exampleRemoteJr3.py

 
 
 
 
import time
import yarp
 
yarp.Network.init()
 
if not yarp.Network.checkNetwork():
    print('[error] Please try running yarp server')
    quit()
 
options = yarp.Property()
options.put('device', 'multipleanalogsensorsclient')
options.put('remote', '/jr3')
options.put('local', '/exampleRemoteJr3')
 
device = yarp.PolyDriver(options)
 
if not device.isValid():
    print('Device not available')
    quit()
 
sensor = device.viewISixAxisForceTorqueSensors()
 
channels = sensor.getNrOfSixAxisForceTorqueSensors()
print('Channels:', channels)
 
for ch in range(channels):
    name = sensor.getSixAxisForceTorqueSensorName(ch)
    print('Channel %d has name: %s' % (ch, name))
 
status = -1
retry = 0
MAX_RETRIES = 10
 
while status != yarp.MAS_OK:
    status = yarp.MAS_OK # = 0
 
    for ch in range(channels):
        status += sensor.getSixAxisForceTorqueSensorStatus(ch)
 
    retry += 1
    print('Waiting for sensor to be ready... retry', retry)
 
    if retry == MAX_RETRIES:
        print('[error] Sensor initialization failure, max number of retries exceeded')
        quit()
 
    time.sleep(0.1)
 
n = 0
MAX_ITERS = 500
 
print('Performing %d read iterations' % MAX_ITERS)
 
out = yarp.Vector()
 
while n < MAX_ITERS:
    n += 1
 
    for ch in range(channels):
        timestamp = sensor.getSixAxisForceTorqueSensorMeasure(ch, out)
        print("[%d] [%f] Channel %d: %s" % (n, timestamp, ch, out.toString()));
 
    time.sleep(0.01)
 
print('Done')