java4cpp/examples/python/jython/crclclient.py at split_ui_utils · wshackle/java4cpp · GitHub

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#!/usr/bin/jython

# CRCL Client Example using Java CRCL Library and Jython (http://www.jython.org)

# Run with:

# env CLASSPATH=../../../crcl4java-utils/target/crcl4java-utils-1.0-SNAPSHOT-jar-with-dependencies.jar jython crclclient.py

from crcl.base import *

from crcl.utils import CRCLSocket

from java.math import *

import java.lang.Boolean

print "Connect"

s = CRCLSocket("localhost", 64444)

instance = CRCLCommandInstanceType()

## Create and send InitCanon command

print "Send InitCanon"

init = InitCanonType()

init.setCommandID(BigInteger.valueOf(7))

instance.setCRCLCommand(init)

s.writeCommand(instance)

## Create and send MoveTo command.

print "Send MoveTo"

moveTo = MoveToType()

moveTo.setCommandID(BigInteger.valueOf(8))

pose = PoseType()

pt = PointType()

pt.setX(BigDecimal.valueOf(1.1))

pt.setY(BigDecimal.valueOf(0.0))

pt.setZ(BigDecimal.valueOf(0.1))

pose.setPoint(pt)

xAxis = VectorType()

xAxis.setI(BigDecimal.ONE)

xAxis.setI(BigDecimal.ZERO)

pose.setXAxis(xAxis)

zAxis = VectorType()

zAxis.setI(BigDecimal.ZERO)

zAxis.setI(BigDecimal.ONE)

pose.setXAxis(zAxis)

moveTo.setEndPosition(pose)

moveTo.setMoveStraight(java.lang.Boolean.FALSE)

s.writeCommand(instance)

## Create and send getStatus request.

print "Send GetStatus"

getStat = GetStatusType()

getStat.setCommandID(BigInteger.valueOf(9))

instance.setCRCLCommand(getStat)

s.writeCommand(instance)

## Read status from server

stat = s.readStatus()

## Print out the status details.

cmdStat = stat.getCommandStatus()

IDback = cmdStat.getCommandID()

print "Status:"

print("CommandID = " + IDback.toString())

print("State = " + cmdStat.getCommandState().toString())

pt = stat.getPose().getPoint()

print("pose = " + pt.getX().toString() + "," + pt.getY().toString() + "," + pt.getZ().toString())

jst = stat.getJointStatuses()

l = jst.getJointStatus()

print "Joints:"

for i in range(0,l.size()):

js = l.get(i)

print("Num="+js.getJointNumber().toString()+" Pos="+js.getJointPosition().toString())

java4cpp/examples/python/jython/crclclient.py at split_ui_utils · wshackle/java4cpp · GitHub

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