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synchronizer_script.py
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synchronizer_script.py
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# -*- coding: utf-8 -*-
import bpy
from math import degrees
import os, sys
sys.path.append(os.path.join(os.path.dirname(__file__), 'virtualenv/lib/python3.4/site-packages'))
sys.path.append(os.path.dirname(os.path.realpath(__file__)))
import traceback
import time
from multiprocessing import Process
from zmq_custom_utils import *
from zmq.utils import jsonapi as json
import pypot.dynamixel
from poppy_torso_config import *
def rotation(armature, bone_name, axis):
try:
bone = armature.data.bones[bone_name]
posebone = armature.pose.bones[bone_name]
if bone.parent is not None:
parent_rest = bone.parent.matrix_local.to_quaternion()
bone_rest = bone.matrix_local.to_quaternion()
angle_rest = bone_rest.rotation_difference(parent_rest)
parent_pose = posebone.parent.matrix.to_quaternion()
bone_pose = posebone.matrix.to_quaternion()
angle_pose = bone_pose.rotation_difference(parent_pose)
else:
angle_rest = bone.matrix_local.to_quaternion()
angle_pose = posebone.matrix.to_quaternion()
angle = angle_pose.rotation_difference(angle_rest).to_euler()
if axis == 'x':
return degrees(angle.x)
elif axis == 'y':
return degrees(angle.y)
elif axis == 'z':
return degrees(angle.z)
except:
print('Error : ', bone_name)
return 0
def mapInterval(value, fromMin, fromMax, toMin, toMax):
value = max(fromMin, value)
value = min(fromMax, value)
fromSpan = fromMax - fromMin
toSpan = toMax - toMin
valueScaled = float(value - fromMin) / float(fromSpan)
return toMin + (valueScaled * toSpan)
class Synchronizer:
def __init__(self):
context = ZMQLocalContext()
self.output_ipc_filename = 'output.ipc'
self.output_socket = context.publisher(filename=self.output_ipc_filename)
self.process = Process(target=self.sync_loop, args=(self.output_ipc_filename,))
self.process.start()
self.armature = bpy.data.objects['Armature']
self.reset_event_handler('scene_update_post', self.send_motor_positions)
print('Synchronizer initialized.')
def stop(self):
self.process.terminate()
self.clean_event_handler('scene_update_post')
try:
os.remove(self.output_ipc_filename)
except OSError:
pass
print("Synchronizer stopped.")
def send_motor_positions(self, context):
if bpy.data.objects.is_updated:
message = { motor_id: rotation(self.armature, *bone)
for motor_id, bone in bone_by_motor_id.items() }
self.output_socket.send_json(message)
def sync_loop(self, ipc_filename):
context = ZMQLocalContext()
socket = context.lazy_subscriber(filename=ipc_filename)
ports = pypot.dynamixel.get_available_ports()
if not ports:
raise IOError('No port found!')
print('Ports found:', ports)
print('Connecting on the first available port:', ports[0])
with pypot.dynamixel.DxlIO(ports[0]) as io:
ids = io.scan([ id for id in config_by_motor.keys() ])
io.set_moving_speed({ id: 100 for id in ids })
io.set_torque_limit({ id: 1000 for id in ids })
io.set_max_torque({ id: 1000 for id in ids })
rest_pos = { id: 0 for id in ids }
rest_pos[41] = 90
rest_pos[42] = 90
rest_pos[51] = -90
rest_pos[52] = -90
io.set_goal_position(rest_pos)
time.sleep(2) # wait 2 second before starting the sync loop
print("Sync loop started.")
consecutive_errors = 0
while True:
try:
data = json.loads(socket.recv(flags = zmq.NOBLOCK))
consecutive_errors = 0
io.set_goal_position( { int(id) : mapInterval(angle, **config_by_motor[int(id)])
for id, angle in data.items() } )
except zmq.ZMQError:
consecutive_errors += 1
if consecutive_errors > 10000:
socket.close()
socket = context.lazy_subscriber(filename=ipc_filename)
consecutive_errors = 0
except KeyboardInterrupt:
socket.close()
sys.exit()
def clean_event_handler(self, event_name):
event_handlers = getattr(bpy.app.handlers, event_name)
for i in range( len( event_handlers ) ):
event_handlers.pop()
def reset_event_handler(self, event_name, handler):
self.clean_event_handler(event_name)
event_handlers = getattr(bpy.app.handlers, event_name)
event_handlers.append(handler)
###############################################################################
bl_info = {
"name": "Start/Stop Synchronizer",
"category": "Object",
}
class StartSynchronizer(bpy.types.Operator):
"""Start Synchronizer"""
bl_idname = "object.start_synchronizer"
bl_label = "Start Synchronizer"
bl_options = {'REGISTER', 'UNDO'}
def execute(self, context):
global synchronizer
synchronizer = Synchronizer()
return {'FINISHED'}
class StopSynchronizer(bpy.types.Operator):
"""Stop Synchronizer"""
bl_idname = "object.stop_synchronizer"
bl_label = "Stop Synchronizer"
bl_options = {'REGISTER', 'UNDO'}
def execute(self, context):
global synchronizer
if synchronizer:
synchronizer.stop()
return {'FINISHED'}
def register():
bpy.utils.register_class(StartSynchronizer)
bpy.utils.register_class(StopSynchronizer)
def unregister():
bpy.utils.unregister_class(StartSynchronizer)
bpy.utils.unregister_class(StopSynchronizer)
if __name__ == "__main__":
register()