Startup

script/__Lib/diffcalc/model/README.txt

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+Setting up the sixc vrml model to work via Epics pv's from b16's simulation running on the office network.
+
+
+1. Synoptic
+$ launcher --port 6064
+
+2. Shell
+export EPICS_CA_REPEATER_PORT=6065
+export EPICS_CA_SERVER_PORT=6064
+
+3. Vrml viewer
+export EPICS_CA_SERVER_PORT=6064
+dls-vrml-epics-viewer.py fivec.wrl fivec.wcfg

script/__Lib/diffcalc/model/fivec.wcfg

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+dad_alpha_frame	rotation	pv["DIFFSIM:FIVEC:ALPHA.RBV"]
+dad_delta_frame	rotation	pv["DIFFSIM:FIVEC:DELTA.RBV"]
+dad_omega_frame	rotation	pv["DIFFSIM:FIVEC:OMEGA.RBV"]
+dad_chi_frame	rotation	pv["DIFFSIM:FIVEC:CHI.RBV"]
+dad_phi_frame	rotation	pv["DIFFSIM:FIVEC:PHI.RBV"]

script/__Lib/diffcalc/model/sixc.wcfg

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+dad_alpha_frame	rotation	pv["DIFFSIM:SIXC:ALPHA.RBV"]
+dad_delta_frame	rotation	pv["DIFFSIM:SIXC:DELTA.RBV"]
+dad_gamma_frame	rotation	pv["DIFFSIM:SIXC:GAMMA.RBV"]
+dad_omega_frame	rotation	pv["DIFFSIM:SIXC:OMEGA.RBV"]
+dad_chi_frame	rotation	pv["DIFFSIM:SIXC:CHI.RBV"]
+dad_phi_frame	rotation	pv["DIFFSIM:SIXC:PHI.RBV"]

script/__Lib/diffcalc/model/vrml_animator.py

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+###
+# Copyright 2008-2011 Diamond Light Source Ltd.
+# This file is part of Diffcalc.
+#
+# Diffcalc is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Diffcalc is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Diffcalc.  If not, see <http://www.gnu.org/licenses/>.
+###
+
+import sys
+import time
+import threading
+from math import pi
+import socket
+
+from pivy.coin import *
+from pivy.sogui import *
+
+
+PORT = 4567
+TORAD = pi / 180
+
+
+def connect_to_socket(host, port):
+    print "Connecting to %s on port %d" % (host, port)
+    connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    print "Connected"
+    connection.connect((host, port))
+    socketfile = connection.makefile('rw', 0)
+    return socketfile
+
+
+def serve_socket_connection(port):
+    print ("Serving connection on all interfaces on %s port %d" %
+           (socket.gethostname(), port))
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    sock.bind((socket.gethostname(), port))
+    sock.listen(1)
+    time.sleep(1)
+    (connection, addr) = sock.accept()
+    print 'Connected from ', addr, ' accepted'
+    socket_file = connection.makefile('rw', 0)  # no buffering
+    return socket_file
+
+
+def node_name(anglename):
+    return 'dad_' + anglename + '_frame'
+
+
+class SceneUpdatingThread(threading.Thread):
+
+    def __init__(self, scene, axisnames):
+        threading.Thread.__init__(self)
+        self.scene = scene
+
+        # Infer rotation axes based on initial orientation
+        self.rotation_axes = {}
+        self.axies_nodes = {}
+        for axisname in axisnames:
+            node = self.scene.getByName(node_name(axisname))
+            self.axies_nodes[axisname] = node
+            value = node.rotation.getValue()
+            self.rotation_axes[axisname] = value.getAxisAngle()[0]
+
+    def run(self):
+        socket_file = serve_socket_connection(PORT)
+
+        while True:
+            msg = socket_file.readline()
+            if msg == '':
+                print '***Socket closed'
+                socket_file = serve_socket_connection(PORT)
+                continue
+            print msg.strip()
+            d = eval(msg.strip())  # msg should be a dictionary representation
+            for axisname in d:
+                self.set_axis_rotation(axisname, d[axisname])
+
+    def set_axis_rotation(self, anglename, degrees):
+        nodename = node_name(anglename)
+        angle = degrees * TORAD
+        while angle < 0:
+            angle = 2 * pi + angle
+        node = self.scene.getByName(nodename)
+        getattr(node, 'rotation').setValue(
+            self.rotation_axes[anglename], angle)
+
+
+class Animator(object):
+
+    def __init__(self, filename, axisnames):
+        print "filename : " + filename
+        print "    axes : " + ' '.join(axisnames)
+        # Create viewer
+        self.myWindow = SoGui.init(sys.argv[0])  # @UndefinedVariable
+        if self.myWindow is None: sys.exit(1)
+        viewer = SoGuiExaminerViewer(self.myWindow)  # @UndefinedVariable
+        # load file into scene
+        so_input = SoInput()  # @UndefinedVariable
+        so_input.openFile(filename)
+        self.scene = SoDB.readAll(so_input)  # @UndefinedVariable
+        # Add scene to viewer
+        viewer.setSceneGraph(self.scene)
+        viewer.setTitle(' '.join(axisnames))
+        viewer.show()
+
+        self.start_update_scene_thread(axisnames)
+
+    def start_update_scene_thread(self, axisnames):
+        t = SceneUpdatingThread(self.scene, axisnames)
+        t.setDaemon(True)
+        t.start()
+
+    def show(self):
+        SoGui.show(self.myWindow)  # @UndefinedVariable
+        SoGui.mainLoop()  # @UndefinedVariable
+
+def main():
+    animator = Animator(sys.argv[1], sys.argv[2:])
+    animator.show()
+
+if __name__ == "__main__":
+    main()
+