[openrtm-commit:00676] r2317 - trunk/OpenRTM-aist/src/ext/ec/logical_time/example
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 2月 8日 (水) 03:41:46 JST
Author: n-ando
Date: 2012-02-08 03:41:45 +0900 (Wed, 08 Feb 2012)
New Revision: 2317
Added:
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py
Log:
Trigger application has been implemented.
Added: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py (rev 0)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py 2012-02-07 18:41:45 UTC (rev 2317)
@@ -0,0 +1,170 @@
+#!/usr/bin/env python
+
+import Tkinter as Tk
+
+class SendTick:
+ def __init__(self):
+ pass
+
+def hoge():
+ print "hoge"
+
+class Frame(Tk.Frame):
+ def __init__(self, master = None):
+ self.lttsample = LTTSample()
+ self.time = 0.0
+# self.protocol("WM_DELETE_WINDOW", self.closeEvent)
+ Tk.Frame.__init__(self, master)
+ self.master.title('Tick Application')
+
+ #------------------------------
+ self.frame0 = Tk.LabelFrame(self, width = 18)
+ self.text_lavel00 = Tk.Label(self.frame0,
+ text = "Tick time: ",
+ width = 12)
+ self.text_lavel00.pack(side = Tk.LEFT, fill=Tk.X, pady = 5)
+ self.text_sec = Tk.Entry(self.frame0, width = 12,
+ justify = Tk.RIGHT)
+ self.text_sec.delete(0, Tk.END)
+ self.text_sec.insert(0, "0.000")
+ self.text_sec.pack(side = Tk.LEFT, fill=Tk.X)
+ self.text_lavel01 = Tk.Label(self.frame0, text = "[s]",
+ width = 5)
+ self.text_lavel01.pack(side = Tk.RIGHT, fill=Tk.X, anchor=Tk.E)
+
+ #------------------------------
+ self.checkvar = Tk.IntVar()
+ self.checkbox = Tk.Checkbutton(self,
+ text = "auto increment",
+ variable = self.checkvar,
+ command = self.toggleAutoinc)
+ self.checkvar.set(1)
+
+ #------------------------------
+ self.frame1 = Tk.LabelFrame(self, width = 18,
+ labelwidget = self.checkbox)
+ self.text_lavel1 = Tk.Label(self.frame1,
+ text = "Step: ",
+ width = 12)
+ self.text_lavel1.pack(side = Tk.LEFT, fill=Tk.X, pady = 5)
+ self.stepspin = Tk.Spinbox(self.frame1,
+ from_ = 0, to = 999, increment = 0.001,
+ width = 11, justify = Tk.RIGHT,
+ format = "%03.3f")
+ self.stepspin.delete(0, Tk.END)
+ self.stepspin.insert(0, "1.000")
+ self.stepspin.pack(side = Tk.LEFT, fill=Tk.X, anchor=Tk.E)
+ self.text_lavel11 = Tk.Label(self.frame1, text = "[s]",
+ width = 5)
+ self.text_lavel11.pack(side = Tk.LEFT, fill=Tk.X, anchor=Tk.E)
+
+ #------------------------------
+ self.frame2 = Tk.Frame(self, width = 18)
+ self.button = Tk.Button(self.frame2, text = "tick",
+ width = 8, command = self.tick)
+ self.button.pack(side = Tk.LEFT, pady = 5)
+
+ self.frame0.pack(side = Tk.TOP, fill=Tk.X,
+ padx = 5, pady = 5,
+ ipadx = 5, ipady = 5)
+ self.frame1.pack(side = Tk.TOP, fill=Tk.X,
+ padx = 5, pady = 5,
+ ipadx = 5, ipady = 5)
+ self.frame2.pack(side = Tk.TOP,
+ padx = 5, pady = 5,
+ ipadx = 5, ipady = 5)
+
+ def toggleAutoinc(self):
+ if self.checkvar.get() == 1:
+ self.stepspin.configure(state = 'normal')
+ else:
+ self.stepspin.configure(state = 'disabled')
+
+ def tick(self):
+ if self.checkvar.get() == 1:
+ self.time = self.time + float(self.stepspin.get())
+ self.text_sec.delete(0, Tk.END)
+ text = "%03.3f" % self.time
+ self.text_sec.insert(0, text)
+ self.lttsample.tick(float(self.text_sec.get()))
+
+ def onClose(self):
+ self.lttsample.shutdown()
+ import time
+ time.sleep(1.0)
+ import os
+ os.system("killall LTTSampleComp")
+ os.system("killall lt-LTTSampleComp")
+
+import CORBA
+
+class LTTSample:
+ def __init__(self):
+ self.orb = CORBA.ORB_init()
+ try:
+ self.ior = open("LTTSample0.rtc").read()
+ except:
+ print "LTTSample0.rtc not found"
+ import os
+ import time
+ print "Launching LTTSampleComp..."
+ os.system("./LTTSampleComp&")
+ time.sleep(1.0)
+ self.ior = open("LTTSample0.rtc").read()
+ obj = self.orb.string_to_object(self.ior)
+ if CORBA.is_nil(obj):
+ print "Object in LTTSample0.rtc is nil. Restarting LTTSampleComp..."
+ os.system("./LTTSampleComp&")
+ self.ior = open("LTTSample0.rtc").read()
+ obj = self.orb.string_to_object(self.ior)
+ if CORBA.is_nil(obj):
+ print "Object reference is nil"
+ sys.exit(1)
+
+ import omniORB
+ import sys
+
+ self.sdo_idl = omniORB.importIDL("idl/SDOPackage.idl")
+ self.rtc_idl = omniORB.importIDL("idl/RTC.idl", ["-Iidl"])
+ self.ltt_idl = omniORB.importIDL("idl/LogicalTimeTriggeredEC.idl", ["-Iidl"])
+
+ RTC = sys.modules["RTC"]
+ OpenRTM = sys.modules["OpenRTM"]
+ try:
+ self.rtobj = obj._narrow(RTC.RTObject)
+ except:
+ print "Narrowing failed. Restarting LTTSampleComp..."
+ import os
+ import time
+ print "Launching LTTSampleComp..."
+ os.system("./LTTSampleComp&")
+ time.sleep(1.0)
+ obj = self.orb.string_to_object(open("LTTSample0.rtc").read())
+ self.rtobj = obj._narrow(RTC.RTObject)
+
+ cxts = self.rtobj.get_owned_contexts()
+ self.lttcxt = cxts[0]._narrow(OpenRTM.LogicalTimeTriggeredEC)
+ profile = self.lttcxt.get_profile()
+ print profile
+
+ def tick(self, ticktime):
+ sec = int(ticktime)
+ usec = int((ticktime - sec) * 1000000)
+ self.lttcxt.tick(sec, usec)
+
+ def gettime(self):
+ return self.lttcxt.gettime()
+
+ def shutdown(self):
+ self.rtobj.exit()
+
+
+if __name__ == '__main__':
+# root = Tk.Tk()
+# root.protocol("WM_DELETE_WINDOW", on_close(root))
+ f = Frame()
+ f.pack()
+ f.mainloop()
+ f.onClose()
+
+
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