From a3f034cc496cece113e4988c6aae6f90e026654f Mon Sep 17 00:00:00 2001
From: Philipp Kramer <philipp.kramer@theater.digital>
Date: Fri, 10 May 2024 10:33:02 +0200
Subject: [PATCH] move osc send to class

---
 urosc/oscsend.py | 32 ++++++++++++++++++++++++++++++++
 urosc/ui.py      | 16 ++++++++++------
 urosc/urosc.py   | 38 +++++++++-----------------------------
 3 files changed, 51 insertions(+), 35 deletions(-)
 create mode 100644 urosc/oscsend.py

diff --git a/urosc/oscsend.py b/urosc/oscsend.py
new file mode 100644
index 0000000..a764cf2
--- /dev/null
+++ b/urosc/oscsend.py
@@ -0,0 +1,32 @@
+from helpfunctions import *
+
+class OSCSend:
+    from pythonosc import udp_client 
+
+    def __init__(self,_frequency_oscsend=50):
+        self.oscreceivers = []
+        self.frequency_oscsend=_frequency_oscsend
+        self.last_sendosc=0
+        
+    def setupReceivers(self,serverips,port):
+        self.oscreceivers = []
+        
+        # Set up OSC client 
+        for cip in serverips:
+            print("connecting to "+str(cip))
+            connection = self.udp_client.SimpleUDPClient(cip, port) 
+            self.oscreceivers.append(connection)
+
+
+    
+    def send(self,looptime,q):
+    
+        if looptime-self.last_sendosc<1.0/self.frequency_oscsend:
+            
+            return
+        
+        self.last_sendosc=looptime
+
+        for c in self.oscreceivers:                
+            for jointi,joint in enumerate(q):
+                c.send_message("/j"+str(jointi), toDeg(joint))
\ No newline at end of file
diff --git a/urosc/ui.py b/urosc/ui.py
index 8be622b..cce0480 100644
--- a/urosc/ui.py
+++ b/urosc/ui.py
@@ -2,14 +2,10 @@ from helpfunctions import *
 
 
 class UI:
-  #def __init__(self, name, age):
-  #  self.name = name
-  #  self.age = age
-
     import curses
     
 
-    def __init__(self,_joint_min,_joint_max):
+    def __init__(self,_joint_min,_joint_max,_frequency_scr=25):
         self.stdscr=None
         self.debugtext=["","",""]
         self.width=0
@@ -18,6 +14,8 @@ class UI:
         self.joint_max=None
         self.joint_min=_joint_min
         self.joint_max=_joint_max
+        self.frequency_scr=_frequency_scr
+        self.last_updatescr=0
 
 
     def setDebugtext(self,line,text):
@@ -45,7 +43,13 @@ class UI:
 
         self.height, self.width = self.stdscr.getmaxyx()
         
-    def update(self,q):
+    def update(self,q,looptime):
+    
+        if looptime-self.last_updatescr<1.0/self.frequency_scr:            
+            return
+
+        self.last_updatescr=looptime
+
         key = self.stdscr.getch()
         self.stdscr.clear()
 
diff --git a/urosc/urosc.py b/urosc/urosc.py
index 12f4967..516ec68 100644
--- a/urosc/urosc.py
+++ b/urosc/urosc.py
@@ -1,7 +1,7 @@
 import argparse 
 from pythonosc import dispatcher 
 from pythonosc import osc_server 
-from pythonosc import udp_client 
+
 import threading 
 import time
 import math
@@ -14,21 +14,20 @@ import rtde_control
 
 from helpfunctions import *
 from ui import UI
+from oscsend import OSCSend
 
 
 
 
 
-clients = []
 rtde_r=None
 rtde_c=None
 server=None
 
 #Looptimings
 frequency_loop=500
-frequency_oscsend=50
 frequency_rtde=None 
-frequency_scr=25
+
 
 #Robot Control Parameters
 # Parameters
@@ -71,16 +70,6 @@ def setupOSC(ip, port):
  
     return server,server_thread
 
-def setupClients(clientips,port):
-    clients = []
-    
-    # Set up OSC client 
-    for cip in clientips:
-        print("connecting to "+str(cip))
-        client = udp_client.SimpleUDPClient(cip, port) 
-        clients.append(client)
-     
-    return clients
 
 
 def setupRTDE(robotip,frequency):
@@ -97,6 +86,7 @@ joint_max=[toRad(360),toRad(360),toRad(360),toRad(360),toRad(360),toRad(360)]
 
 
 ui = UI(joint_min,joint_max)
+oscsend = OSCSend()
 
 
 
@@ -113,11 +103,9 @@ def main(stdscr):
     loopcounter = 0
     loopdurations = np.zeros(100)
     loopdurations_pos=0
-
-    last_sendosc=0
     last_receivertde=0
     last_sendrtde=0
-    last_updatescr=0
+    
 
     q=[0,0,0,0,0,0]
 
@@ -143,12 +131,8 @@ def main(stdscr):
                         q[_i]=(math.sin(time.time()*_factors[_i]+_offset)/2.0+0.5)*(joint_max[_i]-joint_min[_i])+joint_min[_i]
 
 
-            #send data to all osc clients
-            if looptime-last_sendosc>=1.0/frequency_oscsend:
-                last_sendosc=looptime
-                for c in clients:                
-                    for jointi in range(6):
-                        c.send_message("/j"+str(jointi), toDeg(q[jointi]))
+            #send data to all osc receivers
+            oscsend.send(looptime,q)
 
             if looptime-last_sendrtde>=1.0/frequency_sendrtde:
                 last_sendrtde=looptime
@@ -161,10 +145,7 @@ def main(stdscr):
 
 
             #Display
-            if looptime-last_updatescr>=1.0/frequency_scr:
-                last_updatescr=looptime
-
-                ui.update(q)
+            ui.update(q,looptime)
                 
             #Looptiming
             end = time.time()
@@ -232,13 +213,12 @@ if __name__ == "__main__":
     frequency_receivertde=args.frequencyreceive
     frequency_sendrtde=args.frequencysend
 
-    clientips=[args.clientip]
  
     
     if args.test is not True:
         server,server_thread=setupOSC(args.listenip, args.listenport) 
 
-        clients=setupClients(clientips,args.port)
+        oscsend.setupReceivers([args.clientip],args.port)
 
         rtde_r=setupRTDE(args.robotip,frequency_rtde)