From 89d56e256fb03e5e34b4bd7f4bdd81a6d9605f59 Mon Sep 17 00:00:00 2001
From: Philipp Kramer <philipp.kramer@theater.digital>
Date: Tue, 23 Aug 2022 14:56:15 +0200
Subject: [PATCH] add receive tests

---
 tests/rtde_receive_actualq.py | 80 +++++++++++++++++++++++++++++++++++
 tests/rtde_record_example.py  | 78 ++++++++++++++++++++++++++++++++++
 2 files changed, 158 insertions(+)
 create mode 100644 tests/rtde_receive_actualq.py
 create mode 100644 tests/rtde_record_example.py

diff --git a/tests/rtde_receive_actualq.py b/tests/rtde_receive_actualq.py
new file mode 100644
index 0000000..bcf7265
--- /dev/null
+++ b/tests/rtde_receive_actualq.py
@@ -0,0 +1,80 @@
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+import time
+import argparse
+import sys
+
+
+def parse_args(args):
+    """Parse command line parameters
+
+    Args:
+      args ([str]): command line parameters as list of strings
+
+    Returns:
+      :obj:`argparse.Namespace`: command line parameters namespace
+    """
+    parser = argparse.ArgumentParser(
+        description="Record data example")
+    parser.add_argument(
+        "-ip",
+        "--robot_ip",
+        dest="ip",
+        help="IP address of the UR robot",
+        type=str,
+        default='localhost',
+        metavar="<IP address of the UR robot>")
+    parser.add_argument(
+        "-o",
+        "--output",
+        dest="output",
+        help="data output (.csv) file to write to (default is \"robot_data.csv\"",
+        type=str,
+        default="robot_data.csv",
+        metavar="<data output file>")
+    parser.add_argument(
+        "-f",
+        "--frequency",
+        dest="frequency",
+        help="the frequency at which the data is recorded (default is 500Hz)",
+        type=float,
+        default=500.0,
+        metavar="<frequency>")
+
+    return parser.parse_args(args)
+
+
+def main(args):
+    """Main entry point allowing external calls
+
+    Args:
+      args ([str]): command line parameter list
+    """
+    args = parse_args(args)
+    dt = 1 / args.frequency
+    rtde_r = RTDEReceive(args.ip, args.frequency)
+    
+    
+    i = 0
+    try:
+        while True:
+            start = time.time()
+            
+            q=rtde_r.getActualQ()
+            print(q)
+            #sys.stdout.write("\r")
+            #sys.stdout.write("{:3d} samples.".format(i))
+            #sys.stdout.flush()
+            end = time.time()
+            duration = end - start
+
+            if duration < dt:
+                time.sleep(dt - duration)
+            i += 1
+
+    except KeyboardInterrupt:
+        
+        print("\nData recording stopped.")
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])
\ No newline at end of file
diff --git a/tests/rtde_record_example.py b/tests/rtde_record_example.py
new file mode 100644
index 0000000..5a8797d
--- /dev/null
+++ b/tests/rtde_record_example.py
@@ -0,0 +1,78 @@
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+import time
+import argparse
+import sys
+
+
+def parse_args(args):
+    """Parse command line parameters
+
+    Args:
+      args ([str]): command line parameters as list of strings
+
+    Returns:
+      :obj:`argparse.Namespace`: command line parameters namespace
+    """
+    parser = argparse.ArgumentParser(
+        description="Record data example")
+    parser.add_argument(
+        "-ip",
+        "--robot_ip",
+        dest="ip",
+        help="IP address of the UR robot",
+        type=str,
+        default='localhost',
+        metavar="<IP address of the UR robot>")
+    parser.add_argument(
+        "-o",
+        "--output",
+        dest="output",
+        help="data output (.csv) file to write to (default is \"robot_data.csv\"",
+        type=str,
+        default="robot_data.csv",
+        metavar="<data output file>")
+    parser.add_argument(
+        "-f",
+        "--frequency",
+        dest="frequency",
+        help="the frequency at which the data is recorded (default is 500Hz)",
+        type=float,
+        default=500.0,
+        metavar="<frequency>")
+
+    return parser.parse_args(args)
+
+
+def main(args):
+    """Main entry point allowing external calls
+
+    Args:
+      args ([str]): command line parameter list
+    """
+    args = parse_args(args)
+    dt = 1 / args.frequency
+    rtde_r = RTDEReceive(args.ip, args.frequency)
+    rtde_r.startFileRecording(args.output)
+    print("Data recording started, press [Ctrl-C] to end recording.")
+    i = 0
+    try:
+        while True:
+            start = time.time()
+            if i % 10 == 0:
+                sys.stdout.write("\r")
+                sys.stdout.write("{:3d} samples.".format(i))
+                sys.stdout.flush()
+            end = time.time()
+            duration = end - start
+
+            if duration < dt:
+                time.sleep(dt - duration)
+            i += 1
+
+    except KeyboardInterrupt:
+        rtde_r.stopFileRecording()
+        print("\nData recording stopped.")
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])
\ No newline at end of file