#!/usr/bin/python"""Usage: python teach.py nmlfile outputfileIf outputfile is not specified, writes to standard output.You must ". scripts/emc-environment" before running this script, if you userun-in-place."""# Copyright 2007 Jeff Epler <jepler@unpythonic.net>## This program 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 2 of the License, or# (at your option) any later version.## This program 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 this program; if not, write to the Free Software# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USAimport emcimport Tkinterimport sysif len(sys.argv) > 1: emc.nmlfile = sys.argv[1]if len(sys.argv) > 2: outfile = sys.argv[2] sys.stdout = open(outfile, 'w')s = emc.stat()def get_cart(): s.poll() position = " ".join(["%-8.4f"] * s.axes) return position % s.position[:s.axes]def get_joint(): s.poll() position = " ".join(["%-8.4f"] * s.axes) return position % s.joint_actual_position[:s.axes]def log(): if world.get(): p = get_cart() else: p = get_joint() label1.configure(text='Learned: %s' % p) print pdef show(): s.poll() if world.get(): p = get_cart() else: p = get_joint() label2.configure(text='Position: %s' % p) app.after(100, show)app = Tkinter.Tk(); app.wm_title('EMC2 Teach-In')world = Tkinter.IntVar(app)button = Tkinter.Button(app, command=log, text='Learn', font=("helvetica", 14))button.pack(side='left')label2 = Tkinter.Label(app, width=60, font='fixed', anchor="w")label2.pack(side='top')label1 = Tkinter.Label(app, width=60, font='fixed', text="Learned: (nothing yet)", anchor="w")label1.pack(side='top')r1 = Tkinter.Radiobutton(app, text="Joint", variable=world, value=0)r1.pack(side='left')r2 = Tkinter.Radiobutton(app, text="World", variable=world, value=1)r2.pack(side='left')show()app.mainloop()