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tests/curses_actualq.py

@@ -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="<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)
-
-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)
-