Merge branch 'dvogureckiy99-master'

sdk/master_board_sdk/example/com_analyser.py

@@ -6,9 +6,11 @@
 import time
 import subprocess
 try:
-  from time import process_time
+  from time import perf_counter
 except(ImportError):
-  from time import clock as process_time
+  # You are still in python2… pleas upgrade :)
+  from time import clock as perf_counter
+
 
 import libmaster_board_sdk_pywrap as mbs
 import matplotlib.pyplot as plt
@@ -72,12 +74,12 @@ def example_script(name_interface):
         robot_if.GetDriver(i).SetTimeout(5)
         robot_if.GetDriver(i).Enable()
 
-    last = process_time()
+    last = perf_counter()
     prev_time = 0
 
     while (not robot_if.IsTimeout() and not robot_if.IsAckMsgReceived()):
-        if ((process_time() - last) > dt):
-            last = process_time()
+        if ((perf_counter() - last) > dt):
+            last = perf_counter()
             robot_if.SendInit()
 
     if robot_if.IsTimeout():
@@ -97,17 +99,17 @@ def example_script(name_interface):
     last_cmd_packet_index = first_cmd_index
 
     while ((not robot_if.IsTimeout())
-           and (process_time() < duration)):  # Stop after 15 seconds (around 5 seconds are used at the start for calibration)
+           and (perf_counter() < duration)):  # Stop after 15 seconds (around 5 seconds are used at the start for calibration)
 
         if (robot_if.GetLastRecvCmdIndex() > robot_if.GetCmdPacketIndex()):
             last_recv_cmd_index = (overflow_cmd_cpt-1) * 65536 + robot_if.GetLastRecvCmdIndex()
         else:
             last_recv_cmd_index = overflow_cmd_cpt * 65536 + robot_if.GetLastRecvCmdIndex()
 
         if (last_recv_cmd_index >= first_cmd_index and received_list[last_recv_cmd_index-first_cmd_index] == 0):
-                received_list[last_recv_cmd_index-first_cmd_index] = process_time()
+                received_list[last_recv_cmd_index-first_cmd_index] = perf_counter()
 
-        if ((process_time() - last) > dt):
+        if ((perf_counter() - last) > dt):
             last += dt
             cpt += 1
 
@@ -144,9 +146,9 @@ def example_script(name_interface):
                 sensor_lost_list.append(robot_if.GetSensorsLost())
                 cmd_ratio_list.append(100.*robot_if.GetCmdLost()/robot_if.GetCmdSent())
                 sensor_ratio_list.append(100.*robot_if.GetSensorsLost()/robot_if.GetSensorsSent())
-                time_list.append(process_time())
+                time_list.append(perf_counter())
 
-            current_time = process_time()
+            current_time = perf_counter()
 
             diff = robot_if.GetCmdPacketIndex() - last_cmd_packet_index
             if diff < 0:

sdk/master_board_sdk/example/example.py

@@ -4,7 +4,11 @@
 import math
 import os
 import sys
-from time import perf_counter
+try:
+    from time import perf_counter
+except ImportError:
+    # You are still in python2… pleas upgrade :)
+    from time import clock as perf_counter
 
 import libmaster_board_sdk_pywrap as mbs
 
@@ -53,9 +57,8 @@ def example_script(name_interface):
         robot_if.GetDriver(i).SetTimeout(5)
         robot_if.GetDriver(i).Enable()
 
-    start = perf_counter()
-    last = start
-
+    last = perf_counter()
+    print("last =",last)
     while (not robot_if.IsTimeout() and not robot_if.IsAckMsgReceived()):
         if ((perf_counter() - last) > dt):
             last = perf_counter()
@@ -71,10 +74,11 @@ def example_script(name_interface):
                 # if slave i is connected then motors 2i and 2i+1 are potentially connected
                 motors_spi_connected_indexes.append(2 * i)
                 motors_spi_connected_indexes.append(2 * i + 1)
+    glob_last = perf_counter()
 
     # Stop after 15 seconds (around 5 seconds are used at the start for calibration)
     while ((not robot_if.IsTimeout())
-           and (perf_counter() - start < 20)):
+           and ( (perf_counter() - glob_last) < 20)):  # Stop after 15 seconds (around 5 seconds are used at the start for calibration)
 
         if ((perf_counter() - last) > dt):
             last = perf_counter()
@@ -102,6 +106,7 @@ def example_script(name_interface):
                         continue #user should decide what to do in that case, here we ignore that motor
 
                     if robot_if.GetMotor(i).IsEnabled():
+                        print("sending ",i," motor settings.")
                         ref = init_pos[i] + amplitude * math.sin(2.0 * math.pi * freq * t)  # Sine wave pattern
                         v_ref = 2.0 * math.pi * freq * amplitude * math.cos(2.0 * math.pi * freq * t)
                         p_err = ref - robot_if.GetMotor(i).GetPosition()  # Position error

sdk/master_board_sdk/example/listener.py

@@ -5,9 +5,10 @@
 import os
 import sys
 try:
-  from time import process_time
-except(ImportError):
-  from time import clock as process_time
+    from time import perf_counter
+except ImportError:
+    # You are still in python2… pleas upgrade :)
+    from time import clock as perf_counter
 
 import libmaster_board_sdk_pywrap as mbs
 
@@ -24,12 +25,12 @@ def listener_script(name_interface):
     robot_if = mbs.MasterBoardInterface(name_interface, True)
     robot_if.Init()  # Initialization of the interface between the computer and the master board
 
-    last = process_time()
+    last = perf_counter()
 
     while (True):
 
-        if ((process_time() - last) > dt):
-            last = process_time()
+        if ((perf_counter() - last) > dt):
+            last = perf_counter()
             cpt += 1
             t += dt
             robot_if.ParseSensorData()  # Read sensor data sent by the masterboard