差分

このページの2つのバージョン間の差分を表示します。

--- articles:nextage_rtm [2021/08/30 13:31] – [プログラムの構造上の問題点] Takashi Suehiro
+++ articles:nextage_rtm [2021/09/22 11:16] (現在) – [init1] Takashi Suehiro
@@ 行 151: / 行 151: @@
 データの部分書き換えなどの整合性をとっている．
-__init__関数ではgazeboシミュレータの利用をチェックしている．gazeboを使わない場合はHIRONXの__init__を呼び出す．
+%%__init__関数%%ではgazeboシミュレータの利用をチェックしている．gazeboを使わない場合はHIRONXの%%__init__%%を呼び出す．
 gazeboを使う方の処理は今回は無視する．
@@ 行 683: / 行 683: @@
         self.configurator_name = cname
 </code>
+=== waitForRTCManager ===
+<code python>
+    def waitForRTCManager(self, managerhost=nshost):
+        '''!@brief
+        Wait for RTC manager.
+        @param managerhost str: name of host computer that manager is running
+        '''
+        self.ms = None
+        while self.ms == None:
+            time.sleep(1)
+            if managerhost == "localhost":
+                managerhost = socket.gethostname()
+            self.ms = rtm.findRTCmanager(managerhost)
+            print(self.configurator_name + "wait for RTCmanager : " + str(managerhost))
+</code>
+=== waitForRobotHardware ===
+<code python>
+    def waitForRobotHardware(self, robotname="Robot"):
+        '''!@brief
+        Wait for RobotHardware is exists and activated.
+        @param robotname str: name of RobotHardware component.
+        '''
+        self.rh = None
+        timeout_count = 0
+        # wait for simulator or RobotHardware setup which sometime takes a long time
+        while self.rh == None and timeout_count < 10:  # <- time out limit
+            if timeout_count > 0: # do not sleep initial loop
+                time.sleep(1);
+            self.rh = rtm.findRTC("RobotHardware0")
+            if not self.rh:
+                self.rh = rtm.findRTC(robotname)
+            print(self.configurator_name + "wait for %s : %s ( timeout %d < 10)" % ( robotname, self.rh, timeout_count))
+            if self.rh and self.rh.isActive() == None:  # just in case rh is not ready...
+                self.rh = None
+            timeout_count += 1
+        if not self.rh:
+            print(self.configurator_name + "Could not find " + robotname)
+            if self.ms:
+                print(self.configurator_name + "Candidates are .... " + str([x.name()  for x in self.ms.get_components()]))
+            print(self.configurator_name + "Exitting.... " + robotname)
+            exit(1)
+        print(self.configurator_name + "findComps -> %s : %s isActive? = %s " % (self.rh.name(), self.rh,  self.rh.isActive()))
+</code>
+=== getJointAngleControllerList ===
+<code python>
+    def getJointAngleControllerList(self):
+        '''!@brief
+        Get list of controller list that need to control joint angles
+        '''
+        controller_list = [self.es, self.ic, self.gc, self.abc, self.st, self.co,
+                           self.tc, self.hes, self.el]
+        return filter(lambda c: c != None, controller_list)  # only return existing controllers
+</code>
+==== rtm ====
+=== findRTCManager ===
+=== findRTC ===
 ===== nextage_handleに必要な情報 =====
@@ 行 1004: / 行 1067: @@
             self.log.start(self.log.owned_ecs[0])
 </code>
+==== キャリブレーション ====
+キャリブレションの実施確認
+hiro_handle:なし
+nextage:
+==== 動作 ====