def _configure():
config = BrightArgs("o80 PAM introspection")
config.add_option("segment_id", o80_pam.segment_ids.robot,
"o80 segment_id of the instance of o80 pam to display",
str)
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
if not finished:
return None
return config
def _configure():
config = BrightArgs("o80 PAM log file stats")
config.add_option("file_path",
o80_pam.FileManager().latest(),
"absolute path to the log file",
str,
integrity_checks=[FileExists()])
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
if not finished:
return None
return config
def _configure() -> BrightArgs:
"""
Configuration dialog
"""
global TENNICAM_CLIENT_DEFAULT_SEGMENT_ID
global DEFAULT_SAVE_FOLDER
global O80_PAM_DEFAULT_SEGMENT_ID
config = BrightArgs("o80 robot / tennicam logger")
config.add_option(
"ball_segment_id",
TENNICAM_CLIENT_DEFAULT_SEGMENT_ID,
"ball_segment_id of the tennicam backend",
str,
)
config.add_option(
"robot_segment_id",
O80_PAM_DEFAULT_SEGMENT_ID,
"robot_segment_id of the o80_pam backend",
str,
)
config.add_option(
"filepath",
str(_unique_path(DEFAULT_SAVE_FOLDER)),
"absolute path of the log file",
str,
)
config.add_option(
"frequency",
250.0,
"frequency at which entries will be written in the file",
float,
)
change_all = False
config.dialog(change_all, sys.argv[1:])
print()
return config
def _configure():
config = BrightArgs("o80 PAM console")
config.add_option("segment_id",
o80_pam.segment_ids.robot,
"o80 segment_id of the instance of o80 pam to display",
str)
config.add_option("nb_dofs",
4,
"number of degrees of freedom of the robots",
int,
integrity_checks=[Positive()])
config.add_option("pressure_delta",
2000,
"each muscle will apply pressures +/- this value",
int,
[Range(1,10000)])
config.add_option("speed",
1000,
"pressure of unit per seconds",
int,
[Range(1,10000)])
change_all=False
finished = config.dialog(change_all,sys.argv[1:])
if not finished:
return None
return config
from lightargs import BrightArgs,Set,Range,Positive
bright = BrightArgs("Welcome to BrightArgs example")
bright.add_operation("operation1","operation number one")
bright.add_option("option1",1,"option number 1",int,integrity_checks=[Set(1,2,3),Range(1,3)])
bright.print_help()
bright.parse(["--operation1","-option1","3"])
bright.print_status()
try :
bright.dialog(False)
except KeyboardInterrupt:
pass
bright.print_status()
def _configure():
config = BrightArgs("o80 PAM swing demo")
config.add_option(
"segment_id", o80_pam.segment_ids.robot,
"o80 segment_id of the instance of o80 pam to connect to", str)
config.add_option("duration", 1000,
"duration of a motion (in milliseconds)", int,
[Range(400, 10000)])
config.add_option("relax_pressure", 8000, "starting and ending pressure",
int, [Range(0, 22000)])
config.add_option("nb_iterations", 10,
"number of swing motions to perform", int, [Positive()])
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
if not finished:
return None
return config
def configure(robot : str):
config = BrightArgs("o80 PAM {} robot".format(robot))
setattr(config, "robot", robot)
config.add_option(
"segment_id", o80_pam.segment_ids.robot, "o80 backend segment_id ", str
)
config.add_operation(
"bursting_mode", "will the backend be started in bursting mode ?"
)
config.add_option(
"frequency",
500.,
"o80 backend frequency (non bursting mode only)",
float,
integrity_checks=[Range(1, 3000), Positive()],
)
if robot=="pamy2":
config.add_option(
"ip",
"192.168.0.110",
"IP of the udp socket of the robot",
str)
config.add_option(
"port",
4700,
"PORT of the udp socket of the robot",
int)
config.add_option(
"pam_config_file",
pam_interface.Pamy2DefaultConfiguration.get_path(False),
"pam configuration file",
str,
integrity_checks=[FileExists()],
)
config.nb_dofs=4
else:
config.add_option(
"nb_dofs",
4,
"number of degrees of freedom of the robots",
int,
integrity_checks=[Positive()],
)
config.add_option(
"pam_config_file",
pam_interface.Pamy1DefaultConfiguration.get_path(False),
"pam configuration file",
str,
integrity_checks=[FileExists()],
)
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
print()
if not finished:
return None
return config
def _configure():
config = BrightArgs("o80 PAM console")
config.add_option("segment_id", o80_pam.segment_ids.robot,
"o80 segment_id of the instance of o80 pam to display",
str)
config.add_option("nb_dofs",
4,
"number of degrees of freedom of the robots",
int,
integrity_checks=[Positive()])
config.add_option("refresh frequency", 100,
"refresh rate of the console (Hz)", int,
[Range(1, 1000)])
config.add_option(
"minimal_pressure", 5000,
"minimal possible muscle pressure, for scaling purposes", int,
[Positive()])
config.add_option(
"maximal_pressure", 25000,
"maximal possible muscle pressure, for scaling purposes", int,
[Positive()])
config.add_option("width", 100,
"number of characters used for pressure bars", int,
[Positive()])
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
if not finished:
return None
return config
def _configure():
config = BrightArgs("o80 PAM logger")
# note: a backend is expected to be already running on this segment_id
config.add_option("segment_id", o80_pam.segment_ids.robot,
"o80 segment_id of the instance to log", str)
# the propose path does not exists, and contains the current date and time
config.add_option(
"file_path",
o80_pam.FileManager().next(),
"absolute path to the log file (will overwrite if existing !)", str)
# all the observations generated between two iterations of the collection process
# will be written, so (relatively) low frequency should be ok. 500Hz is likely to
# be overkill, but that's fine
config.add_option(
"frequency", 500.,
"frequency at which entries will be written in the file", float)
# to have the process automatically stopping
config.add_option(
"duration", -1,
"duration of record (in sec). if negative, infinite record time", int)
change_all = False
finished = config.dialog(change_all, sys.argv[1:])
if not finished:
return None
return config
def _configure():
config = BrightArgs("o80 PAM console")
config.add_option("segment_id",
o80_pam.segment_ids.robot,
"o80 segment_id of the instance of o80 pam to display",
str)
config.add_option("maximal_frequency",
3000,
"maximal frequency of the o80 backend, for scaling",
float,
[Positive()])
config.add_option("nb_dofs",
4,
"number of degrees of freedom of the robot",
int,
[Positive()])
config.add_option("window_width",
1200,
"plot window's width",
int,
[Positive()])
config.add_option("window_height",
1000,
"plot window's height",
int,
[Positive()])
config.add_option("data_size",
2000,
"number of running data points per plot",
int,
[Positive()])
config.add_option("minimal_pressure",
5000,
"minimal possible muscle pressure, for scaling purposes",
int,
[Positive()])
config.add_option("maximal_pressure",
25000,
"maximal possible muscle pressure, for scaling purposes",
int,
[Positive()])
change_all=False
finished = config.dialog(change_all,sys.argv[1:])
if not finished:
return None
return config