45 lines
1019 B
Python
45 lines
1019 B
Python
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import time
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import json
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from unitree_sdk2py.core.channel import ChannelFactortyInitialize
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from unitree_sdk2py.rpc.server import Server
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from test_api import *
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"""
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" class TestServer
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"""
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class TestServer(Server):
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def __init__(self):
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super().__init__("test")
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def Init(self):
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self._RegistHandler(TEST_API_ID_MOVE, self.Move, 1)
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self._RegistHandler(TEST_API_ID_STOP, self.Stop, 0)
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self._SetApiVersion(TEST_API_VERSION)
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def Move(self, parameter: str):
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p = json.loads(parameter)
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x = p["vx"]
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y = p["vy"]
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yaw = p["vyaw"]
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print("Move Called. vx:", x, ", vy:", y, ", vyaw:", yaw)
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return 0, ""
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def Stop(self, parameter: str):
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print("Stop Called.")
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return 0, ""
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if __name__ == "__main__":
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# initialize channel factory.
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ChannelFactortyInitialize(0)
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# create server
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server = TestServer()
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server.Init()
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server.StartLease(1.0)
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server.Start(False)
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while True:
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time.sleep(10)
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