def _sample_frames_get_command_dicts(robot_name, frames, animation_settings,
time_interval_in_seconds, user_options):
"""
Sample robot commands using a list of frames and user options.
:param robot_name:
:param frames:
:param animation_settings:
:param user_options:
:return:
"""
# Initialize output array.
command_dicts = []
time_index_count = 0
for frame in frames:
# Set the background to the current frame
# TODO: Implement this! This rocks:
# pm.currentTime(frame)
# Create a dict of datatypes per frame
command_dict = {}
# Add this frame number/step/index to the dictionary
command_dict['Frame'] = frame
command_dict['Framerate'] = animation_settings['Framerate']
command_dict[
'Time Index'] = time_index_count * time_interval_in_seconds
time_index_count += 1
# Get motion parameters
if not user_options.Ignore_motion:
if user_options.Include_axes:
axes = _sample_frame_get_axes(robot_name, frame)
command_dict[postproc.AXES] = postproc.Axes(*axes)
if user_options.Include_pose:
pose = _sample_frame_get_pose(robot_name, frame)
command_dict[postproc.POSE] = postproc.Pose(*pose)
if user_options.Include_external_axes:
external_axes = _sample_frame_get_external_axes(
robot_name, frame)
command_dict[postproc.EXTERNAL_AXES] = postproc.ExternalAxes(
*external_axes)
if user_options.Include_configuration:
configuration = _sample_frame_get_configuration(
robot_name, frame)
command_dict[postproc.CONFIGURATION] = postproc.Configuration(
*configuration)
# Get IO parameters
if not user_options.Ignore_IOs:
if user_options.Include_digital_outputs:
# TODO: Implement digital outputs
# digital_output = None
# command_dict[postproc.DIGITAL_OUTPUT] = postproc.DigitalOutput(*digital_output)
pass
if user_options.Include_digital_inputs:
# TODO: Implement digital inputs
# digital_input = None
# command_dict[postproc.DIGITAL_INPUT'] = postproc.DigitalOutput(*digital_input)
pass
if user_options.Include_analog_outputs:
# TODO: Implement analog outputs
# analog_output = None
# command_dict[postproc.ANALOG_OUTPUT] = postproc.DigitalOutput(*analog_output)
pass
if user_options.Include_analog_inputs:
# TODO: Implement analog inputs
# analog_input = None
# command_dict[postproc.ANALOG_INPUT] = postproc.DigitalOutput(*analog_input)
pass
command_dicts.append(command_dict)
# Reset current frame (just in case)
pm.currentTime(frames[0])
return command_dicts
def _sample_frames_get_command_dicts(robot_name, frames, animation_settings,
user_options, postproc_settings):
"""
Sample robot commands using a list of frames and user options.
:param robot_name:
:param frames:
:param animation_settings:
:param user_options:
:return:
"""
# Initialize output array.
command_dicts = []
start_frame = animation_settings['Start Frame']
end_frame = animation_settings['End Frame']
preview_in_viewport = postproc_settings['Preview in Viewport']
for frame in frames:
if preview_in_viewport:
# Set the background to the current frame
pm.currentTime(frame)
# Create a dict of datatypes per frame
command_dict = {}
# Add this frame number/step/index to the dictionary
command_dict['Frame'] = frame
command_dict['Framerate'] = animation_settings['Framerate']
command_dict[postproc.TIME_INDEX] = (
frame - start_frame) / animation_settings['Framerate']
# Get motion parameters
if not user_options.Ignore_motion:
if user_options.Include_axes:
axes = _sample_frame_get_axes(robot_name, frame)
command_dict[postproc.AXES] = postproc.Axes(*axes)
if user_options.Include_pose:
pose = _sample_frame_get_pose(robot_name, frame)
command_dict[postproc.POSE] = postproc.Pose(*pose)
if user_options.Include_external_axes:
external_axes = _sample_frame_get_external_axes(
robot_name, frame)
command_dict[postproc.EXTERNAL_AXES] = postproc.ExternalAxes(
*external_axes)
if user_options.Include_configuration:
configuration = _sample_frame_get_configuration(
robot_name, frame)
command_dict[postproc.CONFIGURATION] = postproc.Configuration(
*configuration)
# Get IO parameters
if not user_options.Ignore_IOs:
if user_options.Include_digital_outputs:
digital_output = _sample_frame_get_outs(
robot_name, frame, 'digital')
command_dict[postproc.DIGITAL_OUTPUT] = digital_output
if user_options.Include_digital_inputs:
# TODO: Implement digital inputs
# digital_input = None
# command_dict[postproc.DIGITAL_INPUT'] = postproc.DigitalOutput(*digital_input)
pass
if user_options.Include_analog_outputs:
analog_output = _sample_frame_get_outs(robot_name, frame,
'analog')
command_dict[postproc.ANALOG_OUTPUT] = analog_output
if user_options.Include_analog_inputs:
# TODO: Implement analog inputs
# analog_input = None
# command_dict[postproc.ANALOG_INPUT] = postproc.DigitalOutput(*analog_input)
pass
command_dicts.append(command_dict)
pm.refresh()
_update_export_progress_bar(start_frame, end_frame, frame)
# Reset current frame (just in case)
pm.currentTime(frames[0])
return command_dicts