Source code for morse.middleware.text_datastream
import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
import re
from morse.core.datastream import *
from morse.middleware.abstract_datastream import AbstractDatastream
[docs]class BasePublisher(AbstractDatastream):
[docs] def initialize(self):
self.filename = self._get_filename()
self.file = open(self.filename, 'wb')
self.index = 0
line = self.header()
self.file.write(line.encode())
[docs] def finalize(self):
self.file.close()
def _get_filename(self):
if 'file' in self.kwargs:
return self.kwargs['file']
else:
filename = re.sub(r'\.([0-9]+)', r'\1', self.component_name)
return filename + '.txt'
[docs] def default(self, ci):
line = self.encode_data()
self.index += 1
self.file.write(line.encode())
self.file.flush()
[docs] def encode_data(self):
return ""
[docs]class Publisher(BasePublisher):
_type_name = "key = value format with timestamp and index value"
[docs] def encode_data(self):
parent_position = self.component_instance.robot_parent.position_3d
lines = ['==> Data at X,Y,Z: [%.6f %.6f %.6f]'
'yaw,pitch,roll: [%.6f %.6f %.6f] | index %d | time %.2f\n'
% (parent_position.x, parent_position.y, parent_position.z,
parent_position.yaw, parent_position.pitch, parent_position.roll,
self.index, blenderapi.persistantstorage().time.time)]
for variable, data in self.data.items():
if isinstance(data, float):
lines.append("\t%s = %.6f\n" % (variable, data))
else:
lines.append("\t%s = %s\n" % (variable, repr(data)))
return ''.join(lines)
[docs]class CSVPublisher(BasePublisher):
_type_name = "CSV like : values separated by semi-column"
[docs] def encode_data(self):
lines = []
for variable, data in self.data.items():
if isinstance(data, float):
lines.append("%.6f;" % data)
else:
lines.append("%s;" % repr(data))
return ''.join(lines) + '\n'
[docs]class TextDatastreamManager(DatastreamManager):
""" Produce text files as output for the components """
