hrp.py

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from org.omg.CORBA import *
from org.omg.CosNaming import *
from org.omg.CosNaming.NamingContextPackage import *

from java.lang import System
from jp.go.aist.hrp.simulator import *

import string, math

rootnc = None

def unbindObject(objname):
        nc = NameComponent(objname, "")
        path = [nc]
        rootnc.unbind(path)
        return None

def initCORBA():
        global rootnc, orb
        props = System.getProperties()
        
        args = string.split(System.getProperty("NS_OPT"))
        orb = ORB.init(args, props)

        nameserver = orb.resolve_initial_references("NameService");
        rootnc = NamingContextHelper.narrow(nameserver);
        return None

def getRootNamingContext(corbaloc):
        props = System.getProperties()
        
        args = ["-ORBInitRef", corbaloc]
        orb = ORB.init(args, props)

        nameserver = orb.resolve_initial_references("NameService");
        return NamingContextHelper.narrow(nameserver);

def findObject(objname, rnc=None):
        nc = NameComponent(objname,"")
        path = [nc]
        if not rnc:
                rnc = rootnc
        return rnc.resolve(path)

def findReceiver(objname, rnc=None):
        try:
                obj = findObject(objname, rnc)
                return CommandReceiverHelper.narrow(obj)
        except:
                print("exception in findReceiver("+objname+")")

def findPlugin(name, rnc=None):
        try:
                obj = findObject(name, rnc)
                return PluginHelper.narrow(obj)
        except:
                return None

def findPluginManager(name, rnc=None):
        try:
                obj = findObject(name, rnc)
                return PluginManagerHelper.narrow(obj)
        except:
                print("exception in findPluginManager")

def findWalkPlugin(name, rnc=None):
        try:
                obj = findObject(name, rnc)
                return walkpluginHelper.narrow(obj)
        except:
                print("exception in findWalkPlugin")

def findSeqPlugin(name, rnc=None):
        try:
                obj = findObject(name, rnc)
                return SequencePlayerHelper.narrow(obj)
        except:
                print("exception in findSeqPlugin")

def findLogPlugin(name, rnc=None):
        try:
                return LoggerPluginHelper.narrow(findObject(name, rnc))
        except:
                print("exception in findLogPlugin")

def findDynamicsPlugin(name, rnc=None):
        try:
                return dynamicsPluginHelper.narrow(findObject(name, rnc))
        except:
                return None

def findStateProvider(name, rnc=None):
        try:
                return stateProviderHelper.narrow(findObject(name, rnc))
        except:
                return None
        
def findStereoVision(rnc=None):
        try:
                return StereoVisionHelper.narrow(findObject("StereoVision", rnc))
        except:
                return None

def findStabilizerPlugin(name, rnc=None):
        try:
                return findPlugin(name, rnc)
        except:
                print("exception in findStabilizerPlugin")
                return None

def findIoControlPlugin(name, rnc=None):
        try:
                return IoControlPluginHelper.narrow(findObject(name, rnc))
        except:
                return None

def findModelLoader(rnc=None):
        try:
                return ModelLoaderHelper.narrow(findObject("ModelLoader", rnc))
        except:
                return None
        
def findPositionSensor(rnc=None):
        try:
                return positionSensorHelper.narrow(findObject("positionSensor", rnc))
        except:
                return None

def findSpeakServer(rnc=None):
        try:
                return SpeakServerHelper.narrow(findObject("speakFactory", rnc))
        except:
                return None

def findOnlineViewer(rnc=None):
        try:
                return OnlineViewerHelper.narrow(findObject("OnlineViewer", rnc))
        except:
                return None

def findDynamicsSimulatorFactory(rnc=None):
        try:
                return DynamicsSimulatorFactoryHelper.narrow(findObject("DynamicsSimulatorFactory", rnc))
        except:
                return None

def findControllerFactory(name, rnc=None):
        try:
                return ControllerFactoryHelper.narrow(findObject(name, rnc))
        except:
                return None

def findCollisionDetectorFactory(rnc=None):
        try:
                return CollisionDetectorFactoryHelper.narrow(findObject("CollisionDetectorFactory", rnc))
        except:
                return None
                                                       

def degrees(x):
        return x*180/math.pi


def radians(x):
        return x*math.pi/180

def loadVRML(url):
        ml = findModelLoader()
        if ml == None:
                return None
        model = ml.loadURL(url)
        co = model.getCharObject()
        model.destroy()
        return co

initCORBA()