public WalkControl(PythonConnection connection, double deltaSpeed, double deltaAngle, double deltaFrequency)
{
this.connection = connection;
this.deltaSpeed = deltaSpeed;
this.deltaAngle = deltaAngle;
this.deltaFrequency = deltaFrequency;
}
protected void OnConnectionToggleToggled(object sender, EventArgs e)
{
bool active = connectionToggle.Active;
if (active)
{
commandConnection = new PythonConnection(ipEntry.Text, userNameEntry.Text, passwordEntry.Text);
// Open a separate data connection:
// Has to be done before sending prep_code.py as it defines necessary variables for prep_code.py
videoChannel = new InputChannel(commandConnection, ipEntry.Text, 4711);
using (var sr = new System.IO.StreamReader("prep_code.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
{
commandConnection.execute(line);
}
}
}
else
{
controlToggle.Active = false;
cameraToggle.Active = false;
commandConnection.execute("close()");
commandConnection.Dispose();
videoChannel.Dispose();
commandConnection = null;
videoChannel = null;
}
stiffnessToggle.Sensitive = active;
cameraToggle.Sensitive = active;
ttsButton.Sensitive = active;
ipEntry.Sensitive = !active;
userNameEntry.Sensitive = !active;
passwordEntry.Sensitive = !active;
}
public void CheckExecute()
{
var result = new PythonConnection().ExecuteCommand("print(\"h\")");
Assert.AreEqual("h\r\n", result);
}
public PythonInterfaceConnection()
{
InitializeComponent();
Python = new PythonConnection();
Python.ImportScipyStack();
}
/// <summary>
/// Basic anaconda test
/// </summary>
public static void TestScript01()
{
//Python script file for test
const string fileName = @"TestScript01.py";
var scriptFile = new FileInfo(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, fileName));
if (!scriptFile.Exists)
{
throw new FileNotFoundException("Where is the script?", scriptFile.FullName);
}
//Setup python environment
const string pythonHome = @"C:\Users\Pike\anaconda3"; //<-- Replace it with your own path to anaconda
//Compose PATH environment variable
var lib = Path.Combine(pythonHome, "Lib");
var dlls = Path.Combine(pythonHome, "DLLs");
var packages = Path.Combine(lib, "site-packages");
var libraryBin = Path.Combine(pythonHome, "Library", "bin");
//Create connection string
var stringBuilder = new PythonConnectionStringBuilder
{
File = scriptFile.FullName,
PythonHome = pythonHome,
Path = string.Join(";", pythonHome, lib, dlls, packages, libraryBin)
};
using (var connection = new PythonConnection())
{
connection.ConnectionString = stringBuilder.ConnectionString;
connection.Open();
using (var command = connection.CreateCommand())
{
//Set query command text. It will be passed to python "query" variable
command.CommandText = "Hello from ADO.Net!";
//Set query parameters. It will be passed to python "params" variable
command.Parameters.Add(new PythonParameter {
ParameterName = "bool", Value = true
});
command.Parameters.Add(new PythonParameter {
ParameterName = "dt", Value = DateTime.Today
});
command.Parameters.Add(new PythonParameter {
ParameterName = "double", Value = 1235.0
});
command.Parameters.Add(new PythonParameter {
ParameterName = "int", Value = 789
});
command.Parameters.Add(new PythonParameter {
ParameterName = "long", Value = 1024L
});
command.Parameters.Add(new PythonParameter {
ParameterName = "string", Value = "String parameter"
});
/*
* Python script must have "result" variable of type pandas DataFrame.
* This variable data will be transfered to DbDataReader
*/
using (var reader = command.ExecuteReader())
{
var datatable = new DataTable();
datatable.Load(reader);
//Print data
PrintDataTable(datatable);
}
}
}
Console.WriteLine("Done!");
Console.ReadLine();
}
/// <summary>
/// Use anaconda virtual environment
/// </summary>
public static void TestScript05()
{
//Python script text
const string scriptText = @"import pandas as pd
query_text = globals()['query'] if 'query' in globals() else None
print('Query text is:', query_text)
query_params = globals()['params'] if 'params' in globals() else None
print('Query parameters:', query_params)
result = pd.DataFrame(
[[True, 99.0],
[True, 56.1],
[False, 73.2],
[False, 69.3]])" ;
//Setup python environment
const string pythonHome = @"C:\Users\Pike\anaconda3\envs\Test"; //<-- Replace it with your own path to anaconda virtual environment
//Compose PATH environment variable
var lib = Path.Combine(pythonHome, "Lib");
var dlls = Path.Combine(pythonHome, "DLLs");
var packages = Path.Combine(lib, "site-packages");
var libraryBin = Path.Combine(pythonHome, "Library", "bin");
//Create connection string
var stringBuilder = new PythonConnectionStringBuilder
{
PythonHome = pythonHome,
Path = string.Join(";", pythonHome, lib, dlls, packages, libraryBin)
};
using (var connection = new PythonConnection())
{
connection.ConnectionString = stringBuilder.ConnectionString;
connection.Open();
using (var command = connection.CreateCommand())
{
//In this case there is no "query" global variable in python
command.CommandText = scriptText;
//Set query parameters. It will be passed to python "params" variable
command.Parameters.Add(new PythonParameter {
ParameterName = "bool", Value = true
});
command.Parameters.Add(new PythonParameter {
ParameterName = "dt", Value = DateTime.Today
});
command.Parameters.Add(new PythonParameter {
ParameterName = "double", Value = 1235.0
});
command.Parameters.Add(new PythonParameter {
ParameterName = "int", Value = 789
});
command.Parameters.Add(new PythonParameter {
ParameterName = "long", Value = 1024L
});
command.Parameters.Add(new PythonParameter {
ParameterName = "string", Value = "String parameter"
});
/*
* Python script must have "result" variable of type pandas DataFrame.
* This variable data will be transfered to DbDataReader
*/
using (var reader = command.ExecuteReader())
{
var datatable = new DataTable();
datatable.Load(reader);
//Print data
PrintDataTable(datatable);
}
}
}
Console.WriteLine("Done!");
Console.ReadLine();
}
/// <summary>
/// Basic python test (environment variables already set by python installer)
/// </summary>
public static void TestScript04()
{
//Python script text
const string scriptText = @"import pandas as pd
query_text = globals()['query'] if 'query' in globals() else None
print('Query text is:', query_text)
query_params = globals()['params'] if 'params' in globals() else None
print('Query parameters:', query_params)
result = pd.DataFrame(
[[True, 99.0],
[True, 56.1],
[False, 73.2],
[False, 69.3]])" ;
//Setup python environment
const string pythonHome = @"C:\Python37"; //<-- Replace it with your own path to python 3.7
//Create connection string
var stringBuilder = new PythonConnectionStringBuilder //<-- No need to set File property
{
PythonHome = pythonHome
};
using (var connection = new PythonConnection())
{
connection.ConnectionString = stringBuilder.ConnectionString;
connection.Open();
using (var command = connection.CreateCommand())
{
//In this case there is no "query" global variable in python
command.CommandText = scriptText;
//Set query parameters. It will be passed to python "params" variable
command.Parameters.Add(new PythonParameter {
ParameterName = "bool", Value = true
});
command.Parameters.Add(new PythonParameter {
ParameterName = "dt", Value = DateTime.Today
});
command.Parameters.Add(new PythonParameter {
ParameterName = "double", Value = 1235.0
});
command.Parameters.Add(new PythonParameter {
ParameterName = "int", Value = 789
});
command.Parameters.Add(new PythonParameter {
ParameterName = "long", Value = 1024L
});
command.Parameters.Add(new PythonParameter {
ParameterName = "string", Value = "String parameter"
});
/*
* Python script must have "result" variable of type pandas DataFrame.
* This variable data will be transfered to DbDataReader
*/
using (var reader = command.ExecuteReader())
{
var datatable = new DataTable();
datatable.Load(reader);
//Print data
PrintDataTable(datatable);
}
}
}
Console.WriteLine("Done!");
Console.ReadLine();
}
public SimplePythonGraphForm()
{
InitializeComponent();
Python = new PythonConnection();
Python.ImportScipyStack();
}
public JointControl(PythonConnection connection, string joint, double max, double speed)
{
this.connection = connection;
this.command = String.Format("print startMove(\"{0}\", {1}, {2})", joint, toString(max), toString(speed));
}
