def printText(txt, msg): global seat seat.appendText(txt, msg+"\n") def sendDoubleSeq(in_str): global seat,rtc_result instr = seat.getEntry(in_str) if instr.strip() : rtc_result=eval("TimedDoubleSeq(Time(0,0),["+instr+"])") def ouputDoubleSeq(out_str): global seat,rtc_result data=rtc_in_data.data l_data=len(data) msg = "" for i in range(l_data): msg = msg + " %1.3f" % (data[i]) if i < (l_data -1) : msg = msg + "," seat.setEntry(out_str, msg) def mkTime(): import time ctime=time.time() return Time(int(ctime), int((ctime-int(ctime))*1000)) def mkTimedDoubleSeq(v, tm=None ): if tm : tm=mkTime() else : tm=Time(0,0) return TimedDoubleSeq(tm, v) def outPosAngle(n, v_in, tm_in, d=1): global seat,rtc_result val=float(seat.getEntry(v_in)) * d tm=float(seat.getEntry(tm_in)) v =[ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] v[n] = val v[6] = tm rtc_result=mkTimedDoubleSeq(v) def outputJoints(val): global seat,rtc_in_data data = rtc_in_data.data ldata = len(data) for i in range(ldata): tag=val+str(i) ang = " %1.3f" % (data[i]) seat.setEntry(tag,ang) def sendJoints(val): global seat,rtc_result v = "[" for i in range(7): tag=val+str(i) v = v+seat.getEntry(tag) v = v+", " v = v+seat.getEntry("Mode2:timeIn2") + "]" #print v rtc_result=mkTimedDoubleSeq(eval(v)) def copyJoints(sval, tval): global seat for i in range(7): stag=sval+str(i) ttag=tval+str(i) seat.setEntry(ttag, seat.getEntry(stag))