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project.py
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project.py
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#!/usr/bin/env python
"""
PyPose: for all things related to PyPose projects
Copyright (c) 2008-2010 Michael E. Ferguson. All right reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software Foundation,
Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
"""
###############################################################################
# Pose class is a list, first element is name, rest are servo positions.
class pose(list):
""" A class to hold a pose. """
def __init__(self, line, length):
# now load the name, positions for this pose
#I have changed this to float used to be integers
try:
for servo in range(length):
if line.find(",") > 0:
self.append(float(line[0:line.index(",")]))
else:
self.append(float(line[0:]))
line = line[line.index(",")+1:]
# we may not have enough data, so dump it
except:
for i in range(length-len(self)):
self.append(512)
def __str__(self):
return ", ".join([str(p) for p in self])
###############################################################################
# Sequence class is a list, first element is name, rest are (pose,time) pairs
class sequence(list):
""" A class to hold a sequence. """
def __init__(self, line=None):
# load the name, (pose,time) pairs for this sequence
try:
if line == None:
return
while True:
if line.find(",") > 0:
self.append(line[0:line.index(",")].strip().rstrip())
elif line != "":
self.append(line.strip().rstrip())
line = line[line.index(",")+1:]
except:
pass
def __str__(self):
return ", ".join([str(t) for t in self])
###############################################################################
# Class for dealing with project files
#@todo the scope of this should be increased to include different models resolutions ect
class project:
def __init__(self):
#pincher model values
self.name = "pincher2"
self.count = 5 # Max number of servos
self.resolution = [1024 for i in range(self.count)]
self.safety_limits = [[1023, 0], [975, 105],[1016, 51], [837,171], [960,10]]
self.links = [0.0, 105.0, 105.0, 113.0] #98.0])# actual measurements of segment length in mm
self.poses = dict()#a dictionary of poses
self.sequences = dict()
self.nuke = "IK_engine"
self.save = False
def load(self, filename):
self.poses = dict()
self.sequences = dict()
prjFile = open(filename, "r").readlines()
# load robot name and servo count
self.name = prjFile[0].split(":")[0]
self.count = int(prjFile[0].split(":")[1])
# load resolution of each servo in count
self.resolution = [int(x) for x in prjFile[0].split(":")[2:]]
if len(self.resolution) != self.count:
self.resolution = [1024 for x in range(self.count)]
# load poses and sequences
for line in prjFile[1:]:
if line[0:5] == "Pose=":
self.poses[line[5:line.index(":")]] = pose(line[line.index(":")+1:].rstrip(),self.count)
elif line[0:4] == "Seq=":
self.sequences[line[4:line.index(":")]] = (sequence(line[line.index(":")+1:].rstrip()))
elif line[0:5] == "Nuke=":
self.nuke = line[5:].rstrip()
# these next two lines can be removed later, once everyone is moved to Ver 0.91
else:
self.poses[line[0:line.index(":")]] = pose(line[line.index(":")+1:].rstrip(),self.count)
print "loaded sequences", self.sequences
self.save = False
def saveFile(self, filename):
prjFile = open(filename, "w")
print>>prjFile, self.name + ":" + str(self.count) + ":" + ":".join([str(x) for x in self.resolution])
for p in self.poses.keys():
print>>prjFile, "Pose=" + p + ":" + str(self.poses[p])
for s in self.sequences.keys():
print>>prjFile, "Seq=" + s + ": " + str(self.sequences[s])
if self.nuke != "":
print>>prjFile, "Nuke=" + self.nuke
self.save = False
def new(self, nName, nCount, nResolution):
self.poses = dict()
self.sequences = dict()
self.filename = ""
self.count = nCount
self.name = nName
self.resolution = [nResolution for i in range(self.count)]
self.save = True
'''
###########################################################################
# Export functionality
def export(self, filename):
""" Export a pose file for use with Sanguino Library. """
posefile = open(filename, "w")
print>>posefile, "#ifndef " + self.name.upper() + "_POSES"
print>>posefile, "#define " + self.name.upper() + "_POSES"
print>>posefile, ""
print>>posefile, "#include <avr/pgmspace.h>"
print>>posefile, ""
for p in self.poses.keys():
if p.startswith("ik_"):
continue
print>>posefile, "PROGMEM prog_uint16_t " + p + "[] = {" + str(self.count) + ",",
p = self.poses[p]
for x in p[0:-1]:
print>>posefile, str(x) + ",",
print>>posefile, str(p[-1]) + "};"
#print>>posefile, ""
print>>posefile, ""
for s in self.sequences.keys():
print>>posefile, "PROGMEM transition_t " + s + "[] = {{0," + str(len(self.sequences[s])) + "}",
s = self.sequences[s]
for t in s:
print>>posefile, ",{" + t[0:t.find("|")] + "," + t[t.find("|")+1:] + "}",
print>>posefile, "};"
print>>posefile, ""
print>>posefile, "#endif"
posefile.close()
'''
def extract(li):
""" extract x%256,x>>8 for every x in li """
out = list()
#print ("extracting valus from this list" + str(li))
for i in li:
out = out + [i%256, i>>8]
#print ("returning" + str(out))
return out