From fe51e12b69a9c5aefafda819fc1a204e15ed0536 Mon Sep 17 00:00:00 2001 From: Philipp Kramer Date: Thu, 9 May 2024 13:07:10 +0200 Subject: [PATCH] move file --- tests/curses_actualq.py | 153 ---------------------------------------- 1 file changed, 153 deletions(-) delete mode 100644 tests/curses_actualq.py diff --git a/tests/curses_actualq.py b/tests/curses_actualq.py deleted file mode 100644 index ee5422b..0000000 --- a/tests/curses_actualq.py +++ /dev/null @@ -1,153 +0,0 @@ -from rtde_receive import RTDEReceiveInterface as RTDEReceive -import time -import argparse -import sys -import curses -import math - - -def toRad(d): - return d/360*2*math.pi - -def toDeg(r): - return r*360/2/math.pi - - -def mapFromTo(x,a,b,c,d): - y=(x-a)/(b-a)*(d-c)+c - return y - - -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="") - 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="") - 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="") - - return parser.parse_args(args) - -joint_min=[toRad(-90),toRad(-90-40),toRad(90-90),toRad(-180-80),toRad(-90-90),toRad(0-75)] -joint_max=[toRad(90),toRad(-90+40),toRad(90+40),toRad(-180+110),toRad(-90+90),toRad(0+75)] - - - -def main(stdscr): - args=sys.argv[1:] - """Main entry point allowing external calls - - Args: - args ([str]): command line parameter list - """ - - # Clear and refresh the screen for a blank canvas - stdscr.clear() - stdscr.refresh() - - curses.cbreak() - stdscr.keypad(1) - stdscr.nodelay(1) - - - # Start colors in curses - curses.start_color() - curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK) - curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK) - curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE) - - - height, width = stdscr.getmaxyx() - - - args = parse_args(args) - dt = 1 / args.frequency - rtde_r = RTDEReceive(args.ip, args.frequency) - - - key = '' - i = 0 - try: - while key != ord('q'): - key = stdscr.getch() - stdscr.clear() - start = time.time() - - q=rtde_r.getActualQ() - #print(q) - #sys.stdout.write("\r") - #sys.stdout.write("{:3d} samples.".format(i)) - #sys.stdout.flush() - - stdscr.addstr(0, 0, "test "+str(i), curses.color_pair(1)) - - - for j in range(6): - posx=mapFromTo(q[j],joint_min[j],joint_max[j],0,width) #scale to screen width - for px in range(width): - diff=abs(posx-px) - poschar='' - if diff<3: - poschar='.' - if diff<2: - poschar='i' - if diff<0.5: - poschar='|' - - if (len(poschar)>0): - stdscr.addstr(2+j, px, poschar, curses.color_pair(1)) - valuetext=str(round(q[j],2)) - if q[j]>=0: #has no negative sign - valuetext=" "+valuetext - stdscr.addstr(2+j, 0, valuetext, curses.color_pair(1)) - - - # Refresh the screen - stdscr.refresh() - - - end = time.time() - duration = end - start - - if duration < dt: - time.sleep(dt - duration) - i += 1 - - except KeyboardInterrupt: - - print("\nData recording stopped.") - curses.endwin() - exit() - - -if __name__ == "__main__": - curses.wrapper(main) - \ No newline at end of file