1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
import sys, os
import json
import re
import yarp
try:
scriptRoot = os.path.join(os.environ['ORS_ROOT'],'scripts')
except KeyError:
scriptRoot = '.'
try:
libRoot = os.path.join(os.environ['ORS_ROOT'],'lib')
except KeyError:
libRoot = '.'
sys.path.append(scriptRoot)
sys.path.append(libRoot)
from middleware.independent.IndependentBlender import *
# Global variables for the names of the input and output ports
ors_in_port_name = "/ors/admin/in"
#ors_out_port_name = "/ors/robots/OBATRV/Gyroscope"
ors_out_port_name = "/ors/admin/out"
local_in_port_name = "/scene/admin/in"
local_out_port_name = "/scene/admin/out"
orsConnector = MiddlewareConnector()
local_in_port = 0
local_out_port = 0
def get_robot_data():
bottle = local_out_port.prepare()
bottle.clear()
bottle.addString("list_robots")
local_out_port.write(False)
waiting = True
print ("Sent the request")
while waiting:
robot_data = local_in_port.read(False)
if robot_data is not None:
"""
# Reading an integer from the bottle
gyro = robot_data.get(0).asInt()
print ("Decripted data: '{0}'".format(gyro))
"""
# Reading a string from the bottle
json_data = robot_data.toString()
print ("Encripted data: '{0}'".format(json_data))
# Remove the quotations at the start and end of the string
json_data = re.sub(r'"(.*)"', r'\1', json_data)
# Unescape all other quotation marks
json_data = re.sub(r'\\(.)', r'\1', json_data)
print ("Unescaped data: '{0}'".format(json_data))
robot_list = json.loads(json_data)
print ("Decripted data: '{0}'".format(robot_list))
for item in robot_list:
name, components = item
print ("\tRobot: {0}".format(name))
for comp in components:
print ("\t\t{0}".format(comp))
waiting = False
def port_setup():
global local_in_port
global local_out_port
yarp.Network.init()
local_in_port = yarp.BufferedPortBottle()
local_in_port.open(local_in_port_name)
local_out_port = yarp.BufferedPortBottle()
local_out_port.open(local_out_port_name)
yarp.Network.connect (local_out_port_name, ors_in_port_name)
yarp.Network.connect (ors_out_port_name, local_in_port_name)
port_setup()
get_robot_data()
|
