#!/usr/bin/python"""Usage:    python teach-in 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  USA import emcimport Tkinterimport sys if 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 p def 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()