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StatusMessage.py
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# Origin: Nikolas Engelhard, https://github.com/NikolasE/pyDobot
# Modified by Peter Horak, Dylan Elliot, Andrew Showers (Fall 2016)
import struct
import binascii
class StatusMessage():
def __init__(self):
pass
MESSAGE_LENGTH = 42
position = [None]*4 # x, y, z, yaw
angles = [None]*4 # base, long, short, servo
isGrab = None
gripperAngle = None
def get_angles(self):
return self.angles[0:3]
def get_base_angle(self):
return self.angles[0]
def get_rear_arm_angle(self):
return self.angles[1]
def get_front_arm_angle(self):
return self.angles[2]
def get_servo_angle(self):
return self.angles[3]
def parse_ascii(self, ascii_list):
assert isinstance(ascii_list, list)
assert len(ascii_list) == self.MESSAGE_LENGTH
assert isinstance(ascii_list[0], str)
assert ascii_list[0] == 'a5'
assert ascii_list[-1] == '5a'
for i in range(10):
first_byte = i * 4 + 1
# and back to binary... TODO: remove ascii detour
b = binascii.a2b_hex("".join(e for e in ascii_list[first_byte:first_byte + 4]))
as_float = struct.unpack('<f', b)[0]
if i < 4:
self.position[i] = as_float
if i < 8:
self.angles[i - 4] = as_float
if i == 8:
self.isGrab = as_float > 0
if i == 9: # tenth float
self.gripperAngle = as_float
# print self.isGrab, self.gripperAngle
# print self.position, self.angles