def __init__(self,
world,
name = "Motor",
block = None,
link = None,
angle = 0.0,
cfg = None,
**params):
Component.__init__(self, name)
# define motor slots
self.initialize_slots = True
self.status_slot = StrSlot(IDLE)
self.angle_slot = DoubleSlot(angle)
self.pos_slot = Vec3Slot()
self._lastAngle = angle
self.addSlot("status", self.status_slot)
self.addSlot("angle", self.angle_slot)
self.addSlot("pos", self.pos_slot)
self._angle_forwader = NotificationForwarder(self._onAngleChanged)
self.angle_slot.addDependent(self._angle_forwader)
self.initialize_slots = False
self.world = world
self.cfg = cfg
self.block = block
self.link = link
self._remainingTime = self.cfg['timeout']
self._createComponents()
self._configureComponents()
self._connectComponents()
# add joint to world
self.world.add(self._joint)
# listen to events
eventManager().connect(STEP_FRAME, self._onStepFrame)
def __init__(self,
world,
name="Robot",
cfg = None,
data = None):
Component.__init__(self, name)
self.world = world
self.modules = []
self.cfg = cfg
self.brain = None
self.interactive = True
self._preState = None
self._action = None
self._actionDone = True
self._steps = 0
self._initialPos = 0
self._totalWalked = 0
self._timer = getScene().timer()
self._beforeExecution = self._timer.time
eventManager().connect(STEP_FRAME, self._onStepFrame)
def testEventManager(self):
"""Test the EventManager class.
"""
em = eventManager()
em.disconnectAll()
rec = Receiver()
em.connect("Spam", rec)
em.connect("Spam", rec.otherCallback)
em.event("Spam")
self.assertEqual([("spam",0),("other",)], rec.called)
em.disconnect("Spam", rec)
rec.called = []
em.event("Spam")
self.assertEqual([("other",)], rec.called)
em.disconnect("Spam", rec.otherCallback)
rec.called = []
em.event("Spam")
self.assertEqual([], rec.called)
# Check priorities
em.connect("Spam", rec)
em.connect("Spam", rec.otherCallback, priority=5)
em.event("Spam")
self.assertEqual([("other",), ("spam",0)], rec.called)
# Add another receiver which must still be there after disconnect("Spam") has been called
em.connect("Eggs", rec)
em.disconnect("Spam")
rec.called = []
em.event("Spam")
self.assertEqual([], rec.called)
# Check that the Eggs receiver is still there...
em.event("Eggs", arg2=5, arg1=3)
self.assertEqual([("eggs", 3, 5)], rec.called)
rec.called = []
em.event("Eggs", 1, 2)
self.assertEqual([("eggs", 1, 2)], rec.called)
# Check disconnectAll()
em.connect("Spam", rec)
em.disconnectAll()
rec.called = []
em.event("Spam")
em.event("Eggs", 3, 4)
self.assertEqual([], rec.called)
def testEventManager(self):
"""Test the EventManager class.
"""
em = eventManager()
em.disconnectAll()
rec = Receiver()
em.connect("Spam", rec)
em.connect("Spam", rec.otherCallback)
em.event("Spam")
self.assertEqual([("spam", 0), ("other", )], rec.called)
em.disconnect("Spam", rec)
rec.called = []
em.event("Spam")
self.assertEqual([("other", )], rec.called)
em.disconnect("Spam", rec.otherCallback)
rec.called = []
em.event("Spam")
self.assertEqual([], rec.called)
# Check priorities
em.connect("Spam", rec)
em.connect("Spam", rec.otherCallback, priority=5)
em.event("Spam")
self.assertEqual([("other", ), ("spam", 0)], rec.called)
# Add another receiver which must still be there after disconnect("Spam") has been called
em.connect("Eggs", rec)
em.disconnect("Spam")
rec.called = []
em.event("Spam")
self.assertEqual([], rec.called)
# Check that the Eggs receiver is still there...
em.event("Eggs", arg2=5, arg1=3)
self.assertEqual([("eggs", 3, 5)], rec.called)
rec.called = []
em.event("Eggs", 1, 2)
self.assertEqual([("eggs", 1, 2)], rec.called)
# Check disconnectAll()
em.connect("Spam", rec)
em.disconnectAll()
rec.called = []
em.event("Spam")
em.event("Eggs", 3, 4)
self.assertEqual([], rec.called)
def testRemoveReceiver(self):
"""Test removing a receiver while the callbacks are still being called.
(this has been a bug in earlier versions)
"""
em = eventManager()
em.disconnectAll()
rec = Receiver(em=em)
em.connect("Remove", rec)
em.connect("Remove", rec.onSpam)
em.connect("Remove", rec.otherCallback)
em.event("Remove")
self.assertEqual([("remove",),("spam",0),("other",)], rec.called)
rec.called = []
em.event("Remove")
self.assertEqual([("spam",0),("other",)], rec.called)
def testRemoveReceiver(self):
"""Test removing a receiver while the callbacks are still being called.
(this has been a bug in earlier versions)
"""
em = eventManager()
em.disconnectAll()
rec = Receiver(em=em)
em.connect("Remove", rec)
em.connect("Remove", rec.onSpam)
em.connect("Remove", rec.otherCallback)
em.event("Remove")
self.assertEqual([("remove", ), ("spam", 0), ("other", )], rec.called)
rec.called = []
em.event("Remove")
self.assertEqual([("spam", 0), ("other", )], rec.called)
