dynacfg.application Class Reference

Configure Hekateros servo. More...

Public Member Functions
def	__init__ (self)
	Unit test constructor. More...
def	printUsageErr (self, emsg)
	Print usage error. More...
def	printUsage (self)
	Print Command-Line Usage Message. More...
def	getOptions (self, argv=None, kwargs)
	Get command-line options. More...
def	run (self, argv=None, kwargs)
	Run application. More...

Public Attributes
	m_win

Detailed Description

Configure Hekateros servo.

Definition at line 369 of file dynacfg.py.

Constructor & Destructor Documentation

def dynacfg.application.__init__

(

self

)

Unit test constructor.

Definition at line 372 of file dynacfg.py.

References dynacfg.application._Argv0, hek_init.application._Argv0, dynacfg.application.m_win, and hek_init.application.m_win.

  def __init__(self):
    self._Argv0 = __file__
    self.m_win = None

Member Function Documentation

def dynacfg.application.getOptions	(		self,
			argv = None,
			kwargs
	)

Get command-line options.

Parameters

	argv	Argument list. If not None, then overrides command-line arguments.
[out]	kwargs	Keyword argument list.

Definition at line 412 of file dynacfg.py.

References dynacfg.application._Argv0, hek_init.application._Argv0, dynacfg.application.printUsage(), hek_init.application.printUsage(), dynacfg.application.printUsageErr(), and hek_init.application.printUsageErr().

Referenced by dynacfg.application.run().

  def getOptions(self, argv=None, **kwargs):
    if argv is None:
      argv = sys.argv

    self._Argv0 = kwargs.get('argv0', __file__)

    # defaults
    kwargs['debug']     = 0
    kwargs['uri']       = '/dev/ttyUSB0'
    kwargs['baudrate']  = 1000000

    # parse command-line options
    try:
      opts, args = getopt.getopt(argv[1:], "?hu:b:",
            ['help', 'uri=', 'baudrate='])
    except getopt.error, msg:
      raise usage(msg)
    for opt, optarg in opts:
      if opt in ('-h', '--help', '-?'):
        self.printUsage()
        sys.exit(0)
      elif opt in ('-u', '--uri'):
        kwargs['uri'] = optarg
      elif opt in ('-b', '--baudrate'):
        kwargs['baudrate'] = optarg

    if len(args) < 1:
      self.printUsageErr("No arm product specified.")
      sys.exit(2)
    else:
      kwargs['arm'] = args[0]

    if len(args) < 2:
      self.printUsageErr("No servo id specified.")
      sys.exit(2)
    else:
      kwargs['joint'] = args[1]

    return kwargs

def dynacfg.application.printUsage

(

self

)

Print Command-Line Usage Message.

Definition at line 387 of file dynacfg.py.

References dynacfg.application._Argv0, and hek_init.application._Argv0.

Referenced by dynacfg.application.getOptions().

  def printUsage(self):
    print \
"""
usage: %s [OPTIONS] <arm> <joint>
       %s --help

Options and arguments:
-u, --uri=<device_uri>    : Dynamixel serial device uri.
                              SYNTAX:  [botsense://[hostname][:port]]/device
                              DEFAULT:  /dev/ttyUSB0
-b, --baudrate=<baud>     : Dynamixel serial device baud rate.
                              DEFAULT:  1000000
-h, --help                : Display this help and exit.

<arm>                     : Hekateros product id. One of: 4S 4L 5S 5L
<joint>                   : Hekateros joint servo. One of:
                              base_rot shoulder_m shoulder_s elbow
                              wrist_pitch wrist_rot gripper
"""  % (self._Argv0, self._Argv0)
 

def dynacfg.application.printUsageErr	(		self,
			emsg
	)

Print usage error.

Parameters

emsg	Error message string.

Definition at line 379 of file dynacfg.py.

References dynacfg.application._Argv0, and hek_init.application._Argv0.

Referenced by dynacfg.application.getOptions(), and dynacfg.application.run().

  def printUsageErr(self, emsg):
    if emsg:
      print "%s: %s" % (self._Argv0, emsg)
    else:
      print "%s: error" % (self._Argv0)
    print "Try '%s --help' for more information." % (self._Argv0)

def dynacfg.application.run	(		self,
			argv = None,
			kwargs
	)

Run application.

Parameters

argv	Optional argument list to override command-line arguments.
kwargs	Optional keyword argument list.

Definition at line 456 of file dynacfg.py.

References dynacfg.application.getOptions(), hek_init.application.getOptions(), dynacfg.application.m_win, hek_init.application.m_win, dynacfg.application.printUsageErr(), and hek_init.application.printUsageErr().

  def run(self, argv=None, **kwargs):
  
    # parse command-line options and arguments
    kwargs = self.getOptions(argv, **kwargs)

    if hekDynaScripts.has_key(kwargs['arm']):
      scripts = hekDynaScripts[kwargs['arm']]
    else:
      self.printUsageErr("%s: Unknown hekateros product key." % (kwargs['arm']))
      return 2
      
    if scripts.has_key(kwargs['joint']):
      cfg_script = scripts[kwargs['joint']]
    else:
      self.printUsageErr("%s: Unknown joint." % (kwargs['joint']))
      return 2
      
    # create root 
    root = Tk()

    # create application window
    self.m_win = window(master=root, **kwargs)

    root.protocol('WM_DELETE_WINDOW', root.destroy)

    # go for it
    self.m_win.mainloop()

    return 0

    fqscript = hekScriptPath + os.path.sep + cfg_script

    cmd = "dynashell --uri=%s --baudrate=%s --script=%s" % \
            (kwargs['uri'], kwargs['baudrate'], fqscript)

    ec = os.system(cmd)

    return 0


# ------------------------------------------------------------------------------
# main
# ------------------------------------------------------------------------------

---

The documentation for this class was generated from the following file:

• docs/factory/dynamixel/dynacfg.py