Currently the update_ini script does the following substitutions:
'axis.(.).jog-enable': 'joint.\\1.jog-enable',
and so on for other jog pins.
When the substitution list is created the script does know the axis to
joint mapping, so in cases where it makes sense, the above could
(almost) be
'axis.(.).jog-enable': 'joint.\\1.jog-enable =>
axis."XYZABCUVW"[\\1].jog-enable'
except that obviously won't work for a number of reasons.
I think I could use:
'axis.0.jog-enable': 'joint.0.jog-enable => axis.%s.jog-enable'
% coordinates[0]
'axis.1.jog-enable': 'joint.1.jog-enable => axis.%s.jog-enable'
% coordinates[1]
'axis.2.jog-enable': 'joint.2.jog-enable => axis.%s.jog-enable'
% coordinates[2]
..
to create a set of 9 individual regexes with replacements tailored at
the point when the substation set is created.
However this is a lot of extra substitutions, basically multiplying
the 4 jog pin substations into 36. Not that that is necessarily a
disaster.
However I would quite like to make the whole second part itself variable, i.e.:
if kinstype==IDENTITY:
jogsubs = '=> axis.{magic here}.jog-enable'
else:
jogsubs = ''
...
'axis.1.jog-enable': 'joint.1.jog-enable %s' % jogsubs
So that the world-mode incremental jog pins only get auto-linked in
identity kins. But this rather breaks the first idea. (unless I can
use a syntax like:
'string %s 1' % ('string %s 2' % coordinates[1]))
But I need to think harder about that
One possible way this could be forced to work is if a regex capture
can return something other than the captured value.:
axis.(1=X)?(2=Y).jog-enable axis.\\1\\2.jog-enable
Where my fictional (1=X) syntax returns "X" in \\1 if it finds "1"
Writing this email has actually clarified my thoughts a little. The
code runs the substations in sequence. I can insert the pin as
axis.1.jog-enable initially, then substitute all axis.1 with axis.Y in
a later entry.
But I would still be interested to hear if anyone with more regex-fu
than me has better ideas.
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
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