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 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 setEnabled(self, enabled):
if enabled and not self.subscriber:
self.subscriber = lcmUtils.addSubscriber('LCMGL.*',
callback=self.onMessage)
elif not enabled and self.subscriber:
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
def _removeSubscribers(self):
for sub in self.subscribers:
lcmUtils.removeSubscriber(sub)
self.subscribers = []
def removeLCMUpdater(self):
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None
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 __exit__(self):
if self.lcmsub is not None:
lcmUtils.removeSubscriber(self.lcmsub)
def setEnabled(self, enabled):
if enabled and not self.subscriber:
self.subscriber = lcmUtils.addSubscriber('LCMGL.*', callback=self.onMessage)
elif not enabled and self.subscriber:
lcmUtils.removeSubscriber(self.subscriber)
self.subscriber = None