def expand(self):
"""Method to expand actor with using axes and motors of target_locker of t_system's vision.
"""
from t_system import seer
seer.reload_target_locker(arm_expansion=True)
self.actor.expand()
def revert_the_expand_actor(self):
"""Method to revert back the expansion.
"""
from t_system import seer
locker_angles = self.actor.revert_the_expand(
) # locker angles respectively are pan and tilt
seer.reload_target_locker(arm_expansion=False,
current_angles=locker_angles)
def __set_track_approach(ai, non_moving_target):
"""Method to set mission scenarios of the job.
Args:
ai (str): AI type that will using during job.
non_moving_target (bool): Non-moving target flag.
"""
if ai:
mission_manager.revert_the_expand_actor()
seer.reload_target_locker(ai, non_moving_target)
if non_moving_target:
mission_manager.expand_actor()
def set_arm(admin_id, expand):
"""Method to set expansion of T_System's arm.
Args:
admin_id (str): Admin privileges flag.
expand (bool): Expansion flag of the arm.
"""
if expand:
if not arm.is_expanded():
seer.reload_target_locker(arm_expansion=True)
arm.expand()
else:
if not arm.is_expanded():
arm.revert_the_expand()
seer.reload_target_locker(arm_expansion=False)
def set_arm(admin_id, expand):
"""Method to set expansion of T_System's arm.
Args:
admin_id (str): Admin privileges flag.
expand (str): Expansion flag of the arm.
"""
if expand in ["true", "True"]:
if not arm.is_expanded():
expansion_angles = seer.reload_target_locker(arm_expansion=True)
arm.expand(current_angles=expansion_angles)
else:
if arm.is_expanded():
locker_angles = arm.revert_the_expand()
seer.reload_target_locker(arm_expansion=False,
current_angles=locker_angles)