def main():
print("============================================================")
print(sys.argv[0] + ": Simulates a robot file and Python controller")
if len(sys.argv) <= 1:
print("USAGE: simtest.py [world_file] [controller files (.py)]")
print("============================================================")
if len(sys.argv) <= 1:
exit()
world = WorldModel()
#load up any world items, control modules, or paths
control_modules = []
for fn in sys.argv[1:]:
path, base = os.path.split(fn)
mod_name, file_ext = os.path.splitext(base)
if file_ext == '.py' or file_ext == '.pyc':
sys.path.append(os.path.abspath(path))
mod = importlib.import_module(mod_name, base)
control_modules.append(mod)
elif file_ext == '.path':
control_modules.append(fn)
else:
res = world.readFile(fn)
if not res:
print("Unable to load model " + fn)
print("Quitting...")
sys.exit(1)
viewer = MyGLViewer(world)
for i, c in enumerate(control_modules):
if isinstance(c, str):
sys.path.append(os.path.abspath("../control"))
import trajectory_controller
#it's a path file, try to load it
controller = trajectory_controller.make(world.robot(i), c)
else:
try:
maker = c.make
except AttributeError:
print("Module", c.__name__, "must have a make() method")
print("Quitting...")
sys.exit(1)
controller = maker(world.robot(i))
viewer.sim.setController(world.robot(i), controller)
vis.setWindowTitle("Klamp't Simulation Tester")
if SPLIT_SCREEN_TEST:
viewer2 = MyGLViewer(world)
vis.setPlugin(viewer)
vis.addPlugin(viewer2)
viewer2.window.broadcast = True
vis.show()
while vis.shown():
time.sleep(0.01)
vis.kill()
else:
vis.run(viewer)
path, base = os.path.split(fn)
mod_name, file_ext = os.path.splitext(base)
if file_ext == '.py' or file_ext == '.pyc':
sys.path.append(os.path.abspath(path))
mod = importlib.import_module(mod_name, base)
control_modules.append(mod)
elif file_ext == '.path':
control_modules.append(fn)
else:
res = world.readFile(fn)
if not res:
raise RuntimeError("Unable to load model " + fn)
viewer = MyGLViewer(world)
for i, c in enumerate(control_modules):
if isinstance(c, str):
sys.path.append(os.path.abspath("../control"))
import trajectory_controller
#it's a path file, try to load it
controller = trajectory_controller.make(world.robot(i), c)
else:
try:
maker = c.make
except AttributeError:
print "Module", c.__name__, "must have a make() method"
raise
controller = maker(world.robot(i))
viewer.controllers.append(controller)
viewer.run()
path,base = os.path.split(fn)
mod_name,file_ext = os.path.splitext(base)
if file_ext=='.py' or file_ext=='.pyc':
sys.path.append(os.path.abspath(path))
mod = importlib.import_module(mod_name,base)
control_modules.append(mod)
elif file_ext=='.path':
control_modules.append(fn)
else:
res = world.readFile(fn)
if not res:
raise RuntimeError("Unable to load model "+fn)
viewer = MyGLViewer(world)
for i,c in enumerate(control_modules):
if isinstance(c,str):
sys.path.append(os.path.abspath("../control"))
import trajectory_controller
#it's a path file, try to load it
controller = trajectory_controller.make(world.robot(i),c)
else:
try:
maker = c.make
except AttributeError:
print "Module",c.__name__,"must have a make() method"
raise
controller = maker(world.robot(i))
viewer.controllers.append(controller)
viewer.run()
try:
output = json.loads(msg)
return output
except ValueError:
#didn't parse properly
print "Couldn't read Python object from JSON message '" + msg + "'"
return None
if __name__ == "__main__":
import sys
import trajectory_controller
host = 'localhost'
port = 3456
if len(sys.argv) == 1:
print "Usage: %s [linear_path_file]\n" % (sys.argv[0], )
print "By default connects to localhost:3456"
exit()
#by default, runs a trajectory controller
pathfn = sys.argv[1]
pycontroller = trajectory_controller.make(None, pathfn)
s = ControllerClient((host, port), pycontroller)
asyncore.loop()
def make(robot):
return SerialController()
return None
try:
output = json.loads(msg)
return output
except ValueError:
#didn't parse properly
print "Couldn't read Python object from JSON message '"+msg+"'"
return None
if __name__ == "__main__":
import sys
import trajectory_controller
host = 'localhost'
port = 3456
if len(sys.argv)==1:
print "Usage: %s [linear_path_file]\n"%(sys.argv[0],)
print "By default connects to localhost:3456"
exit()
#by default, runs a trajectory controller
pathfn = sys.argv[1]
pycontroller = trajectory_controller.make(None,pathfn)
s = ControllerClient((host,port),pycontroller)
asyncore.loop()
def make(robot):
return SerialController()
