add console q view
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from rtde_receive import RTDEReceiveInterface as RTDEReceive
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import time
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import argparse
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import sys
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import curses
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import math
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def toRad(d):
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return d/360*2*math.pi
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def toDeg(r):
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return r*360/2/math.pi
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def mapFromTo(x,a,b,c,d):
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y=(x-a)/(b-a)*(d-c)+c
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return y
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def parse_args(args):
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"""Parse command line parameters
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Args:
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args ([str]): command line parameters as list of strings
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Returns:
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:obj:`argparse.Namespace`: command line parameters namespace
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"""
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parser = argparse.ArgumentParser(
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description="Record data example")
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parser.add_argument(
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"-ip",
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"--robot_ip",
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dest="ip",
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help="IP address of the UR robot",
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type=str,
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default='localhost',
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metavar="<IP address of the UR robot>")
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parser.add_argument(
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"-o",
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"--output",
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dest="output",
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help="data output (.csv) file to write to (default is \"robot_data.csv\"",
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type=str,
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default="robot_data.csv",
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metavar="<data output file>")
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parser.add_argument(
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"-f",
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"--frequency",
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dest="frequency",
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help="the frequency at which the data is recorded (default is 500Hz)",
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type=float,
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default=500.0,
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metavar="<frequency>")
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return parser.parse_args(args)
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joint_min=[toRad(-90),toRad(-90-40),toRad(90-90),toRad(-180-80),toRad(-90-90),toRad(0-75)]
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joint_max=[toRad(90),toRad(-90+40),toRad(90+40),toRad(-180+110),toRad(-90+90),toRad(0+75)]
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def main(stdscr):
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args=sys.argv[1:]
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"""Main entry point allowing external calls
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Args:
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args ([str]): command line parameter list
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"""
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# Clear and refresh the screen for a blank canvas
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stdscr.clear()
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stdscr.refresh()
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curses.cbreak()
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stdscr.keypad(1)
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stdscr.nodelay(1)
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# Start colors in curses
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curses.start_color()
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curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK)
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curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
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curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)
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height, width = stdscr.getmaxyx()
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args = parse_args(args)
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dt = 1 / args.frequency
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rtde_r = RTDEReceive(args.ip, args.frequency)
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key = ''
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i = 0
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try:
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while key != ord('q'):
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key = stdscr.getch()
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stdscr.clear()
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start = time.time()
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q=rtde_r.getActualQ()
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#print(q)
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#sys.stdout.write("\r")
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#sys.stdout.write("{:3d} samples.".format(i))
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#sys.stdout.flush()
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stdscr.addstr(0, 0, "test "+str(i), curses.color_pair(1))
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for j in range(6):
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posx=mapFromTo(q[j],joint_min[j],joint_max[j],0,width) #scale to screen width
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for px in range(width):
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diff=abs(posx-px)
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poschar=''
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if diff<3:
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poschar='.'
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if diff<2:
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poschar='i'
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if diff<0.5:
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poschar='|'
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if (len(poschar)>0):
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stdscr.addstr(2+j, px, poschar, curses.color_pair(1))
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valuetext=str(round(q[j],2))
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if q[j]>=0: #has no negative sign
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valuetext=" "+valuetext
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stdscr.addstr(2+j, 0, valuetext, curses.color_pair(1))
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# Refresh the screen
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stdscr.refresh()
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end = time.time()
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duration = end - start
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if duration < dt:
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time.sleep(dt - duration)
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i += 1
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except KeyboardInterrupt:
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print("\nData recording stopped.")
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curses.endwin()
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exit()
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if __name__ == "__main__":
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curses.wrapper(main)
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@ -0,0 +1,92 @@
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import sys,os
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import curses
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def draw_menu(stdscr):
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k = 0
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cursor_x = 0
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cursor_y = 0
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# Clear and refresh the screen for a blank canvas
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stdscr.clear()
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stdscr.refresh()
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# Start colors in curses
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curses.start_color()
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curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK)
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curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
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curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)
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# Loop where k is the last character pressed
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while (k != ord('q')):
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# Initialization
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stdscr.clear()
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height, width = stdscr.getmaxyx()
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if k == curses.KEY_DOWN:
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cursor_y = cursor_y + 1
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elif k == curses.KEY_UP:
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cursor_y = cursor_y - 1
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elif k == curses.KEY_RIGHT:
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cursor_x = cursor_x + 1
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elif k == curses.KEY_LEFT:
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cursor_x = cursor_x - 1
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cursor_x = max(0, cursor_x)
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cursor_x = min(width-1, cursor_x)
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cursor_y = max(0, cursor_y)
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cursor_y = min(height-1, cursor_y)
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# Declaration of strings
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title = "Curses example"[:width-1]
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subtitle = "Written by Clay McLeod"[:width-1]
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keystr = "Last key pressed: {}".format(k)[:width-1]
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statusbarstr = "Press 'q' to exit | STATUS BAR | Pos: {}, {}".format(cursor_x, cursor_y)
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if k == 0:
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keystr = "No key press detected..."[:width-1]
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# Centering calculations
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start_x_title = int((width // 2) - (len(title) // 2) - len(title) % 2)
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start_x_subtitle = int((width // 2) - (len(subtitle) // 2) - len(subtitle) % 2)
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start_x_keystr = int((width // 2) - (len(keystr) // 2) - len(keystr) % 2)
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start_y = int((height // 2) - 2)
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# Rendering some text
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whstr = "Width: {}, Height: {}".format(width, height)
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stdscr.addstr(0, 0, whstr, curses.color_pair(1))
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# Render status bar
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stdscr.attron(curses.color_pair(3))
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stdscr.addstr(height-1, 0, statusbarstr)
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stdscr.addstr(height-1, len(statusbarstr), " " * (width - len(statusbarstr) - 1))
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stdscr.attroff(curses.color_pair(3))
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# Turning on attributes for title
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stdscr.attron(curses.color_pair(2))
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stdscr.attron(curses.A_BOLD)
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# Rendering title
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stdscr.addstr(start_y, start_x_title, title)
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# Turning off attributes for title
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stdscr.attroff(curses.color_pair(2))
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stdscr.attroff(curses.A_BOLD)
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# Print rest of text
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stdscr.addstr(start_y + 1, start_x_subtitle, subtitle)
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stdscr.addstr(start_y + 3, (width // 2) - 2, '-' * 4)
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stdscr.addstr(start_y + 5, start_x_keystr, keystr)
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stdscr.move(cursor_y, cursor_x)
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# Refresh the screen
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stdscr.refresh()
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# Wait for next input
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k = stdscr.getch()
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def main():
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curses.wrapper(draw_menu)
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if __name__ == "__main__":
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main()
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