114 lines
3.2 KiB
Python
114 lines
3.2 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#########EPICS COMMANDS
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#read speed Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-SETV")
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#write speed Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-SETV",20)
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#
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#write relative Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-INCP",90)
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#write absolute Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-SETP",20)
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#
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#read ReadBAck Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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#read User ReadBAck Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-GETP")
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#
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#GMX, GMY, GMZ
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#Created on Tue May 18 18:03:02 2021
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import rospy
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from std_msgs.msg import Float32
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from std_msgs.msg import Int32
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from sensor_msgs.msg import JointState
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import requests
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import json
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import epics
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import time
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import csv
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from datetime import date
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#temporary subscriber to check function
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LJU6_JointStateTimeSek = []
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LJU6_JointStateTimeNanSek = []
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LJU6_JointStateOmega = []
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LJU6_JointStateSensor1 = []
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LJU6_JointStateSensor2 = []
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LJU6_JointStateSensor3 = []
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LJUE9_JointStateTimeSek = []
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LJUE9_JointStateTimeNanSek = []
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LJUE9_AIN0 = []
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LJUE9_AIN1 = []
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LJUE9_RADIUS = []
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#neccessary subscriber to put in csv
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CHI=[]
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PHI=[]
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SHX=[]
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SHY=[]
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SHZ=[]
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OX=[]
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OY=[]
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OZ=[]
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ROW=[]
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rows=0
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Counter = 0
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motion=False
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#now = date.time()
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today = date.today()
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# dd/mm/YY
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day = today.strftime("%Y_%m_%d_")
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#print("d1 =", d1)
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#Writing CSV File from List
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#generate new CSV fileLJU6_JointStateTimeSekLJU6_JointStateTimeSek
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with open(day+'idohave.csv', 'w', newline='') as file:
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writer = csv.writer(file)
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writer.writerow(["Counter","secs","nanosecs","OMEGA","Sensor1","Sensor2","Sensor3"])
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#def motion():
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# global motion
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# motion=True
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#
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# time.sleep(20)
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# motion=False
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def callback_LJU6_JointState(data):
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global LJU6_JointStateTimeSek,LJU6_JointStateTimeNanSek,LJU6_JointStateOmega,LJU6_JointStateSensor1,LJU6_JointStateSensor2,LJU6_JointStateSensor3, Counter
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#while loop defines how long subscriber channels are enabled
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#can be related to the executet motion in the future
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LJU6_JointStateTimeSek.append(data.header.stamp.secs)
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LJU6_JointStateTimeNanSek.append(data.header.stamp.nsecs)
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LJU6_JointStateOmega.append(data.position[0])
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LJU6_JointStateSensor1.append(data.position[1])
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LJU6_JointStateSensor2.append(data.position[2])
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LJU6_JointStateSensor3.append(data.position[3])
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Counter+=1
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# print("The Counter Value is :" ,Counter)
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#after while loop (above) is over, subcriber are closed,data stream = closed
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#this mode can be used to generate an csv file out of the recorded datas
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# subs1.unregister()
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with open(day+'idohave.csv', 'a', newline='') as file:
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writer = csv.writer(file,delimiter=',')
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writer.writerows(zip(ROW,LJU6_JointStateTimeSek,LJU6_JointStateTimeNanSek,LJU6_JointStateOmega,LJU6_JointStateSensor1,LJU6_JointStateSensor2,LJU6_JointStateSensor3))
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if __name__ == '__main__':
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# Initialize ROS and register subscribers:
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rospy.init_node('listener', anonymous=True)
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subs1=rospy.Subscriber("/LJU6_JointState", JointState, callback_LJU6_JointState)
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# rospy.Subscriber("/LJUE9_JointState", JointState, callback_LJUE9_JointState)
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