def handle_blendermode(self, msg):
# Disable if mode not allowed
msg = msg.data
if not msg in self.modes:
rospy.loginfo("Unsupported mode %s" % msg)
msg = 'Dummy'
modes.enable(msg)
def handle_blendermode(self, msg):
# Disable if mode not allowed
msg = msg.data
if not msg in self.modes:
rospy.loginfo("Unsupported mode %s" % msg)
msg = 'Dummy'
modes.enable(msg)
def handle_blendermode(self, msg):
#disable if mode not allowed
msg = msg.data
if not msg in self.modes:
msg = 'Dummy'
if msg == "disable":
modes.disable()
else:
modes.enable(msg)
def execute(self):
# Try to shut down if the script is already running.
blparams = PersistentParams()
if blparams.get("running"):
blparams.set("running", False)
return
blparams.set("running", True)
rospy.init_node('robo_blender', anonymous=True)
inputs_config = []
# current animations blender file do not require inputs
if not 'Animations' in self.modes:
inputs_config = Utils.read_yaml(os.path.join(self.config_dir, "inputs.yaml"))
inputs.initialize(inputs_config)
outputs.initialize(
Utils.read_yaml(os.path.join(self.config_dir, "outputs.yaml"))
)
rospy.Subscriber('cmd_blendermode', String, self.handle_blendermode)
@persistent
def handle_scene_update(dummy):
# Check whether to shut down
if not blparams.get("running"):
bpy.app.handlers.scene_update_pre.remove(handle_scene_update)
rospy.loginfo("ROBO: Ended")
return
# Limit execution to intervals of self.frame_interval
t = time.time()
if t - self.lastframe < self.frame_interval or self.step_in_process:
return
self.lastframe = self.lastframe + self.frame_interval
# Limited execution starts here.
self.step_in_process = True
self.step(self.frame_interval)
self.step_in_process = False
# The boolean wrapper above prevents infinite recursion in case step()
# invokes blender to call handle_scene_update again
self.lastframe = time.time()
bpy.app.handlers.scene_update_pre.append(handle_scene_update)
rospy.loginfo("Available modes: " + str(self.modes).strip('[]'))
# Enable default mode
modes.enable("Dummy")
rospy.loginfo("ROBO: Started")
def execute(self):
# Try to shut down if the script is already running.
blparams = PersistentParams()
if blparams.get("running"):
blparams.set("running", False)
return
blparams.set("running", True)
rospy.init_node('robo_blender', anonymous=True)
inputs_config = []
# current animations blender file do not require inputs
if not 'Animations' in self.modes:
inputs_config = Utils.read_yaml(
os.path.join(self.config_dir, "inputs.yaml"))
inputs.initialize(inputs_config)
outputs.initialize(
Utils.read_yaml(os.path.join(self.config_dir, "outputs.yaml")))
rospy.Subscriber('cmd_blendermode', String, self.handle_blendermode)
@persistent
def handle_scene_update(dummy):
# Check whether to shut down
if not blparams.get("running"):
bpy.app.handlers.scene_update_pre.remove(handle_scene_update)
rospy.loginfo("ROBO: Ended")
return
# Limit execution to intervals of self.frame_interval
t = time.time()
if t - self.lastframe < self.frame_interval or self.step_in_process:
return
self.lastframe = self.lastframe + self.frame_interval
# Limited execution starts here.
self.step_in_process = True
self.step(self.frame_interval)
self.step_in_process = False
# The boolean wrapper above prevents infinite recursion in case step()
# invokes blender to call handle_scene_update again
self.lastframe = time.time()
bpy.app.handlers.scene_update_pre.append(handle_scene_update)
rospy.loginfo("Available modes: " + str(self.modes).strip('[]'))
# Enable default mode
modes.enable("Dummy")
rospy.loginfo("ROBO: Started")
