class ORServer(object):
'''
Server to receive [and send] commands from [to] Qt GUI.
'''
def __del__(self):
RaveDestroy()
def __init__(self, pipe):
self.pipe = pipe
self.running = True
self.robot = Ravens()
self.plot_handle = None
self.__run__()
def __run__(self):
while(self.running):
functionName,args = self.pipe.recv()
self.executeFunction(functionName, args)
def Stop(self):
self.running = False
return None,"Stopping!!!"
def executeFunction(self,name,args):
rValue = None
rMessage = "Function with " + name + " not available"
if name in dir(self):
if(args is None):
rValue,rMessage = getattr(self,name)()
else:
rValue,rMessage = getattr(self,name)(args)
return rValue,rMessage
def StartViewer(self):
try:
self.robot.env.SetViewer('qtcoin')
return True,None
except:
pass
return None,"OpenRave environment not up!"
def SetJoints(self,joints):
joints = cPickle.loads(joints)
self.robot.set_joints(joints)
return True, "Joints set."
def PlotPoints(self, pts):
pts = cPickle.loads(pts)
assert pts.ndim==2 and pts.shape[1]==3, "ORServer : PlotPoints, unknown point-data."
with self.robot.env:
self.plot_handle = self.robot.env.plot3(points=pts, pointsize=5.0 )
return True, "Points done."
class ORServer(object):
'''
Server to receive [and send] commands from [to] Qt GUI.
'''
def __del__(self):
RaveDestroy()
def __init__(self, pipe):
self.pipe = pipe
self.running = True
self.robot = Ravens()
self.plot_handle = None
self.__run__()
def __run__(self):
while (self.running):
functionName, args = self.pipe.recv()
self.executeFunction(functionName, args)
def Stop(self):
self.running = False
return None, "Stopping!!!"
def executeFunction(self, name, args):
rValue = None
rMessage = "Function with " + name + " not available"
if name in dir(self):
if (args is None):
rValue, rMessage = getattr(self, name)()
else:
rValue, rMessage = getattr(self, name)(args)
return rValue, rMessage
def StartViewer(self):
try:
self.robot.env.SetViewer('qtcoin')
return True, None
except:
pass
return None, "OpenRave environment not up!"
def SetJoints(self, joints):
joints = cPickle.loads(joints)
self.robot.set_joints(joints)
return True, "Joints set."
def PlotPoints(self, pts):
pts = cPickle.loads(pts)
assert pts.ndim == 2 and pts.shape[
1] == 3, "ORServer : PlotPoints, unknown point-data."
with self.robot.env:
self.plot_handle = self.robot.env.plot3(points=pts, pointsize=5.0)
return True, "Points done."
def __init__(self, pipe):
self.pipe = pipe
self.running = True
self.robot = Ravens()
self.plot_handle = None
self.__run__()
def __init__(self, pipe):
self.pipe = pipe
self.running = True
self.robot = Ravens()
self.plot_handle = None
self.__run__()
