def instanciate(self, suf):
if suf == '_l':
self.NS1 = NS_L
elif suf == '_r':
self.NS1 = NS_R
else:
self.NS1 = None
self.NS0 = NS0
print 'NS1:' + self.NS1
self.env = RtmEnv(sys.argv,[self.NS0, self.NS1])
self.make_starters(self.env, suf)
run_components(self.env)
#time.sleep(10)
time.sleep(5)
raw_input("are you sure that each rtc needed is running?")
for ns in self.env.name_space :
print self.env.name_space[ns].list_obj()#mh
print "make_rtc_dict ---"
self.make_rtc_dict(self.env, suf)
print "assigne_variables---"
self.assign_variables(self.env, suf)
print "make_connectors ---"
self.make_connectors(self.env, suf)
#
# configure slider
#
print "slider_conf ---"
self.slider_conf="[('j1',-1,1,0.01,200),('j2',-1,1,0.01,200),('j3',-1,1,0.01,200),('j4',-1,1,0.01,200),('j5',-1,1,0.01,200),('j6',-1,1,0.01,200),('j7',-1,1,0.01,200)]"
self.slider.set_conf_activate('default','channels',self.slider_conf)
#
# make pipe from this process to pa10vel, frm_ctrl
#
self.mgr = main()
self.complist = self.mgr.getComponents()
print self.complist
self.comp = self.mgr.getComponents()[0]
print "make_pipe(comp,pa10vel)------------------------------------"
self.pa10vel.name = self.pa10vel.name + suf
make_pipe(self.comp,self.pa10vel)
print "make_pipe(comp,frm_ctrl)-----------------------------------"
make_pipe(self.comp,self.frm_ctrl)
# my additional pipe
print "make_pipe(comp,pa10fk)-------------------------------------"
self.pa10fk.name = self.pa10fk.name + suf
make_pipe(self.comp,self.pa10fk)
print "make_pipe(comp,mikxer)-------------------------------------"
make_pipe(self.comp,self.mixer)
#print "make_pipe(comp,fSensor)-------------------------------------"
#make_pipe(self.comp,self.fSensor)
#
# for visual
#
self.vMod = pa10Model.pa10ModelClass()
LL.j_now=LL.pa10vel.out_pipe['th'].read()
if RR.pa10vel.out_pipe['th'].pipe.isNew() :
RR.j_now=RR.pa10vel.out_pipe['th'].read()
LL.vMod.set_joints(LL.j_now)
RR.vMod.set_joints(RR.j_now)
LL.vMod.collisionDetect()
RR.vMod.collisionDetect()
LL.vMod.clearCollisionFlag()
RR.vMod.clearCollisionFlag()
LL = pa10Class()
#LL.instanciate("_l")
LL.vMod = pa10Model.pa10ModelClass()
LL.vMod.base.set_trans(FRAME(xyzabc = [0, (0.500+0.300)/2 ,0, 0,0,0]))
RR = pa10Class()
#RR.instanciate("_r")
RR.vMod = pa10Model.pa10ModelClass()
RR.vMod.base.set_trans(FRAME(xyzabc = [0,-(0.500+0.300)/2 ,0, 0,0,0]))
for link in RR.vMod.links:
for d4c in link.d4c:
LL.vMod.ccList.append(d4c)
for link in LL.vMod.links:
for d4c in link.d4c:
RR.vMod.ccList.append(d4c)
