TkJoyStickComp.py

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#!/usr/bin/env python
# -*- Python -*-

import sys
import time
sys.path.append(".")

# Import RTM module
import OpenRTM_aist
import RTC

# for convert()
import math

# This module's spesification
# <rtc-template block="module_spec">
tkjoystick_spec = ["implementation_id", "TkJoyStick", 
                   "type_name",         "TkJoyStick", 
                   "description",       "Sample component for MobileRobotCanvas component", 
                   "version",           "1.0", 
                   "vendor",            "Noriaki Ando and Shinji Kurihara", 
                   "category",          "example", 
                   "activity_type",     "DataFlowComponent", 
                   "max_instance",      "10", 
                   "language",          "Python", 
                   "lang_type",         "SCRIPT",
                   ""]
# </rtc-template>

import tkjoystick

class Position:
        def __init__(self, x = 0.0, y = 0.0, r = 0.0, th = 0.0):
                self.x = x
                self.y = y
                self.r = r
                self.th = th

position = Position()
#tkJoyCanvas = tkjoystick.TkJoystick()


class TkJoyStick(OpenRTM_aist.DataFlowComponentBase):
        def __init__(self, manager):
                OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)

                self._d_pos = RTC.TimedFloatSeq(RTC.Time(0,0),[])
                self._posOut = OpenRTM_aist.OutPort("pos", self._d_pos)
                self._d_vel = RTC.TimedFloatSeq(RTC.Time(0,0),[])
                self._velOut = OpenRTM_aist.OutPort("vel", self._d_vel)
                

                # Set OutPort buffers
                self.registerOutPort("pos",self._posOut)
                self.registerOutPort("vel",self._velOut)

                self._k = 1.0
                self.x = 0.0
                self.y = 0.0

                 
        def onInitialize(self):
                # Bind variables and configuration variable
                
                return RTC.RTC_OK


        def onShutdown(self, ec_id):
                return RTC.RTC_OK


        def onExecute(self, ec_id):
                self._d_pos.data = [self.x, self.y]
                self._d_vel.data = self.convert(self.x, self.y)
                self._posOut.write()
                self._velOut.write()
                
                return RTC.RTC_OK

        """
         \brief Canvas$B$N%G!<%?$r(BMobileRobotCanvas$BMQ$N%G!<%?$KJQ49$9$k!#(B
        """
        def convert(self, x, y):
                _th = math.atan2(y,x)
                _v = self._k * math.hypot(x, y)
                _vl = _v * math.cos(_th - (math.pi/4.0))
                _vr = _v * math.sin(_th - (math.pi/4.0))
                print x, y, _vl, _vr
                return [_vl, _vr]

        def set_pos(self, pos, pol):
                self.x = pos[0]
                self.y = pos[1]
                self.r = pol[0]
                self.th = pol[1]



#def MyModuleInit(manager):
#    profile = OpenRTM_aist.Properties(defaults_str=tkjoystick_spec)
#    manager.registerFactory(profile,
#                            TkJoyStick,
#                            OpenRTM_aist.Delete)
#
#    # Create a component
#    comp = manager.createComponent("TkJoyStick")



def main():
        tkJoyCanvas = tkjoystick.TkJoystick()
        tkJoyCanvas.master.title("TkJoystick")
        mgr = OpenRTM_aist.Manager.init(sys.argv)
        mgr.activateManager()

        # Register component
        profile = OpenRTM_aist.Properties(defaults_str=tkjoystick_spec)
        mgr.registerFactory(profile,
                            TkJoyStick,
                            OpenRTM_aist.Delete)
        # Create a component
        comp = mgr.createComponent("TkJoyStick")

        tkJoyCanvas.set_on_update(comp.set_pos)
        mgr.runManager(True)
        tkJoyCanvas.mainloop()

if __name__ == "__main__":
        main()