def __init__(self, broker=None, ip=burst.ip, port=burst.port):
self._broker = broker
if self._broker is None:
self._broker = ALBroker("pybroker", "127.0.0.1", 9999, ip, port)
self._mem = ALProxy("ALMemory")
self._d = dict([(x, 0.0) for x in self._short_to_full_name_d.values()])
class BodyPosition(object):
# Create all the device names for ALMemory, and short names for easy access
feet_parts = ['FrontLeft', 'FrontRight', 'RearLeft', 'RearRight']
fsr_parts = [('LFoot',y) for y in feet_parts] + [('RFoot', y) for y in feet_parts]
FSR = [
((x,y), 'Device/SubDeviceList/%s/FSR/%s/Sensor/Value' % (x,y))
for x,y in fsr_parts]
INERTIAL = [(y, 'Device/SubDeviceList/InertialSensor/%s/Sensor/Value' % y)
for y in ['GyrX', 'GyrY', 'AccX', 'AccY', 'AccZ', 'AngleX', 'AngleY']]
_fsr_full = [x[1] for x in FSR]
_fsr_short = [x[0] for x in FSR]
_inertial_full = [x[1] for x in INERTIAL]
_inertial_short = [x[0] for x in INERTIAL]
_both_full = _fsr_full + _inertial_full
_short_to_full_name = FSR + INERTIAL
_short_to_full_name_d = dict(_short_to_full_name)
_full_to_short_name_d = dict([(y,x) for x,y in _short_to_full_name])
def __init__(self, broker=None, ip=burst.ip, port=burst.port):
self._broker = broker
if self._broker is None:
self._broker = ALBroker("pybroker", "127.0.0.1", 9999, ip, port)
self._mem = ALProxy("ALMemory")
self._d = dict([(x, 0.0) for x in self._short_to_full_name_d.values()])
def updateFSR(self):
for k in self._fsr_full:
self._d[k] = self._mem.getData(k, 0)
def updateInertial(self):
for k in self._inertial_full:
self._d[k] = self._mem.getData(k, 0)
def computeStates(self):
pass
def update(self):
self.updateFSR()
self.updateInertial()
self.computeStates()
def get_fsr(self):
return self._fsr
def get_inertial(self):
return self._inertial
fsr = property(get_fsr)
inertial = property(get_inertial)
@classmethod
def short(self, n):
return self._full_to_short_name_d[n]
@classmethod
def full(self, n):
return self._short_to_full_name_d[n]
def __str__(self):
def safe_inv(x):
if x == 0.0:
return 1e100
else:
return 1.0/x
return '\n'.join(
['%25s: %8.2f (%2.6f)' % (self.short(k), self._d[k], safe_inv(self._d[k])) for k in self._fsr_full]
+ ['%25s: %8.2f' % (self.short(k), self._d[k]) for k in self._inertial_full])
def pprint(self):
print str(self)