def blinking_stopped(self):
time.sleep(1)
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.break_text)
time.sleep(self.break_duration)
ugm_helper.send_config(self.conn, self.blinking_ugm)
time.sleep(1)
ugm_helper.send_start_blinking(self.conn)
def blinking_stopped(self):
time.sleep(1)
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.break_text)
time.sleep(self.break_duration)
ugm_helper.send_config(self.conn, self.blinking_ugm)
time.sleep(1)
ugm_helper.send_start_blinking(self.conn)
def robot(self, command):
t = time.time()
try:
if command == 'forward':
self._robot_cmd(self._robot.forward, command)
elif command == 'backward':
self._robot_cmd(self._robot.backward, command)
elif command == 'left':
self._robot_cmd(self._robot.left, command)
elif command == 'right':
self._robot_cmd(self._robot.right, command)
elif command == 'camera_up':
result = self._robot.head_up()
self.logger.info(str(result) + "command: " + command)
elif command == 'camera_middle':
result = self._robot.head_middle()
self.logger.info(str(result) + "command: " + command)
elif command == 'camera_down':
result = self._robot.head_down()
self.logger.info(str(result) + "command: " + command)
elif command == 'rotate_right':
self._robot.rotate_right(angle=7)
elif command == 'rotate_left':
self._robot.rotate_left(angle=7)
elif command == 'left_forward':
self.robot('rotate_left')
time.sleep(1)
self.robot('forward')
elif command == 'right_forward':
self.robot('rotate_right')
time.sleep(1)
self.robot('forward')
else:
self.logger.error('(rovio handling) Command ' + command +
' not supported.')
except:
self.logger.error(
"NO CONNECTION TO ROBOT!!!! COMMAND IGNORED!!! In time: " +
str(time.time() - t))
if self.robot_info:
ugm_helper.send_status(
self.conn, "Couldn't connect to Robot... Command ignored.")
time.sleep(0.5)
def begin(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.hi_text)
time.sleep(5)
ugm_helper.send_status(self.conn, self.hi_text_2)
time.sleep(8)
ugm_helper.send_status(self.conn, self.hi_text_3)
time.sleep(3)
ugm_helper.send_status(self.conn, "")
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def begin(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.hi_text)
time.sleep(5)
ugm_helper.send_status(self.conn, self.hi_text_2)
time.sleep(8)
ugm_helper.send_status(self.conn, self.hi_text_3)
time.sleep(3)
ugm_helper.send_status(self.conn, "")
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def robot(self, command):
t = time.time()
try:
if command == 'forward':
self._robot_cmd(self._robot.forward, command)
elif command == 'backward':
self._robot_cmd(self._robot.backward, command)
elif command == 'left':
self._robot_cmd(self._robot.left, command)
elif command == 'right':
self._robot_cmd(self._robot.right, command)
elif command == 'camera_up':
result = self._robot.head_up()
self.logger.info(str(result) + "command: " + command)
elif command == 'camera_middle':
result = self._robot.head_middle()
self.logger.info(str(result) + "command: " + command)
elif command == 'camera_down':
result = self._robot.head_down()
self.logger.info(str(result) + "command: " + command)
elif command == 'rotate_right':
self._robot.rotate_right(angle=7)
elif command == 'rotate_left':
self._robot.rotate_left(angle=7)
elif command == 'left_forward':
self.robot('rotate_left')
time.sleep(1)
self.robot('forward')
elif command == 'right_forward':
self.robot('rotate_right')
time.sleep(1)
self.robot('forward')
else:
self.logger.error('(rovio handling) Command ' + command + ' not supported.')
except:
self.logger.error("NO CONNECTION TO ROBOT!!!! COMMAND IGNORED!!! In time: "+str(time.time()-t))
if self.robot_info:
ugm_helper.send_status(self.conn, "Couldn't connect to Robot... Command ignored.")
time.sleep(0.5)
def end(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.bye_text)
#acquire some more data
time.sleep(2)
acquisition_helper.send_finish_saving(self.conn)
def end(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.bye_text)
#acquire some more data
time.sleep(2)
acquisition_helper.send_finish_saving(self.conn)