hlrc

#!/usr/bin/python

#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/

import sys

import logging

import errno

try:

    import rsb

    import rsb.converter

    import rst

    import rstsandbox

    from rst.robot.Animation_pb2 import Animation

except ImportError as exception:

    sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))

    sys.exit(errno.ENOPKG)

class hlrc_animation():

    def __init__(self, _base_scope):

        #print "> registering rst converter"

        converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation)

        rsb.converter.registerGlobalConverter(converter)

        self.server = None        

        self.set_scope(_base_scope);

    def __del__(self):

        if (not self.server is None):

            self.server.deactivate()

    def set_scope(self, scope):

        self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call

        print "> setting scope to '%s'" % self.base_scope

        if (not self.server is None):

            self.server.deactivate()

        try:

            self.server = rsb.createRemoteServer(self.base_scope + '/set')

        except ValueError:

            print "> invalid scope given. server deactivated"

            self.server.deactivate()

    def trigger_animation(self, ani_id, repetitions, duration_each, scale, blocking):

        if (self.server is None):

            print("> invalid server")

            return

        #create animation & fill it with values:

        ani = Animation()

        #select ani

        ani.target = ani_id

        ani.repetitions = repetitions

        ani.duration_each = duration_each

        ani.scale       = scale

        if (blocking):

            #blocking:

            print "> calling the animation rpc (blocking until we finished talking)..."

            print '> server reply: "%s"' % self.server.animation(ani)

        else:

            print "> calling the animation rpc (NON-BLOCKING)..."

            return self.server.animation.async(ani)

            #we can block here for a incoming result with a timeout in s

            #print '> server reply: "%s"' % future.get(timeout = 10);

        print "> blocking call done"

def main():

    if (len(sys.argv) != 5):

        print "> usage: %s <base scope> <animation id> <dur each> <repetitions>\n>     example: %s /flobi1 1 1000 1" % (sys.argv[0] , sys.argv[0])

        sys.exit(0)

    # Pacify logger.

    #logging.basicConfig()

    scope  = sys.argv[1]

    ani_id = int(sys.argv[2])

    dur    = int(sys.argv[3])

    rep    = int(sys.argv[4])

    scale  = 1.0

    hani = hlrc_animation(scope)

    hani.trigger_animation(ani_id, rep, dur, scale, 1)

if __name__ == '__main__':

    main()