PythonicPyroIntro

Pythonic Pyro Introduction

This should help you convert old Pyro code to the new Pythonic interface:

Old Path Interface                                   Using the Pythonic Interface
-----------------------------------------------      -----------------------------------------------
                                                     robot = self.robot
self.get('/robot/range/count')                       len(robot.range)
                                                     robot.range.count
self.get('/devices/laser0/count')                    len(robot.laser[0])
self.get('/robot/laser/count')                       len(robot.laser[0]) # same as above
                                                     robot.laser[0].count
self.get('/robot/range/3/value')                     robot.range[3].distance() 
                                                     robot.range[3].value
self.set('/robot/range/units', 'CM')                 robot.range[3].distance(unit='cm') # for one reading
                                                     robot.range.units = 'CM'           # for all readings
self.get('/robot/range/3/value') 
self.get('/robot/range/all/value')                   [sensor.distance() for sensor in robot.range]
                                                     [sensor.value for sensor in robot.range]
self.get("/robot/range/all/th")                      [sensor.angle() for sensor in robot.range]
self.get("/robot/range/all/thr")                     [sensor.angle(unit="radians") for sensor in robot.range]
# returns a dict for each sensor:                    # returns a tuple for each sensor:
self.get("/robot/range/all/value,th")                [(sensor.distance(), sensor.angle()) for sensor in 
                                                                                             robot.range]
self.get('/robot/range/2/x,y')                       robot.range[2].geometry()
      # returns dict {'y': y, 'x': x}                      # returns tuple (x,y,z,thr,arc)
self.get('/robot/range/front/value')                 [sensor.distance() for sensor in robot.range['front']]
self.get('/robot/range/1:5/value')                   [sensor.distance() for sensor in robot.range[1:5]]

# find the direction of the nearest obstacle: 
from pyrobot.brain import select, avg 
select(min, "value",                                 min([(sensor.distance(), sensor.angle()) for sensor in 
 self.get("/robot/range/all/pos,thr,value"))["thr"]                                 robot.range])[1]

Some forms were removed. The following have no short forms:

self.get('/robot/range/1,5/value')                   [sensor.value for sensor in robot.range[1,5]]         # uses special pyro syntax
self.get('/robot/range/1-5/value')                   [sensor.distance() for sensor in robot.range[1:6]]    # uses slice instead

[PyroModulesContents]

Immutable page (last edited 2006-06-16 16:50:56 by DouglasBlank)

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