def execute(self, context):
global pd
for obj in context.selected_objects:
for action_index, action in enumerate(pc.TempPathContainer()):
if obj.name_full == action._arrow:
# Inserta una nueva action en medio de la pose seleccionada y la anterior
p0 = action.p0
p1 = action.p1
xm, ym = (p1.x + p0.x)/2. , (p1.y + p0.y)/2.
med_pose = path.Pose(xm, ym, p0.z, p0.alpha, p0.beta, p0.gamma)
# Crea un nuevo action desde la pose añadida hasta la pose seleccionada
next_action = path.Action(med_pose, p1)
next_action.draw_annotation(context)
# Se traslada la action seleccionada al punto intermedio
# La pose de este action será el nuevo punto intermedio
action.move(med_pose)
action.del_annotation()
pc.TempPathContainer().insert(action_index + 1, next_action)
# Cambia pathdrawer
pd.current_action = action
pd.next_action = next_action
cl.CursorListener.set_pose(action.p1)
cl.CursorListener.select_cursor()
context.scene.isModifying = True
return {'FINISHED'}
return {'FINISHED'}
def parse_data(json_poses):
try:
poses = []
for p in json_poses['poses']:
poses.append(
path.Pose(p['x'], p['y'], p['z'], p['rx'], p['ry'], p['rz']))
except Exception as e:
return None
return poses
def unpack(list_packet):
"""
Apply a deserialization method to unpack
"""
assert len(list_packet) == 5, "Error: No valid trace packet"
assert int(
list_packet[1]) == 3, "Error: byte_packet is not a ack packet"
pose = path.Pose(float(list_packet[2]), float(list_packet[3]), 0, 0, 0,
float(list_packet[4]))
return datapacket.TracePacket(int(list_packet[0]), pose)
def unpack(list_packet):
"""
Apply a deserialization method to unpack
"""
assert len(list_packet) == 5, "Error: No valid trace packet"
assert list_packet[1] == 3, "Error: list_packet is not a trace packet"
from math import radians
pose = path.Pose(list_packet[2], list_packet[3], 0.0, 0.0, 0.0,
radians(list_packet[4]))
return datapacket.TracePacket(list_packet[0], pose)
def unpack(list_packet):
"""
Apply a deserialization method to unpack
"""
assert len(
list_packet
) == 5, "Error: No valid reached pose packet " + "len= " + str(
len(list_packet))
assert list_packet[
1] == 11, "Error: list_packet is not a reached pose packet"
x = list_packet[2]
y = list_packet[3]
tetha = list_packet[4]
from math import radians
pose = path.Pose(x, y, 0, 0, 0, radians(tetha))
return datapacket.ReachedPosePacket(list_packet[0], pose)
def unpack(list_packet):
assert len(
list_packet) == 9, "Error: no valid AddUltrasoundBeaconPacket"
assert list_packet[
1] == 15, "Error: packet is not an AddUltrasoundBeaconPacket"
pid = list_packet[0]
ptype = list_packet[1]
beacon_id = list_packet[2]
x = list_packet[3]
y = list_packet[4]
z = list_packet[5]
a = list_packet[6]
b = list_packet[7]
g = list_packet[8]
pose_beacon = path.Pose(x, y, z, a, b, g)
return datapacket.AddUltrasoundBeaconPacket(pid, beacon_id,
pose_beacon)