def run(self):
MS_INIT_WAIT = 3000
secs = int(MS_INIT_WAIT / 1000.0)
self.man = None
init_worked = False
num_connect_attempts = 0
while not self.man:
print "waiting %s seconds" % (secs)
for i in xrange(int(MS_INIT_WAIT/BASIC_TIME_STEP)+1):
if self.step(BASIC_TIME_STEP) == -1:
return
num_connect_attempts += 1
print "connection attempt %s" % num_connect_attempts
if not init_worked:
try:
print "burst.init called"
burst.init()
except Exception, e:
print e
else:
init_worked = True
print "connected to soap"
if init_worked:
try:
self.man = burst.ALProxy('Man')
except Exception, e:
print e
def __init__(self, main_behavior_class=None):
super(SimpleMainLoop, self).__init__(main_behavior_class = main_behavior_class)
self._keep_the_loop = True
# need to call burst.init first
burst.init()
self.initMainObjectsAndPlayer()
def __init__(self, main_behavior_class=None):
super(ExternalMainLoop, self).__init__(main_behavior_class = main_behavior_class)
self._keep_the_loop = True
# need to call burst.init first
burst.init()
self.initMainObjectsAndPlayer()
self.preMainLoopInit() # Start point for Player / GameController
def main():
import burst
if '--help' in sys.argv or '-h' in sys.argv:
print default_help()
raise SystemExit
burst.init()
broker = burst.getBroker()
from bodyposition import BodyPosition
bp = BodyPosition(broker=broker)
while True:
bp.update()
bp.pprint()
sleep(0.1)
def main(ip=None):
if '--help' in sys.argv or '-h' in sys.argv:
print burst.default_help()
raise SystemExit
kw = {}
if ip is not None:
kw['ip'] = ip
burst.init(**kw) # call once, connects to the naoqi server
# broker = burst.getBroker()
# use broker ...
# create proxy
try:
alsonarProxy = burst.ALProxy("ALSonar",burst.ip,burst.port)
except RuntimeError,e:
print "error while creation alsonar's proxy"
exit(1)
def run():
global robotStatus
robotStatus = "at rest"
joystick = JoystickWrapper(0,1)
burst.init()
while True:
joystickStatus = joystick.getStatus()
try:
for command in Registrat.registered:
if command.isTriggeredBy(joystickStatus, robotStatus):
command.trigger(joystickStatus)
break
except QuitException:
break
time.sleep(0.001) # In either case, go to sleep for a while, so it's not THAT bad of a busy-wait.
burst.shutdown()
# TODO: This entire file looks like shit.
import time
import burst
burst.init()
motion = burst.motion
def do():
broker = burst.getBroker()
motionProxy = burst.getMotionProxy()
# Define The Initial Position
kneeAngle = 60.0 * burst.motion.TO_RAD
torsoAngle = 0.0 * burst.motion.TO_RAD
wideAngle = -3.0 * burst.motion.TO_RAD
#Get the Number of Joints
NumJoints = len(motionProxy.getBodyJointNames())
# Define The Initial Position
if (NumJoints == 22) :
InitialPosition = [0.0 * motion.TO_RAD, 0.0 * motion.TO_RAD,
120.0 * motion.TO_RAD, 15.0 * motion.TO_RAD, -80.0 * motion.TO_RAD, -80.0 * motion.TO_RAD,
0.0, wideAngle, -kneeAngle/2-torsoAngle, kneeAngle, -kneeAngle/2, -wideAngle,
0.0, -wideAngle, -kneeAngle/2-torsoAngle, kneeAngle, -kneeAngle/2, wideAngle,
120.0 * motion.TO_RAD, -15.0 * motion.TO_RAD, 80.0 * motion.TO_RAD, 80.0 * motion.TO_RAD]
elif (NumJoints == 26) :
InitialPosition = [0.0 * motion.TO_RAD, 0.0 * motion.TO_RAD,
120.0 * motion.TO_RAD, 15.0 * motion.TO_RAD, -80.0 * motion.TO_RAD, -80.0 * motion.TO_RAD, 0.0 * motion.TO_RAD,0.0,
def main():
if '--help' in sys.argv or '-h' in sys.argv:
print burst.default_help()
raise SystemExit
burst.init() # call once, connects to the naoqi server
broker = burst.getBroker()
