How to use _msg method in prospector

Best Python code snippet using prospector_python

test_modification.py

Source:test_modification.py

...43        else:44            App.newDocument(self.doc_name)45        App.setActiveDocument(self.doc_name)46        self.doc = App.ActiveDocument47        _msg("  Temporary document '{}'".format(self.doc_name))48    def test_move(self):49        """Create a line and move it."""50        operation = "Draft Move"51        _msg("  Test '{}'".format(operation))52        a = Vector(0, 2, 0)53        b = Vector(2, 2, 0)54        _msg("  Line")55        _msg("  a={0}, b={1}".format(a, b))56        obj = Draft.make_line(a, b)57        c = Vector(3, 1, 0)58        _msg("  Translation vector")59        _msg("  c={}".format(c))60        Draft.move(obj, c)61        self.assertTrue(obj.Start == Vector(3, 3, 0),62                        "'{}' failed".format(operation))63    def test_copy(self):64        """Create a line, then copy and move it."""65        operation = "Draft Move with copy"66        _msg("  Test '{}'".format(operation))67        a = Vector(0, 3, 0)68        b = Vector(2, 3, 0)69        _msg("  Line")70        _msg("  a={0}, b={1}".format(a, b))71        line = Draft.make_line(a, b)72        c = Vector(2, 2, 0)73        _msg("  Translation vector (copy)")74        _msg("  c={}".format(c))75        obj = Draft.move(line, c, copy=True)76        self.assertTrue(obj, "'{}' failed".format(operation))77    def test_rotate(self):78        """Create a line, then rotate it."""79        operation = "Draft Rotate"80        _msg("  Test '{}'".format(operation))81        a = Vector(1, 1, 0)82        b = Vector(3, 1, 0)83        _msg("  Line")84        _msg("  a={0}, b={1}".format(a, b))85        obj = Draft.make_line(a, b)86        App.ActiveDocument.recompute()87        c = Vector(-1, 1, 0)88        rot = 9089        _msg("  Rotation")90        _msg("  angle={} degrees".format(rot))91        Draft.rotate(obj, rot)92        self.assertTrue(obj.Start.isEqual(c, 1e-12),93                        "'{}' failed".format(operation))94    def test_offset_open(self):95        """Create a wire, then produce an offset copy."""96        operation = "Draft Offset"97        _msg("  Test '{}'".format(operation))98        a = Vector(0, 2, 0)99        b = Vector(2, 4, 0)100        c = Vector(5, 2, 0)101        _msg("  Wire")102        _msg("  a={0}, b={1}".format(a, b))103        _msg("  c={0}".format(c))104        wire = Draft.make_wire([a, b, c])105        App.ActiveDocument.recompute()106        offset = Vector(-1, 1, 0)107        _msg("  Offset")108        _msg("  vector={}".format(offset))109        obj = Draft.offset(wire, offset, copy=True)110        self.assertTrue(obj, "'{}' failed".format(operation))111    def test_offset_closed(self):112        """Create a rectangle, then produce an offset copy."""113        operation = "Draft Offset"114        _msg("  Test '{}'".format(operation))115        length = 4116        width = 2117        _msg("  Rectangle")118        _msg("  length={0}, width={1}".format(length, width))119        rect = Draft.make_rectangle(length, width)120        App.ActiveDocument.recompute()121        offset = Vector(-1, -1, 0)122        _msg("  Offset")123        _msg("  vector={}".format(offset))124        obj = Draft.offset(rect, offset, copy=True)125        self.assertTrue(obj, "'{}' failed".format(operation))126    def test_trim(self):127        """Trim a line. NOT IMPLEMENTED."""128        operation = "Draft Trimex trim"129        _msg("  Test '{}'".format(operation))130        a = Vector(0, 0, 0)131        b = Vector(3, 3, 0)132        _msg("  Line")133        _msg("  a={0}, b={1}".format(a, b))134        line = Draft.make_line(a, b)135        c = Vector(2, 2, 0)136        d = Vector(4, 2, 0)137        _msg("  Line 2")138        _msg("  c={0}, d={1}".format(c, d))139        line2 = Draft.make_line(c, d)140        App.ActiveDocument.recompute()141        Draft.trim_objects = aux.fake_function142        obj = Draft.trim_objects(line, line2)143        self.assertTrue(obj, "'{}' failed".format(operation))144    def test_extend(self):145        """Extend a line. NOT IMPLEMENTED."""146        operation = "Draft Trimex extend"147        _msg("  Test '{}'".format(operation))148        a = Vector(0, 0, 0)149        b = Vector(1, 1, 0)150        _msg("  Line")151        _msg("  a={0}, b={1}".format(a, b))152        line = Draft.make_line(a, b)153        c = Vector(2, 2, 0)154        d = Vector(4, 2, 0)155        _msg("  Line 2")156        _msg("  c={0}, d={1}".format(c, d))157        line2 = Draft.make_line(c, d)158        App.ActiveDocument.recompute()159        Draft.extrude = aux.fake_function160        obj = Draft.extrude(line, line2)161        self.assertTrue(obj, "'{}' failed".format(operation))162    def test_join(self):163        """Join two lines into a single Draft Wire."""164        operation = "Draft Join"165        _msg("  Test '{}'".format(operation))166        a = Vector(0, 0, 0)167        b = Vector(2, 2, 0)168        c = Vector(2, 4, 0)169        _msg("  Line 1")170        _msg("  a={0}, b={1}".format(a, b))171        _msg("  Line 2")172        _msg("  b={0}, c={1}".format(b, c))173        line_1 = Draft.make_line(a, b)174        line_2 = Draft.make_line(b, c)175        # obj = Draft.join_wires([line_1, line_2])  # Multiple wires176        obj = Draft.join_two_wires(line_1, line_2)177        self.assertTrue(obj, "'{}' failed".format(operation))178    def test_split(self):179        """Split a Draft Wire into two Draft Wires."""180        operation = "Draft_Split"181        _msg("  Test '{}'".format(operation))182        a = Vector(0, 0, 0)183        b = Vector(2, 2, 0)184        c = Vector(2, 4, 0)185        d = Vector(6, 4, 0)186        _msg("  Wire")187        _msg("  a={0}, b={1}".format(a, b))188        _msg("  c={0}, d={1}".format(c, d))189        wire = Draft.make_wire([a, b, c, d])190        index = 1191        _msg("  Split at")192        _msg("  p={0}, index={1}".format(b, index))193        obj = Draft.split(wire, b, index)194        # TODO: split needs to be modified so that it returns True or False.195        # Then checking for Wire001 is not needed196        if App.ActiveDocument.Wire001:197            obj = True198        self.assertTrue(obj, "'{}' failed".format(operation))199    def test_upgrade(self):200        """Upgrade two Draft Lines into a closed Draft Wire."""201        operation = "Draft Upgrade"202        _msg("  Test '{}'".format(operation))203        a = Vector(0, 0, 0)204        b = Vector(2, 2, 0)205        c = Vector(2, 4, 0)206        _msg("  Line 1")207        _msg("  a={0}, b={1}".format(a, b))208        _msg("  Line 2")209        _msg("  b={0}, c={1}".format(b, c))210        line_1 = Draft.make_line(a, b)211        line_2 = Draft.make_line(b, c)212        App.ActiveDocument.recompute()213        obj = Draft.upgrade([line_1, line_2], delete=True)214        App.ActiveDocument.recompute()215        s = obj[0][0]216        _msg("  1: Result '{0}' ({1})".format(s.Shape.ShapeType, s.TypeId))217        self.assertTrue(bool(obj[0]), "'{}' failed".format(operation))218        obj2 = Draft.upgrade(obj[0], delete=True)219        App.ActiveDocument.recompute()220        s2 = obj2[0][0]221        _msg("  2: Result '{0}' ({1})".format(s2.Shape.ShapeType,222                                              s2.TypeId))223        self.assertTrue(bool(obj2[0]), "'{}' failed".format(operation))224        obj3 = Draft.upgrade(obj2[0], delete=True)225        App.ActiveDocument.recompute()226        s3 = obj3[0][0]227        _msg("  3: Result '{0}' ({1})".format(s3.Shape.ShapeType, s3.TypeId))228        self.assertTrue(bool(obj3[0]), "'{}' failed".format(operation))229        obj4 = Draft.upgrade(obj3[0], delete=True)230        App.ActiveDocument.recompute()231        wire = App.ActiveDocument.Wire232        _msg("  4: Result '{0}' ({1})".format(wire.Proxy.Type, wire.TypeId))233        _msg("  The last object cannot be upgraded further")234        self.assertFalse(bool(obj4[0]), "'{}' failed".format(operation))235    def test_downgrade(self):236        """Downgrade a closed Draft Wire into three simple Part Edges."""237        operation = "Draft Downgrade"238        _msg("  Test '{}'".format(operation))239        a = Vector(0, 0, 0)240        b = Vector(2, 2, 0)241        c = Vector(2, 4, 0)242        _msg("  Closed wire")243        _msg("  a={0}, b={1}".format(a, b))244        _msg("  c={0}, a={1}".format(c, a))245        wire = Draft.make_wire([a, b, c, a])246        App.ActiveDocument.recompute()247        obj = Draft.downgrade(wire, delete=True)248        App.ActiveDocument.recompute()249        s = obj[0][0]250        _msg("  1: Result '{0}' ({1})".format(s.Shape.ShapeType, s.TypeId))251        self.assertTrue(bool(obj[0]), "'{}' failed".format(operation))252        obj2 = Draft.downgrade(obj[0], delete=True)253        App.ActiveDocument.recompute()254        s2 = obj2[0][0]255        _msg("  2: Result '{0}' ({1})".format(s2.Shape.ShapeType, s2.TypeId))256        self.assertTrue(bool(obj2[0]), "'{}' failed".format(operation))257        obj3 = Draft.downgrade(obj2[0], delete=True)258        App.ActiveDocument.recompute()259        s3 = obj3[0][0]260        _msg("  3: Result 3 x '{0}' ({1})".format(s3.Shape.ShapeType,261                                                  s3.TypeId))262        self.assertTrue(len(obj3[0]) == 3, "'{}' failed".format(operation))263        obj4 = Draft.downgrade(obj3[0], delete=True)264        App.ActiveDocument.recompute()265        s4 = obj4[0]266        _msg("  4: Result '{}'".format(s4))267        _msg("  The last objects cannot be downgraded further")268        self.assertFalse(bool(obj4[0]), "'{}' failed".format(operation))269    def test_wire_to_bspline(self):270        """Convert a polyline to BSpline and back."""271        operation = "Draft WireToBSpline"272        _msg("  Test '{}'".format(operation))273        a = Vector(0, 0, 0)274        b = Vector(2, 2, 0)275        c = Vector(2, 4, 0)276        _msg("  Wire")277        _msg("  a={0}, b={1}".format(a, b))278        _msg("  c={}".format(c))279        wire = Draft.make_wire([a, b, c])280        obj = Draft.make_bspline(wire.Points)281        App.ActiveDocument.recompute()282        _msg("  1: Result '{0}' ({1})".format(obj.Proxy.Type, obj.TypeId))283        self.assertTrue(obj, "'{}' failed".format(operation))284        obj2 = Draft.make_wire(obj.Points)285        _msg("  2: Result '{0}' ({1})".format(obj2.Proxy.Type, obj2.TypeId))286        self.assertTrue(obj2, "'{}' failed".format(operation))287    def test_shape_2d_view(self):288        """Create a prism and then a 2D projection of it."""289        operation = "Draft Shape2DView"290        _msg("  Test '{}'".format(operation))291        prism = App.ActiveDocument.addObject("Part::Prism")292        prism.Polygon = 5293        # Rotate the prism 45 degrees around the Y axis294        prism.Placement.Rotation.Axis = Vector(0, 1, 0)295        prism.Placement.Rotation.Angle = 45 * (3.14159/180)296        _msg("  Prism")297        _msg("  n_sides={}".format(prism.Polygon))298        _msg("  placement={}".format(prism.Placement))299        direction = Vector(0, 0, 1)300        _msg("  Projection 2D view")301        _msg("  direction={}".format(direction))302        obj = Draft.make_shape2dview(prism, direction)303        self.assertTrue(obj, "'{}' failed".format(operation))304    def test_draft_to_sketch(self):305        """Convert a Draft object to a Sketch and back."""306        operation = "Draft Draft2Sketch"307        _msg("  Test '{}'".format(operation))308        a = Vector(0, 0, 0)309        b = Vector(2, 2, 0)310        c = Vector(2, 4, 0)311        _msg("  Wire")312        _msg("  a={0}, b={1}".format(a, b))313        _msg("  c={}".format(c))314        wire = Draft.make_wire([a, b, c])315        App.ActiveDocument.recompute()316        obj = Draft.make_sketch(wire, autoconstraints=True)317        App.ActiveDocument.recompute()318        _msg("  1: Result '{0}' ({1})".format(obj.Shape.ShapeType,319                                              obj.TypeId))320        self.assertTrue(obj, "'{}' failed".format(operation))321        obj2 = Draft.draftify(obj, delete=False)322        App.ActiveDocument.recompute()323        _msg("  2: Result '{0}' ({1})".format(obj2.Proxy.Type,324                                              obj2.TypeId))325        self.assertTrue(obj2, "'{}' failed".format(operation))326    def test_rectangular_array(self):327        """Create a rectangle, and a rectangular array."""328        operation = "Draft OrthoArray"329        _msg("  Test '{}'".format(operation))330        length = 4331        width = 2332        _msg("  Rectangle")333        _msg("  length={0}, width={1}".format(length, width))334        rect = Draft.make_rectangle(length, width)335        App.ActiveDocument.recompute()336        dir_x = Vector(5, 0, 0)337        dir_y = Vector(0, 4, 0)338        dir_z = Vector(0, 0, 6)339        number_x = 3340        number_y = 4341        number_z = 6342        _msg("  Array")343        _msg("  direction_x={}".format(dir_x))344        _msg("  direction_y={}".format(dir_y))345        _msg("  direction_z={}".format(dir_z))346        _msg("  number_x={0}, number_y={1}, number_z={2}".format(number_x,347                                                                 number_y,348                                                                 number_z))349        obj = Draft.make_ortho_array(rect,350                                     dir_x, dir_y, dir_z,351                                     number_x, number_y, number_z)352        self.assertTrue(obj, "'{}' failed".format(operation))353    def test_polar_array(self):354        """Create a rectangle, and a polar array."""355        operation = "Draft PolarArray"356        _msg("  Test '{}'".format(operation))357        length = 4358        width = 2359        _msg("  Rectangle")360        _msg("  length={0}, width={1}".format(length, width))361        rect = Draft.make_rectangle(length, width)362        App.ActiveDocument.recompute()363        center = Vector(-4, 0, 0)364        angle = 180365        number = 5366        _msg("  Array")367        _msg("  number={0}, polar_angle={1}".format(number, angle))368        _msg("  center={}".format(center))369        obj = Draft.make_polar_array(rect,370                                     number, angle, center)371        self.assertTrue(obj, "'{}' failed".format(operation))372    def test_circular_array(self):373        """Create a rectangle, and a circular array."""374        operation = "Draft CircularArray"375        _msg("  Test '{}'".format(operation))376        length = 4377        width = 2378        _msg("  Rectangle")379        _msg("  length={0}, width={1}".format(length, width))380        rect = Draft.make_rectangle(length, width)381        App.ActiveDocument.recompute()382        rad_distance = 10383        tan_distance = 8384        axis = Vector(0, 0, 1)385        center = Vector(0, 0, 0)386        number = 3387        symmetry = 1388        _msg("  Array")389        _msg("  radial_distance={0}, "390             "tangential_distance={1}".format(rad_distance, tan_distance))391        _msg("  number={0}, symmetry={1}".format(number, symmetry))392        _msg("  axis={}".format(axis))393        _msg("  center={}".format(center))394        obj = Draft.make_circular_array(rect,395                                        rad_distance, tan_distance,396                                        number, symmetry,397                                        axis, center)398        self.assertTrue(obj, "'{}' failed".format(operation))399    def test_path_array(self):400        """Create a wire, a polygon, and a path array."""401        operation = "Draft PathArray"402        _msg("  Test '{}'".format(operation))403        a = Vector(0, 0, 0)404        b = Vector(2, 2, 0)405        c = Vector(2, 4, 0)406        d = Vector(8, 4, 0)407        _msg("  Wire")408        _msg("  a={0}, b={1}".format(a, b))409        _msg("  c={0}, d={1}".format(c, d))410        wire = Draft.make_wire([a, b, c, d])411        n_faces = 3412        radius = 1413        _msg("  Polygon")414        _msg("  n_faces={0}, radius={1}".format(n_faces, radius))415        poly = Draft.make_polygon(n_faces, radius)416        number = 4417        translation = Vector(0, 1, 0)418        align = False419        _msg("  Path Array")420        _msg("  number={}, translation={}".format(number, translation))421        _msg("  align={}".format(align))422        obj = Draft.make_path_array(poly, wire, number, translation, align)423        self.assertTrue(obj, "'{}' failed".format(operation))424    def test_point_array(self):425        """Create a polygon, various point, and a point array."""426        operation = "Draft PointArray"427        _msg("  Test '{}'".format(operation))428        a = Vector(0, 0, 0)429        b = Vector(2, 2, 0)430        c = Vector(2, 4, 0)431        d = Vector(8, 4, 0)432        _msg("  Points")433        _msg("  a={0}, b={1}".format(a, b))434        _msg("  c={0}, d={1}".format(c, d))435        points = [Draft.make_point(a),436                  Draft.make_point(b),437                  Draft.make_point(c),438                  Draft.make_point(d)]439        _msg("  Upgrade")440        add, delete = Draft.upgrade(points)441        compound = add[0]442        n_faces = 3443        radius = 1444        _msg("  Polygon")445        _msg("  n_faces={0}, radius={1}".format(n_faces, radius))446        poly = Draft.make_polygon(n_faces, radius)447        _msg("  Point Array")448        obj = Draft.make_point_array(poly, compound)449        self.assertTrue(obj, "'{}' failed".format(operation))450    def test_clone(self):451        """Create a box, then create a clone of it.452        Test for a bug introduced by changes in attachment code.453        """454        operation = "Draft Clone"455        _msg("  Test '{}'".format(operation))456        box = App.ActiveDocument.addObject("Part::Box")457        App.ActiveDocument.recompute()458        _msg("  object: '{0}' ({1})".format(box.Shape.ShapeType, box.TypeId))459        obj = Draft.make_clone(box)460        _msg("  clone: '{0}' ({1})".format(obj.Proxy.Type, obj.TypeId))461        self.assertTrue(obj, "'{}' failed".format(operation))462        self.assertTrue(obj.hasExtension("Part::AttachExtension"),463                        "'{}' failed".format(operation))464    def test_draft_to_drawing(self):465        """Create a solid, and then a projected view in a Drawing page."""466        operation = "Draft Drawing"467        _msg("  Test '{}'".format(operation))468        _wrn("  The Drawing Workbench is obsolete since 0.17,")469        _wrn("  consider using the TechDraw Workbench instead")470        prism = App.ActiveDocument.addObject("Part::Prism")471        prism.Polygon = 5472        # Rotate the prism 45 degrees around the Y axis473        prism.Placement.Rotation.Axis = Vector(0, 1, 0)474        prism.Placement.Rotation.Angle = 45 * (3.14159/180)475        _msg("  Prism")476        _msg("  n_sides={}".format(prism.Polygon))477        _msg("  placement={}".format(prism.Placement))478        svg_template = 'Mod/Drawing/Templates/A3_Landscape.svg'479        template = Draft.get_param("template",480                                   App.getResourceDir() + svg_template)481        page = App.ActiveDocument.addObject('Drawing::FeaturePage')482        page.Template = template483        _msg("  Drawing view")484        _msg("  page={}".format(page.TypeId))485        _msg("  template={}".format(page.Template))486        obj = Draft.makeDrawingView(prism, page, otherProjection=None)487        self.assertTrue(obj, "'{}' failed".format(operation))488    def test_mirror(self):489        """Create a rectangle, then a mirrored shape."""490        operation = "Draft Mirror"491        _msg("  Test '{}'".format(operation))492        length = 4493        width = 2494        _msg("  Rectangle")495        _msg("  length={0}, width={1}".format(length, width))496        rect = Draft.make_rectangle(length, width)497        # App.ActiveDocument.recompute()498        p1 = Vector(6, -2, 0)499        p2 = Vector(6, 2, 0)500        _msg("  Mirror axis")501        _msg("  p1={}".format(p1))502        _msg("  p2={}".format(p2))503        obj = Draft.mirror(rect, p1, p2)504        self.assertTrue(obj, "'{}' failed".format(operation))505    def test_stretch(self):506        """Stretch a line. NOT IMPLEMENTED."""507        operation = "Draft Stretch"508        _msg("  Test '{}'".format(operation))509        _msg("  This test requires an object and a selection")510        a = Vector(0, 0, 0)511        b = Vector(1, 1, 0)512        _msg("  Line")513        _msg("  a={0}, b={1}".format(a, b))514        line = Draft.make_line(a, b)515        direction = Vector(4, 1, 0)516        Draft.stretch = aux.fake_function517        obj = Draft.stretch(line, direction)518        self.assertTrue(obj, "'{}' failed".format(operation))519    def tearDown(self):520        """Finish the test.521        This is executed after each test, so we close the document.522        """...

allegroCtrl.py

Source:allegroCtrl.py

1#%%2import sys3sys.path.append("/Users/user/Downloads/PCAN-Basic API/samples/python")4from PCANBasic import *5from math import pi, degrees, radians6import threading, time, struct7import numpy as np89# CAN Comm. Instance10pcan = PCANBasic()1112# Define CAN Channel13PCAN_CH = PCAN_USBBUS114CAN_ID  = 01516# Define Baud-Rate17PCAN_BAUD = PCAN_BAUD_1M1819# Define ID20SET_TORQUE_1 = 0x60+021SET_TORQUE_2 = 0x60+122SET_TORQUE_3 = 0x60+223SET_TORQUE_4 = 0x60+324SET_PERIOD   = 0x8125SET_POSE_1   = 0xE0+026SET_POSE_2   = 0xE0+127SET_POSE_3   = 0xE0+228SET_POSE_4   = 0xE0+329CMD_SYS_ON   = 0x4030CMD_SYS_OFF  = 0x4131FINGER_POS_1 = 0x20+032FINGER_POS_2 = 0x20+133FINGER_POS_3 = 0x20+234FINGER_POS_4 = 0x20+335# ID List36FINGER_IDS   = [FINGER_POS_1, FINGER_POS_2, FINGER_POS_3, FINGER_POS_4]37POSE_IDS     = [SET_POSE_1, SET_POSE_2, SET_POSE_3, SET_POSE_4]38TORQUE_IDS   = [SET_TORQUE_1, SET_TORQUE_2, SET_TORQUE_3, SET_TORQUE_4]3940# Define MSG Type41RTR_MSG = PCAN_MESSAGE_RTR42STD_MSG = PCAN_MESSAGE_STANDARD4344# Define Constant45MAX_BUS = 256 # 25646MAX_DOF = 16  # 1647HZ      = 333.348RESOL   = 65536.04950# Define PWM Limit for Fingers except Thumb51PWM_LIMIT_ROLL = 250.0 * 1.552PWM_LIMIT_NEAR = 450.0 * 1.553PWM_LIMIT_MID  = 300.0 * 1.554PWM_LIMIT_FAR  = 190.0 * 1.55556# PWM Limit For Thumb57PWM_LIMIT_T_ROLL = 350.0 * 1.558PWM_LIMIT_T_NEAR = 270.0 * 1.559PWM_LIMIT_T_MID  = 180.0 * 1.560PWM_LIMIT_T_FAR  = 180.0 * 1.56162# Torque Conversion Constant63TAU_CONV_CONST   = 1200.064PWM_ABS_LIMIT    = 1200.0656667# Initializing CAN Comm.68res = pcan.Initialize(PCAN_CH, PCAN_BAUD)6970homePos = [ 0,  10, 45, 45,71            0, -10, 45, 45,72            5,  -5, 50, 45,73           60,  25, 15, 45]7475""" Define Function """76def cmd_req_finger_pose(_ch, _ind) :77    if _ind == "a" :78        _j = np.zeros((4, 4))79    else :80        _j = np.zeros((1, 4))81    if _ind == "a" :82        for _i, _ID in enumerate(FINGER_IDS) :83            _msg = TPCANMsg()84            _msg.ID  = (_ID << 2) | CAN_ID85            _msg.LEN = 086            _msg.MSGTYPE = RTR_MSG87            _res = pcan.Write(_ch, _msg)88            _res = pcan.Read(_ch)89            # if _res[0] != PCAN_ERROR_QRCVEMPTY :90            if _res[1].LEN > 0 :91                # print("LENGTH", _res[1].LEN)92                _data1 = round((_res[1].DATA[0] | (_res[1].DATA[1] << 8))*HZ/RESOL, 2)93                _data2 = round((_res[1].DATA[2] | (_res[1].DATA[3] << 8))*HZ/RESOL, 2)94                _data3 = round((_res[1].DATA[4] | (_res[1].DATA[5] << 8))*HZ/RESOL, 2)95                _data4 = round((_res[1].DATA[6] | (_res[1].DATA[7] << 8))*HZ/RESOL, 2)96                print("FINGER_%s" %(_ID-31), "%6.2f deg" %(_data1), 97                      "%6.2f deg" %(_data2), "%6.2f deg" %(_data3), "%6.2f deg" %(_data4))98                _j[_i, 0] = _data199                _j[_i, 1] = _data2100                _j[_i, 2] = _data3101                _j[_i, 3] = _data4102    else :103        _msg = TPCANMsg()104        _ID  = FINGER_POS_1105        _msg.ID  = (_ID << 2) | CAN_ID106        _msg.LEN = 0107        _msg.MSGTYPE = RTR_MSG108        _res = pcan.Write(_ch, _msg)109        _res = pcan.Read(_ch)110        # if _res[0] != PCAN_ERROR_QRCVEMPTY :111        if _res[1].LEN > 0 :112            # print("LENGTH", _res[1].LEN)113            _data1 = round((_res[1].DATA[0] | (_res[1].DATA[1] << 8))*HZ/RESOL, 2)114            _data2 = round((_res[1].DATA[2] | (_res[1].DATA[3] << 8))*HZ/RESOL, 2)115            _data3 = round((_res[1].DATA[4] | (_res[1].DATA[5] << 8))*HZ/RESOL, 2)116            _data4 = round((_res[1].DATA[6] | (_res[1].DATA[7] << 8))*HZ/RESOL, 2)117            # print("FINGER_%s" %(_ID-31), "%6.2f deg" %(_data1), 118            #      "%6.2f deg" %(_data2), "%6.2f deg" %(_data3), "%6.2f deg" %(_data4))119            _j[0, 0] = _data1120            _j[0, 1] = _data2121            _j[0, 2] = _data3122            _j[0, 3] = _data4123            # _j.append(_tmp)124    return _j125126def cmd_set_finger_pose(_ch, _fP) :127    # _fP : Finger Pose Vector128    for _ID in POSE_IDS :129        # MSG Structure130        _msg = TPCANMsg()131        _msg.ID  = (_ID << 2) | CAN_ID132        _msg.LEN = 8133        _msg.MSGTYPE = STD_MSG134135        # Finger Pose Set136        _msg.DATA[0] = ((_fP[0])      & 0x00ff)137        _msg.DATA[1] = ((_fP[0] >> 8) & 0x00ff)138139        _msg.DATA[2] = ((_fP[1])      & 0x00ff)140        _msg.DATA[3] = ((_fP[1] >> 8) & 0x00ff)141142        _msg.DATA[4] = ((_fP[2])      & 0x00ff)143        _msg.DATA[5] = ((_fP[2] >> 8) & 0x00ff)144145        _msg.DATA[6] = ((_fP[3])      & 0x00ff)146        _msg.DATA[7] = ((_fP[3] >> 8) & 0x00ff)147148        _ = pcan.Write(_ch, _msg)149150def cmd_set_finger_torque(_ch, _tq, _ind) :151    if _ind == "a" :152        for _ID in TORQUE_IDS :153            # MSG Structure154            _msg = TPCANMsg()155            _msg.ID  = (_ID << 2) | CAN_ID156            _msg.LEN = 8157            _msg.MSGTYPE = STD_MSG158159            # Finger Pose Set160            _msg.DATA[0] = ((_tq[0])      & 0x00ff)161            _msg.DATA[1] = ((_tq[0] >> 8) & 0x00ff)162163            _msg.DATA[2] = ((_tq[1])      & 0x00ff)164            _msg.DATA[3] = ((_tq[1] >> 8) & 0x00ff)165166            _msg.DATA[4] = ((_tq[2])      & 0x00ff)167            _msg.DATA[5] = ((_tq[2] >> 8) & 0x00ff)168169            _msg.DATA[6] = ((_tq[3])      & 0x00ff)170            _msg.DATA[7] = ((_tq[3] >> 8) & 0x00ff)171172            _ = pcan.Write(_ch, _msg)173    else :174        # Set 1 Finger175        _msg     = TPCANMsg()176        _ID      = SET_TORQUE_1177        _msg.ID  = (_ID << 2) | CAN_ID178        _msg.LEN = 8179        _msg.MSGTYPE = STD_MSG180181        _msg.DATA[0] = ((_tq[0])      & 0x00ff)182        _msg.DATA[1] = ((_tq[0] >> 8) & 0x00ff)183184        _msg.DATA[2] = ((_tq[1])      & 0x00ff)185        _msg.DATA[3] = ((_tq[1] >> 8) & 0x00ff)186187        _msg.DATA[4] = ((_tq[2])      & 0x00ff)188        _msg.DATA[5] = ((_tq[2] >> 8) & 0x00ff)189190        _msg.DATA[6] = ((_tq[3])      & 0x00ff)191        _msg.DATA[7] = ((_tq[3] >> 8) & 0x00ff)192193        _ = pcan.Write(_ch, _msg)194195def cmd_set_period(_ch) :196    _ID  =  SET_PERIOD197    _msg = TPCANMsg()198    _msg.ID  = (_ID << 2) | CAN_ID199    _msg.LEN = 6200    _period  = [3, 0, 0]201    _msg.MSGTYPE = STD_MSG202    _msg.DATA[0] = ((_period[0])      & 0x00ff)203    _msg.DATA[1] = ((_period[0] >> 8) & 0x00ff)204    _msg.DATA[2] = ((_period[1])      & 0x00ff)205    _msg.DATA[3] = ((_period[1] >> 8) & 0x00ff)206    _msg.DATA[4] = ((_period[2])      & 0x00ff)207    _msg.DATA[5] = ((_period[2] >> 8) & 0x00ff)208    _ = pcan.Write(_ch, _msg)209    print("Period Set - Done", _period)210211def cmd_servo_on(_ch) :212    _ID  = CMD_SYS_ON213    _msg = TPCANMsg()214    _msg.ID  = (_ID << 2) | CAN_ID215    _msg.LEN = 0216    _msg.MSGTYPE = STD_MSG217    _ = pcan.Write(_ch, _msg)218    print("Servo On - Done")219220def cmd_servo_off(_ch) :221    _ID  = CMD_SYS_OFF222    _msg = TPCANMsg()223    _msg.ID  = (_ID << 2) | CAN_ID224    _msg.LEN = 0225    _msg.MSGTYPE = STD_MSG226    _ = pcan.Write(_ch, _msg)227    print("Servo Off - Done")228229def cmd_hand_preprocess(_ch) :230    cmd_servo_on(_ch)231    print("Hand Ready")232233try :234    # cmd_hand_preprocess(PCAN_CH)235    cmd_set_period(PCAN_CH)236    prev_pos          = np.zeros((1, 4))237    cur_pos_filtered  = np.zeros((1, 4))238    prev_pos_filtered = np.zeros((1, 4))239    prev_vel          = np.zeros((1, 4))240    cur_vel           = np.zeros((1, 4))241242    counter = 0243    while abs(prev_pos[0][0]) < 0.01 :244        prev_pos = np.radians(cmd_req_finger_pose(PCAN_CH, "b"))245        counter += 1246    t1 = time.time()247    print(prev_pos, counter)248    while True :249        cur_pos = np.radians(cmd_req_finger_pose(PCAN_CH, "b"))250        if len(cur_pose) > 0 :251            t2 = time.time()252            elapsed = t2 - t1253            if elapsed > 0.005 :254                t1 = t2255                print(cur_pos, prev_pos, elapsed)256                for i in range(len(cur_pos_filtered.shape[1])) :257                    cur_pos_filtered[0, i] = 0.6 * cur_pos_filtered[0, i] \258                                          + 0.198 * prev_pos[0, i] + 0.198 * cur_pos[0, i]259                    cur_vel[0, i] = (cur_pos_filtered[0, i] - prev_pos_filtered[0, i])/elapsed260                    cur_vel_filtered[0, i] = (0.6 * cur_vel_filtered[0, i]) + \261                                          + (0.198 * prev_vel[0, i]) + (0.198 * cur_vel[0, i])262                    cur_vel[0, i] = (cur_pos[0, i] - prev_pos[0, i])/elapsed263264                    # previous attribute update265                    prev_pos[0, i] = cur_pos[0, i]266                    prev_pos_filtered[0, i] = cur_pos_filtered[0, i]267                    prev_vel[0, i] = cur_vel[0, i]268        else :269            pass270    """271    key = input()272    if key == "1" :273        st = time.time()274        cmd_servo_on(PCAN_CH)275        while time.time() - st < 10 :276            desired_torque = [100, -250, 250, 50]277            cmd_set_finger_torque(PCAN_CH, desired_torque, "a")278    elif key == "2" :279        desried_torque = [0, 0, 0, 0]280        cmd_set_finger_torque(PCAN_CH, desired_torque, "a")281    """282except :283    print("Closed")284    cmd_servo_off(PCAN_CH)
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