viewer_helper.py

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class RobotViewerFaked:
    def update(*args):
        None
 
    def updateElementConfig(*args):
        None
 
 
def stateFullSize(robot, additionalData=()):
    return [float(val) for val in robot.state.value + additionalData]
 
 
def refreshView(robot):
    if robot.name == "robot":
        name = "hrp"
    if robot.name == "robot_device":
        name = "hrp"
    else:
        name = robot.name
    robot.viewer.updateElementConfig(name, robot.stateFullSize())
 
    for f in robot.displayList:
        f()
 
 
def incrementView(robot, dt):
    """Increment then refresh."""
    robot.incrementNoView(dt)
    robot.refresh()
 
 
def setView(robot, *args):
    """Set robot config then refresh."""
    robot.setNoView(*args)
    # print('view')
    robot.refresh()
 
 
def addRobotViewer(robot, **args):
    """
    Arguments are:
      * small=False
      * server='XML-RPC' == { 'XML-RPC' | 'CORBA' }
      * verbose=True
    """
    verbose = args.get("verbose", True)
    small = args.get("small", False)
    small_extra = args.get("small_extra", 10)
    server = args.get("server", "XML-RPC")
 
    try:
        import robotviewer
 
        RobotClass = robot.__class__
 
        if small:
            if verbose:
                print("using a small robot")
            RobotClass.stateFullSize = lambda x: stateFullSize(x, small_extra * (0.0,))
        else:
            RobotClass.stateFullSize = stateFullSize
 
        robot.viewer = robotviewer.client(server)
 
        RobotClass.refresh = refreshView
        RobotClass.incrementNoView = RobotClass.increment
        RobotClass.increment = incrementView
        RobotClass.setNoView = RobotClass.set
        RobotClass.set = setView
 
        robot.displayList = []
 
        # Check the connection
        if args.get("dorefresh", True):
            robot.refresh()
 
    except Exception:
        if verbose:
            print("No robot viewer, sorry.")
        robot.viewer = RobotViewerFaked()
 
 
# ------------------------------------------------------------------------------
# ------------------------------------------------------------------------------
# ------------------------------------------------------------------------------
# Add a visual output when an event is called.
class VisualPinger:
    def __init__(self, viewer):
        self.pos = 1
        self.viewer = viewer
        self.refresh()
 
    def refresh(self):
        self.viewer.updateElementConfig("pong", [0, 0.9, self.pos * 0.1, 0, 0, 0])
 
    def __call__(self):
        self.pos += 1
        self.refresh()
 
 
def updateComDisplay(robot, comsig, objname="com"):
    if comsig.time > 0:
        robot.viewer.updateElementConfig(
            objname, [comsig.value[0], comsig.value[1], 0, 0, 0, 0]
        )