viewer_loger.py

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import glob
import os
 
 
class ViewerLoger:
    """
    This class replace the robotviewer client and log the data sent to the
    viewer for future replay.
 
    Example of use:
    from viewer_loger import ViewerLoger
    robot.viewer = ViewerLoger(robot)
 
    """
 
    def __init__(self, robot):
        self.robot = robot
        self.viewer = robot.viewer
        self.fileMap = {}
        for f in glob.glob("/tmp/view*.dat"):
            os.remove(f)
 
    def updateElementConfig(self, name, state):
        t = self.robot.state.time
        if name not in self.fileMap:
            self.fileMap[name] = open("/tmp/view_" + name + ".dat", "w")
        self.fileMap[name].write(
            "\t".join(
                [
                    str(f)
                    for f in [
                        t,
                    ]
                    + list(state)
                ]
            )
            + "\n"
        )
        self.viewer.updateElementConfig(name, state)