delete(task_3): remove main-ori.py and robot_control_cmd_lcmt copy.py files
- Deleted main-ori.py as it is no longer needed for the project. - Removed robot_control_cmd_lcmt copy.py to clean up unused LCM type definitions and streamline the codebase.
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4981
Gait_Params_up_full.toml
Normal file
4981
Gait_Params_up_full.toml
Normal file
File diff suppressed because it is too large
Load Diff
@ -27,13 +27,13 @@ robot_cmd = {
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'value':0, 'duration':0
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}
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def main():
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def task_3_main(file_dir=""):
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lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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usergait_msg = file_send_lcmt()
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cmd_msg = robot_control_cmd_lcmt()
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try:
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steps = toml.load("Gait_Params_up.toml")
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steps = toml.load(f"{file_dir}/Gait_Params_up.toml")
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full_steps = {'step':[robot_cmd]}
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k =0
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for i in steps['step']:
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@ -60,13 +60,13 @@ def main():
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else:
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full_steps['step'].append(cmd)
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k=k+1
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f = open("Gait_Params_up_full.toml", 'w')
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f = open(f"{file_dir}/Gait_Params_up_full.toml", 'w')
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f.write("# Gait Params\n")
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f.writelines(toml.dumps(full_steps))
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f.close()
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file_obj_gait_def = open("Gait_Def_up.toml",'r')
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file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
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file_obj_gait_def = open(f"{file_dir}/Gait_Def_up.toml",'r')
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file_obj_gait_params = open(f"{file_dir}/Gait_Params_up_full.toml",'r')
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usergait_msg.data = file_obj_gait_def.read()
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lcm_usergait.publish("user_gait_file",usergait_msg.encode())
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time.sleep(0.5)
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@ -76,7 +76,7 @@ def main():
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file_obj_gait_def.close()
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file_obj_gait_params.close()
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user_gait_list = open("Usergait_List.toml",'r')
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user_gait_list = open(f"{file_dir}/Usergait_List.toml",'r')
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steps = toml.load(user_gait_list)
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for step in steps['step']:
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cmd_msg.mode = step['mode']
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@ -110,4 +110,4 @@ def main():
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sys.exit()
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if __name__ == '__main__':
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main()
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task_3_main()
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@ -1,149 +0,0 @@
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# LCM type definitions This file automatically generated by lcm.
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try:
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import cStringIO.StringIO as BytesIO
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except ImportError:
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from io import BytesIO
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import struct
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class robot_control_cmd_lcmt(object):
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__slots__ = ["mode", "gait_id", "contact", "life_count", "vel_des", "rpy_des", "pos_des", "acc_des", "ctrl_point", "foot_pose", "step_height", "value", "duration"]
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__typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "float", "float", "float", "float", "float", "float", "float", "int32_t", "int32_t"]
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__dimensions__ = [None, None, None, None, [3], [3], [3], [6], [3], [6], [2], None, None]
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def __init__(self):
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self.mode = 0
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self.gait_id = 0
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self.contact = 0
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self.life_count = 0
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self.vel_des = [ 0.0 for dim0 in range(3) ]
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self.rpy_des = [ 0.0 for dim0 in range(3) ]
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self.pos_des = [ 0.0 for dim0 in range(3) ]
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self.acc_des = [ 0.0 for dim0 in range(6) ]
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self.ctrl_point = [ 0.0 for dim0 in range(3) ]
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self.foot_pose = [ 0.0 for dim0 in range(6) ]
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self.step_height = [ 0.0 for dim0 in range(2) ]
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self.value = 0
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self.duration = 0
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def encode(self):
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buf = BytesIO()
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buf.write(robot_control_cmd_lcmt._get_packed_fingerprint())
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self._encode_one(buf)
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return buf.getvalue()
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def _encode_one(self, buf):
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buf.write(struct.pack(">bbbb", self.mode, self.gait_id, self.contact, self.life_count))
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buf.write(struct.pack('>3f', *self.vel_des[:3]))
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buf.write(struct.pack('>3f', *self.rpy_des[:3]))
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buf.write(struct.pack('>3f', *self.pos_des[:3]))
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buf.write(struct.pack('>6f', *self.acc_des[:6]))
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buf.write(struct.pack('>3f', *self.ctrl_point[:3]))
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buf.write(struct.pack('>6f', *self.foot_pose[:6]))
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buf.write(struct.pack('>2f', *self.step_height[:2]))
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buf.write(struct.pack(">ii", self.value, self.duration))
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def decode(data):
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if hasattr(data, 'read'):
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buf = data
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else:
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buf = BytesIO(data)
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if buf.read(8) != robot_control_cmd_lcmt._get_packed_fingerprint():
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raise ValueError("Decode error")
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return robot_control_cmd_lcmt._decode_one(buf)
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decode = staticmethod(decode)
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def _decode_one(buf):
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self = robot_control_cmd_lcmt()
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self.mode, self.gait_id, self.contact, self.life_count = struct.unpack(">bbbb", buf.read(4))
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self.vel_des = struct.unpack('>3f', buf.read(12))
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self.rpy_des = struct.unpack('>3f', buf.read(12))
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self.pos_des = struct.unpack('>3f', buf.read(12))
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self.acc_des = struct.unpack('>6f', buf.read(24))
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self.ctrl_point = struct.unpack('>3f', buf.read(12))
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self.foot_pose = struct.unpack('>6f', buf.read(24))
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self.step_height = struct.unpack('>2f', buf.read(8))
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self.value, self.duration = struct.unpack(">ii", buf.read(8))
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return self
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_decode_one = staticmethod(_decode_one)
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def _get_hash_recursive(parents):
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if robot_control_cmd_lcmt in parents: return 0
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tmphash = (0x476b61e296af96f5) & 0xffffffffffffffff
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tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
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return tmphash
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_get_hash_recursive = staticmethod(_get_hash_recursive)
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_packed_fingerprint = None
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def _get_packed_fingerprint():
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if robot_control_cmd_lcmt._packed_fingerprint is None:
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robot_control_cmd_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_cmd_lcmt._get_hash_recursive([]))
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return robot_control_cmd_lcmt._packed_fingerprint
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_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
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def get_hash(self):
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"""Get the LCM hash of the struct"""
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return struct.unpack(">Q", robot_control_cmd_lcmt._get_packed_fingerprint())[0]
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class robot_control_response_lcmt(object):
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__slots__ = ["mode", "gait_id", "contact", "order_process_bar", "switch_status", "ori_error", "footpos_error", "motor_error"]
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__typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int16_t", "int32_t"]
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__dimensions__ = [None, None, None, None, None, None, None, [12]]
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def __init__(self):
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self.mode = 0
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self.gait_id = 0
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self.contact = 0
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self.order_process_bar = 0
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self.switch_status = 0
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self.ori_error = 0
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self.footpos_error = 0
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self.motor_error = [ 0 for dim0 in range(12) ]
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def encode(self):
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buf = BytesIO()
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buf.write(robot_control_response_lcmt._get_packed_fingerprint())
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self._encode_one(buf)
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return buf.getvalue()
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def _encode_one(self, buf):
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buf.write(struct.pack(">bbbbbbh", self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error))
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buf.write(struct.pack('>12i', *self.motor_error[:12]))
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def decode(data):
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if hasattr(data, 'read'):
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buf = data
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else:
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buf = BytesIO(data)
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if buf.read(8) != robot_control_response_lcmt._get_packed_fingerprint():
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raise ValueError("Decode error")
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return robot_control_response_lcmt._decode_one(buf)
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decode = staticmethod(decode)
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def _decode_one(buf):
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self = robot_control_response_lcmt()
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self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error = struct.unpack(">bbbbbbh", buf.read(8))
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self.motor_error = struct.unpack('>12i', buf.read(48))
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return self
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_decode_one = staticmethod(_decode_one)
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def _get_hash_recursive(parents):
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if robot_control_response_lcmt in parents: return 0
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tmphash = (0x485da98216eda8c7) & 0xffffffffffffffff
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tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
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return tmphash
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_get_hash_recursive = staticmethod(_get_hash_recursive)
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_packed_fingerprint = None
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def _get_packed_fingerprint():
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if robot_control_response_lcmt._packed_fingerprint is None:
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robot_control_response_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_response_lcmt._get_hash_recursive([]))
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return robot_control_response_lcmt._packed_fingerprint
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_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
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def get_hash(self):
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"""Get the LCM hash of the struct"""
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return struct.unpack(">Q", robot_control_response_lcmt._get_packed_fingerprint())[0]
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