from uf.ufc import ufc_init
from uf.swift import Swift
from uf.utils.log import *
logger_init(logging.DEBUG)
print('setup swift ...')
swift_iomap = {
'pos_in': 'swift_pos_in',
'service': 'swift_service',
'gripper': 'swift_gripper'
}
ufc = ufc_init()
swift = Swift(ufc, 'swift', swift_iomap)
print('setup test ...')
test_ports = {
'swift_pos': {
'dir': 'out',
'type': 'topic'
},
'swift_service': {
'dir': 'out',
'type': 'service'
},
'swift_gripper': {
'dir': 'out',
'type': 'service'
logging.getLogger('uf.swift').setLevel(logging.DEBUG)
print('setup swift ...')
swift_iomap = {
'pos_in': 'swift_pos_in',
'pos_out': 'swift_pos_out',
'ptc': 'swift_ptc',
'service': 'swift_service'
}
ufc = ufc_init()
#swift = Swift(ufc, 'swift', swift_iomap, dev_port = '/dev/ttyACM0')
#swift = Swift(ufc, 'swift', swift_iomap, filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = Swift(
ufc, 'swift',
swift_iomap) # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('setup tests ...')
def pos_cb(msg):
print('pos_cb: ' + msg)
test_ports = {
'swift_pos': {
'dir': 'out',
'type': 'topic'
},
'swift_pos_out': {
from uf.ufc import ufc_init
from uf.swift import Swift
from uf.utils.log import *
logger_init(logging.DEBUG)
print('setup swift ...')
swift_iomap = {
'pos_in': 'swift_pos_in',
'service': 'swift_service',
'gripper': 'swift_gripper'
}
ufc = ufc_init()
swift = Swift(ufc, 'swift', swift_iomap, dev_port='/dev/ttyACM0')
print('setup test ...')
test_ports = {
'swift_pos': {
'dir': 'out',
'type': 'topic'
},
'swift_service': {
'dir': 'out',
'type': 'service'
},
'swift_gripper': {
'dir': 'out',
'type': 'service'