def onSave(self, parent, data):
control_file_data = {
"data": self._controls
}
config.write(self._path+self._file, control_file_data, compact=True)
data['control_file'] = self._file
self._mod_time.save(data)
def onSave(self, parent, data):
frame_times = self._time_stamper.times_ms()
time_file_data = {
"data": frame_times
}
config.write(self._path+self._time_file, time_file_data, compact=True)
data['{}_datetime'.format(
self._name)] = ext.pack_datetime(self._time_stamper.initial())
data['{}_frame_count'.format(self._name)] = len(frame_times)
data['{}_frame_times'.format(self._name)] = self._time_file
data['{}_duration'.format(self._name)] = frame_times[-1]
def _create_config():
print "Attempting to create config file ..."
print "Leave entries empty to set value to default" + term.END
rconfig = {}
for value in _config_set:
rconfig[value] = _enter_attrib(value, _config_set[value][0],
_config_set[value][1])
au_config.write(_recording_config, rconfig)
print "Wrote config to '{}'".format(_recording_config)
return rconfig
def __init__(self, name, translate, load, path):
self._name = name
if self._name[-1] != '/':
self._name += '/'
self._translate = translate
self._path = path
self._node_path = self._path + self._name
self._config_path = self._node_path + 'meta.json'
self._config = { }
if load:
self._config = config.read(self._config_path)
if self._config == None:
print "Error reading: '{}'".format(self._config_path)
else:
config.write(self._config_path, self._config)
def edit_config():
result = au_config.read(_recording_config)
if result == None:
print "File '{}' not found".format(_recording_config)
result = _create_config()
else:
print "File '{}' found".format(_recording_config)
edit_result = _edit_config(result)
if edit_result is not None:
result = edit_result
au_config.write(_recording_config,
result) #write again if missing parameters
print "Updated config at '{}'".format(_recording_config)
else:
print "Config not changed: '{}'".format(_recording_config)
return result
def read_or_create_config(output=True):
result = au_config.read(_recording_config)
if result == None:
print "File '{}' not found".format(_recording_config)
result = _create_config()
else:
print "File '{}' found".format(_recording_config)
check_result = _check_config(result, output)
if check_result is not None:
result = check_result
au_config.write(_recording_config,
result) #write again if missing parameters
print "Updated config at '{}'".format(_recording_config)
else:
print "Config not changed: '{}'".format(_recording_config)
return result
def save(self):
config.write(self._config_path, self._config)
def main():
pub = rospy.Publisher('al5d', Float32MultiArray, queue_size=10)
rospy.init_node('al5d_pub', anonymous=True)
rate = rospy.Rate(10)
pc = ps4.PS4Controller()
created = pc.create()
if not created:
print "Error finding PS4 controller"
read = False
write = False
fname = "temp_ald5.json"
base = "c"
data = {}
count = 0
num = 0
if read:
data = config.read(fname)
num = data['num']
mindex = 0
while not rospy.is_shutdown():
pc.poll()
if pc.home():
break
if read:
if count == num - 1:
break
C = data[base + str(count)]
else:
C = [
-pc.RX(), # X
pc.RY(), # Y
0, # Z
pc.LY(), # wrist_degree
pc.LT(), # wrise_rotate_degree
pc.RT(), # open
0 # reward
]
data[base + str(count)] = C
# Displacements
C = [
pc.RX(), # BASE
-pc.RY(), # SHOULDER
0, # ELBOW
0, # WRIST
0, # WRIST_ROTATE
0, # GRIPPER
]
# Trigger mod
lt = pc.LT() + 1
rt = pc.RT() + 1
# Test individuals
C = [
pc.RX(), # good
-pc.RY(), # ?
-pc.LY(), # ?
-lt + rt, # ?
pc.LX(), # ?
(-pc.L1() + pc.R1()), # ?
]
# Multipliers
C[0] = 100 * C[0] * C[0] * C[0]
C[1] = 100 * C[1] * C[1] * C[1]
C[2] = 100 * C[2] * C[2] * C[2]
C[3] = 100 * C[3] * C[3] * C[3]
C[4] = 100 * C[4] * C[4] * C[4]
C[5] = 100 * C[5] * C[5] * C[5]
rospy.loginfo(C)
msg = Float32MultiArray()
msg.data = C
pub.publish(msg)
count = count + 1
rate.sleep()
pc.destroy()
if write:
data['num'] = count
print "Writing to: {}".format(fname)
config.write(fname, data)