Python OpenRTM_aist.setTimestamp方法代码示例

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def onExecute(self, ec_id):
   print "Please input number: ",
   self._data.data = long(sys.stdin.readline())
   OpenRTM_aist.setTimestamp(self._data)
   print "Sending to subscriber: ", self._data.data
   self._outport.write()
   return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def onExecute(self, ec_id):
		"""
	
		The execution action that is invoked periodically
		former rtc_active_do()
	
		\param ec_id target ExecutionContext Id
	
		\return RTC::ReturnCode_t
	
		"""
		if self._commandIn.isNew():
                                self._d_command = self._commandIn.read()
                                if self._d_command.data[0] == 2:
                                        self.cw_angle = self._d_command.data[1]
                                        self.ccw_angle = self._d_command.data[2]
                                        self.move_time = self._d_command.data[3]

                # Servo: Moving CW
                self._d_motion.data = [0, self.servo_id,
                                       self.servo_offset + self.ccw_angle, self.move_time_ccw]
                OpenRTM_aist.setTimestamp(self._d_motion)
                self._motionOut.write()
                time.sleep(self.move_time_ccw / 100.0 + self.margin_time / 1000.0)

                # Servo: Moving CCW
                self._d_motion.data = [0, self.servo_id,
                                       self.servo_offset + self.cw_angle, self.move_time_cw]
                OpenRTM_aist.setTimestamp(self._d_motion)
                self._motionOut.write()
                time.sleep(self.move_time_cw / 100.0 + self.margin_time / 1000.0)
            
	
		return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def onDeactivated(self, ec_id):
		"""
	
		The deactivated action (Active state exit action)
		former rtc_active_exit()
	
		\param ec_id target ExecutionContext Id
	
		\return RTC::ReturnCode_t
	
		"""
		
		# Servo Motor: Torque OFF
		self._d_on_off.data = [0, self.servo_id, 0]
                OpenRTM_aist.setTimestamp(self._d_on_off)
                self._on_offOut.write()

		# URG: Measurement stop
		self._d_urg.data = [0]
                OpenRTM_aist.setTimestamp(self._d_urg)
                self._urgOut.write()

                print('onDeactivated')
	
		return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def onExecute(self, ec_id):
		#データを新規に受信した場合に、データをm_last_sensor_dataを格納する
		if self._distance_sensorIn.isNew():
			data = self._distance_sensorIn.read()
			if len(data.data) == 4:
				self._last_sensor_data = data.data[:]

		#センサの計測値がstop_distance以上の時に前進しないようにする
		if self._forward_velocity[0] > 0:
			for d in self._last_sensor_data:
				if d > self._stop_distance[0]:
					self._d_target_velocity.data.vx = 0
					self._d_target_velocity.data.vy = 0
					self._d_target_velocity.data.va = 0
					OpenRTM_aist.setTimestamp(self._d_target_velocity)
					self._target_velocityOut.write()
					return RTC.RTC_OK

		#コンフィギュレーションパラメータで設定した速度を送信する
		self._d_target_velocity.data.vx = self._forward_velocity[0]
		self._d_target_velocity.data.vy = 0
		self._d_target_velocity.data.va = self._rotate_velocity[0]
		OpenRTM_aist.setTimestamp(self._d_target_velocity)
		self._target_velocityOut.write()
		return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def onExecute(self, ec_id):
     #self._data.data = "Guten tag"
     #self._data.data = "Einen schönen Tag."
     self._data.data = "Ich habe Zwillinge, Danke, Danke."
     OpenRTM_aist.setTimestamp(self._data)
     self._outport.write()
     time.sleep(5)
     return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def __call__(self, info, cdrdata):
   data = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, cdrdata, RTC.TimedFloatSeq(RTC.Time(0,0),[]))
   if len(data.data) >= 2:
       self._out.data.vx = data.data[1] * self._velocity_by_position[0]
       self._out.data.vy = 0
       self._out.data.va = data.data[0] * self._rotation_by_position[0]
       OpenRTM_aist.setTimestamp(self._out)
       self._outOut.write()

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def onDeactivated(self, ec_id):
		#停止する
		self._d_target_velocity.data.vx = 0
		self._d_target_velocity.data.vy = 0
		self._d_target_velocity.data.va = 0
		OpenRTM_aist.setTimestamp(self._d_target_velocity)
		self._target_velocityOut.write()
		return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
    def onExecute(self, ec_id):
        sys.stdin.readline()

        OpenRTM_aist.setTimestamp(self._data)
        self._data.data = "Base"
        
        self._outport.write()
        
        return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def send_data(self, data):
         if len(data) == 4:
                 self.motion_data = data  
                 
         elif len(data) == 3:
                 print('Servo ON/OFF: %s' % data)
                 self._d_on_off.data = data
                 OpenRTM_aist.setTimestamp(self._d_on_off)
                 self._on_offOut.write()

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def onExecute(self, ec_id):
     self._data.data = "おはよう"
     OpenRTM_aist.setTimestamp(self._data)
     self._outport.write()
     time.sleep(5)
     self._data.data = "こんにちは"
     OpenRTM_aist.setTimestamp(self._data)
     self._outport.write()
     time.sleep(5)
     return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def move_initial(self, grip, order = [3, 2, 1]):
                data = []
                pos = self.ik.calc_ik(140, 0, 50)
                data.append([0, order[0], pos[order[0] - 1], self.move_time])
                data.append([0, order[1], pos[order[1] - 1], self.move_time])
                data.append([0, order[2], pos[order[2] - 1], self.move_time])
                data.append([0, 4, grip + int(self.ik.calb_4), self.move_time])
                for temp in data:
                        self._d_motion.data = temp
                        OpenRTM_aist.setTimestamp(self._d_motion)
                        self._motionOut.write()
                        time.sleep(self.move_time / 100.0)

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
 def onExecute(self, ec_id):
     for i in range(self._intnum):
         pname = "intport%s" % (i,)
         self._intdata[pname].data = randint(1, 10)
         OpenRTM_aist.setTimestamp(self._intdata[pname])
         self._intports[pname].write(self._intdata[pname])
     if randint(1, 10) > 3:
         self._strdata.data = "normal"
     else:
         self._strdata.data = "emergency"
     OpenRTM_aist.setTimestamp(self._strdata)
     self._strport.write(self._strdata)
     return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
	def onDeactivated(self, ec_id):
		#停止する
		self._d_velocity_out.data.vx = 0
		self._d_velocity_out.data.vy = 0
		self._d_velocity_out.data.va = 0
		OpenRTM_aist.setTimestamp(self._d_velocity_out)
		self._velocity_outOut.write()

		#ブザーを止める
		self._d_buzzer.data = 0
		OpenRTM_aist.setTimestamp(self._d_buzzer)
		self._buzzerOut.write()
		
		return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
    def onExecute(self, ec_id):
        if self._StringInport.isNew():
            data = self._StringInport.read()
            ans = data.data
            w_ans = data.data.decode(self.InputCode[0])
            if self.InputCode[0] != self.OutputCode[0]:
                ans = w_ans.encode(self.OutputCode[0])

            self._StringOutdata.data = ans
            OpenRTM_aist.setTimestamp(self._StringOutdata)
            self._StringOutport.write()

            self._WStringOutdata.data = w_ans
            OpenRTM_aist.setTimestamp(self._WStringOutdata)
            self._WStringOutport.write()

        if self._WStringInport.isNew():
            data = self._WStringInport.read()
            ans = data.data.encode(self.OutputCode[0])
            w_ans = data.data

            self._StringOutdata.data = ans
            OpenRTM_aist.setTimestamp(self._StringOutdata)
            self._StringOutport.write()

            self._WStringOutdata.data = w_ans
            OpenRTM_aist.setTimestamp(self._WStringOutdata)
            self._WStringOutport.write()

        return RTC.RTC_OK

# 需要导入模块: import OpenRTM_aist [as 别名]
# 或者: from OpenRTM_aist import setTimestamp [as 别名]
    def onExecute(self, ec_id):
        if not self.client:
            print 'Wating connection...'
            self.client, address = self.sock.accept()

        payload = self.client.recv(4096)
        if payload:
            print "Speech Recognition Result: %s" % payload
            self._d_speech.data = payload
            OpenRTM_aist.setTimestamp(self._d_speech)
            self.client.send(payload)
            self._speechOut.write()
        else:
            self.client.close()
            self.client = None

        return RTC.RTC_OK