From 6b2eade59e9613d3eb6677efcce9bf9e94c825bf Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 17 Jan 2013 16:10:13 +0100
Subject: [PATCH] Minor changes.
---
python/viewer_helper.py | 30 +++++++++++++++++++++++-------
1 file changed, 23 insertions(+), 7 deletions(-)
diff --git a/python/viewer_helper.py b/python/viewer_helper.py
index fdd0b82..3903f79 100644
--- a/python/viewer_helper.py
+++ b/python/viewer_helper.py
@@ -6,7 +6,12 @@ def stateFullSize(robot,additionalData = () ):
return [float(val) for val in robot.state.value+additionalData]
def refreshView( robot ):
- robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+ if robot.name=='robot': name='hrp'
+ else: name=robot.name
+ robot.viewer.updateElementConfig(name,robot.stateFullSize())
+
+ for f in robot.displayList:
+ f()
def incrementView(robot,dt):
'''Increment then refresh.'''
@@ -16,6 +21,7 @@ def incrementView(robot,dt):
def setView( robot,*args ):
'''Set robot config then refresh.'''
robot.setNoView(*args)
+ #print('view')
robot.refresh()
def addRobotViewer(robot,**args):
@@ -27,6 +33,7 @@ def addRobotViewer(robot,**args):
'''
verbose = args.get('verbose',True)
small = args.get('small',False)
+ small_extra = args.get('small_extra',10)
server = args.get('server','XML-RPC')
try:
@@ -35,21 +42,22 @@ def addRobotViewer(robot,**args):
if small:
if verbose: print 'using a small robot'
- RobotClass.stateFullSize = lambda x: stateFullSize(x,10*(0.0,))
+ RobotClass.stateFullSize = lambda x: stateFullSize(x,small_extra*(0.0,))
else: RobotClass.stateFullSize = stateFullSize
robot.viewer = robotviewer.client(server)
- # Check the connection
- robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
-
RobotClass.refresh = refreshView
RobotClass.incrementNoView = RobotClass.increment
RobotClass.increment = incrementView
RobotClass.setNoView = RobotClass.set
RobotClass.set = setView
- robot.refresh()
+ robot.displayList= []
+
+ # Check the connection
+ if args.get('dorefresh',True):
+ robot.refresh()
except:
if verbose: print "No robot viewer, sorry."
@@ -57,7 +65,9 @@ def addRobotViewer(robot,**args):
-
+# ------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
# Add a visual output when an event is called.
class VisualPinger:
def __init__(self,viewer):
@@ -69,3 +79,9 @@ class VisualPinger:
def __call__(self):
self.pos += 1
self.refresh()
+
+def updateComDisplay(robot,comsig,objname='com'):
+ if comsig.time > 0:
+ robot.viewer.updateElementConfig(objname,[comsig.value[0],comsig.value[1],0,0,0,0])
+
+
--
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