def runMission(self):
"""Internal function for running the mission in a separate thread"""
drc = 0
speed = 100
newDrc = 0
for move in self.moves:
if self.missionStopEv.is_set():
return
command = move['command']
wait_time = move['delay']
# deal with the special commands
if command == "LIGHTON":
self.robot.setLight(1)
elif command == "LIGHTOFF":
self.robot.setLight(0)
elif command == "S": # deal with the speed change
speed = int(move['speed'])
self.robot.go(speed, drc)
else:
newDrc = RobotHelper.getDirection(command) # Try and get the directions from the command
# if we manage to parse the command, send it to the robot otherwise stop it
if not newDrc == None:
drc = newDrc
self.robot.go(speed, drc)
else:
self.robot.stop()
# wait while still listening for the stop event
self.missionStopEv.wait(wait_time / 1000.0)
def getDirection(self, keys):
"""find the direction from the key configuration"""
if keys == [0, 0, 0, 0]:
return None
direction = ""
if keys[0] == 1:
direction += "F"
elif keys[2] == 1:
direction += "B"
if keys[1] == 1:
direction += "L"
elif keys[3] == 1:
direction += "R"
return RobotHelper.getDirection(direction)
def getDirection(self, keys):
"""find the direction from the key configuration"""
if keys == [0, 0, 0, 0]:
return None
direction = ""
if keys[0] == 1:
direction += "F"
elif keys[2] == 1:
direction += "B"
if keys[1] == 1:
direction += "L"
elif keys[3] == 1:
direction += "R"
return RobotHelper.getDirection(direction)
