def _get_io_number(io_path):
"""
Get the number for an IO. 1-indexed!
:param io_path: string, attribute path using robot and IO names
:return: int, IO number
"""
attribute_path = io_path + '_ioNumber'
return mimic_utils.get_attribute_value(attribute_path)
def _get_io_ignore(io_path):
"""
Get the ignore (is-ignored) value for an IO
:param io_path: string, attribute path using robot and IO names
:return: bool, True if "Ignore IO" is checked, false if not
"""
attribute_path = io_path + '_ignore'
return mimic_utils.get_attribute_value(attribute_path)
def _get_external_axis_velocity_limit(external_axis_path):
"""
Get the velocity limit for an external axis.
:param external_axis_path: string, attribute path using robot and external axis names
:return:
"""
attribute_path = external_axis_path + '_maxVelocity'
return mimic_utils.get_attribute_value(attribute_path)
def _get_external_axis_limits_max(external_axis_path):
"""
Get the maximum position limit for an external axis.
:param external_axis_path: string, attribute path using robot and external axis names
:return:
"""
attribute_path = external_axis_path + '_axisMax'
return mimic_utils.get_attribute_value(attribute_path)
def _get_external_axis_ignore(external_axis_path):
"""
Get the ignore (is-ignored) value for an external axis
:param external_axis_path: string, attribute path using robot and external axis names
:return:
"""
attribute_path = external_axis_path + '_ignore'
return mimic_utils.get_attribute_value(attribute_path)
def _get_external_axis_number(external_axis_path):
"""
Get the number for an external axis. 1-indexed!
:param external_axis_path: string, attribute path using robot and external axis names
:return:
"""
attribute_path = external_axis_path + '_axisNumber'
return mimic_utils.get_attribute_value(attribute_path)
def _get_external_axis_ignore(external_axis_path):
"""
Get the ignore (is-ignored) value for an external axis
:param external_axis_path: string, attribute path using robot and
external axis names
:return: bool, True if "Ignore axis" is checked, false if not
"""
attribute_path = external_axis_path + '_ignore'
return mimic_utils.get_attribute_value(attribute_path)
def _get_io_value(io_path, frame=None):
"""
Get the value of an IO.
:param io_path: string, attribute path using robot and IO names
:param frame: optional frame parameter
:return io_value: int, 0 or 1 if io type is 'digital'; float otherwise
"""
attribute_path = io_path + '_value'
io_value = mimic_utils.get_attribute_value(attribute_path, frame)
return io_value
def _get_external_axis_position(external_axis_path, frame=None):
"""
Get the position of an external axis.
:param external_axis_path: string, attribute path using robot and external axis names
:param frame: optional frame parameter
:return:
"""
attribute_path = external_axis_path + '_position'
external_axis_position = mimic_utils.get_attribute_value(attribute_path, frame)
# If the axis' driving attribute is a translation, we need to convert from
# Maya's units (cm) to millimeters
driving_attribute = pm.listConnections(attribute_path,
plugs=True,
s=True)[0]
driving_attr_ctrl, driving_attr_name = driving_attribute.split('.')
if 'translate' in driving_attr_name:
external_axis_position = external_axis_position * 10
return external_axis_position
