def remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
self._subscriber = None
vis.updateText('', 'text')
def changeSubscriptionBDI(self, newBDIChannel="POSE_BDI"):
# used to monitor a different pose e.g. POSE_BODY_LOGGED in playback
self.bdiChannel = newBDIChannel
lcmUtils.removeSubscriber ( self.bdiSubcribe )
self.bdiSubcribe = lcmUtils.addSubscriber( self.bdiChannel , pose_t, self.onPoseBDI)
self.bdiSubcribe.setSpeedLimit(60)
def remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
self._subscriber = None
updateText('', 'Simulation time [s]')
def remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
self._subscriber = None
vis.updateText('', 'text')
def _remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
om.removeFromObjectModel(om.findObjectByName(self._folder_name))
self._subscriber = None
def _remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
om.removeFromObjectModel(om.findObjectByName(self._folder_name))
self._subscriber = None
def changeSubscriptionAlt(self, newAltChannel="POSE_BODY_ALT"):
# used to monitor a different pose e.g. POSE_BODY_LOGGED in playback
self.altChannel = newAltChannel
lcmUtils.removeSubscriber ( self.altSubscribe )
self.altSubscribe = lcmUtils.addSubscriber( self.altChannel , pose_t, self.onPoseAlt)
self.altSubscribe.setSpeedLimit(60)
def remove_subscriber(self):
if self._subs is None:
return
for sub in self._subs:
lcmUtils.removeSubscriber(sub)
self._subs = None
print(self._name + " subscribers removed.")
def remove_subscriber(self):
if self._sub is None:
return
lcmUtils.removeSubscriber(self._sub)
self._sub = None
om.removeFromObjectModel(om.findObjectByName(self._folder_name))
print self._name + " subscriber removed."
def remove_subscriber(self):
if self._sub is None:
return
lcmUtils.removeSubscriber(self._sub)
self._sub = None
om.removeFromObjectModel(om.findObjectByName(self._folder_name))
print(self._name + ' subscriber removed.')
def removeSubscriber(self):
if self.subscriber is not None:
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
if self.desc_subscriber is not None:
lcmUtils.removeSubscriber(self.desc_subscriber)
self.desc_subscriber = None
def _remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
for child in self._children:
child.remove_folder()
self._children.clear()
self._subscriber = None
om.removeFromObjectModel(self._get_folder())
def _remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
for frame_channel in self._frame_channels:
frame_channel.remove_folder()
self._frame_channels.clear()
self._subscriber = None
om.removeFromObjectModel(self._get_folder())
def setEnabled(self, enabled):
if enabled and not self.subscriber:
#self.subscriber = lcmUtils.addSubscriber('LCMGL.*', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP_REF', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP_IN', callback=self.onMessage)
elif not enabled and self.subscriber:
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def _remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
for frame_channel in self._frame_channels:
frame_channel.remove_folder()
self._frame_channels.clear()
self._subscriber = None
om.removeFromObjectModel(self._get_folder())
def setEnabled(self, enabled):
if enabled and not self.subscriber:
#self.subscriber = lcmUtils.addSubscriber('LCMGL.*', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP_REF', callback=self.onMessage)
self.subscriber = lcmUtils.addSubscriber('OCTOMAP_IN', callback=self.onMessage)
elif not enabled and self.subscriber:
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def setEnabled(self, enabled):
if enabled and not self.subscriber0:
self.subscriber0 = lcmUtils.addSubscriber('OBJECT_COLLECTION', callback=self.on_obj_collection_data)
self.subscriber1 = lcmUtils.addSubscriber('LINK_COLLECTION', callback=self.on_link_collection_data)
self.subscriber2 = lcmUtils.addSubscriber('POINTS_COLLECTION', callback=self.on_points_collection_data)
self.subscriber3 = lcmUtils.addSubscriber('RESET_COLLECTIONS', callback=self.on_reset_collections_data)
self.subscriber0.setNotifyAllMessagesEnabled(True)
self.subscriber1.setNotifyAllMessagesEnabled(True)
self.subscriber2.setNotifyAllMessagesEnabled(True)
self.subscriber3.setNotifyAllMessagesEnabled(True)
elif not enabled and self.subscriber0:
lcmUtils.removeSubscriber(self.subscriber0)
lcmUtils.removeSubscriber(self.subscriber1)
lcmUtils.removeSubscriber(self.subscriber2)
lcmUtils.removeSubscriber(self.subscriber3)
self.subscriber0 = None
self.subscriber1 = None
self.subscriber2 = None
self.subscriber3 = None
def stop(self):
for sub in self.subs:
lcmUtils.removeSubscriber(sub)
def _removeSubscriber(self):
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def removeSubscriber(self):
if not self.subscriber:
return
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def _removeSubscribers(self):
for sub in self.subscribers:
lcmUtils.removeSubscriber(sub)
self.subscribers = []
def __del__(self):
lcmUtils.removeSubscriber(self.sub)
def stop(self):
for sub in self.subs:
lcmUtils.removeSubscriber(sub)
def removeLCMUpdater(self):
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def _removeSubscriber(self):
assert self.subscriber is not None
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def removeLCMUpdater(self):
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def __del__(self):
if self.sub:
lcmUtils.removeSubscriber(self.sub)
def _removeSubscriber(self):
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def state_handler(self, msg):
'''
Function for handling main lcm channel
msg: the returning LCM message
'''
# start listenning to messages once the JSON file has been read
if (self.ready == True):
# TODO (for Michael): bind our more robust decoding mechanisms to python
self.msg = msg
self.plant.SetPositions(self.context, self.msg.position)
self.plant.SetVelocities(self.context, self.msg.velocity)
# iterate through each shape to draw it
for name in self.shapes:
self.handle_checkBox(name)
currShape = self.shapes[name]
# define next_loc according to each shape/object to be drawn
next_loc = None
if (currShape.category == "kinematic"):
# Use Drake's CalcPointsPositions to determine where that point is
# in the world
pt_world = self.plant.CalcPointsPositions(
self.context,
self.plant.GetFrameByName(currShape.frame),
currShape.point, self.plant.world_frame())
next_loc = pt_world.transpose()[0]
elif (currShape.category == "com"):
next_loc = self.plant.CalcCenterOfMassPosition(
context=self.context)
elif (currShape.category == "lcm"):
# in the case of an lcm message do not do anything as this is
# handled by the abstract handler
continue
self.drawShape(currShape, next_loc, self.msg)
# handle flags for clearing line histories
if (self.clear == True):
for shape in self.shapes.values():
if (shape.type == "line"):
om.removeFromObjectModel(shape.object)
shape.object = None
shape.points = deque()
self.clear = False
# handle flags for deleting objects
if (self.delete == True):
for shape in self.shapes.values():
om.removeFromObjectModel(shape.object)
self.delete = False
# delete checkboxes from GUI
for i in reversed(range(self.checkBoxArea.count())):
self.checkBoxArea.itemAt(i).widget().deleteLater()
# delete "reset" and "clear history" buttons
self.resetBtn.deleteLater()
self.clearBtn.deleteLater()
# remove all lcm channels except for the state one
for subscription in self.subscriptions:
lcmUtils.removeSubscriber(subscription)
self.resetGUI()
def _removeSubscribers(self):
for sub in self.subscribers:
lcmUtils.removeSubscriber(sub)
self.subscribers = []
def removeSubscriber(self):
if not self.subscriber:
return
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
