLViewer(world)
viewer.run()
