def main_list(nh,sub):
'''
Wrap individual tasks in their own timeouts so we can assign time to
the task and any support moves needed that are not included in the tasks
mission main function
'''
yield sub.move.depth(1).go()
yield sub.move.forward(10).go()
try:
yield util.wrap_timeout(buoy(nh), BUOY_TIME)
except Exception:
traceback.print_exc()
finally: pass
#sub.change_current_vision(False,False,False,False,False,False)
try:
#sub.change_current_vision(False,False,False,False,True,False)
yield util.wrap_timeout(path.main(nh), PATH_TIME)
except Exception:
traceback.print_exc()
finally: pass
yield sub.move.forward(3).go()
try:
#sub.change_current_vision(False,False,False,False,True,False)
yield util.wrap_timeout(portal.main(nh), PORTAL_TIME)
except Exception:
traceback.print_exc()
finally: pass
#sub.change_current_vision(False,False,False,False,False,False)
try:
#sub.change_current_vision(False,False,False,False,True,False)
yield util.wrap_timeout(path.main(nh), PATH_TIME)
except Exception:
traceback.print_exc()
finally: pass
#sub.change_current_vision(False,False,False,False,False,False)
yield sub.move.forward(3).go()
try:
yield util.wrap_timeout(torpedos(nh), TORPEDO_TIME)
except Exception:
traceback.print_exc()
finally: pass
def main(nh, freq=25e3):
sub = yield sub_scripting.get_sub(nh)
yield sub.raise_down_grabber()
if 1:
yield sub.move.depth(1).go()
fwd_move = sub.move.go(linear=[.3, 0, 0])
try:
yield sub.hydrophone_align(freq)
finally:
fwd_move.cancel()
yield sub.move.relative(RELATIVE_PINGER_MOVE).go()
#print 'surfacing'
#yield sub.move.depth(0).go()
yield sub.move.depth(0.4).go()
bin_pose = sub.move
try:
yield util.wrap_timeout(sub.visual_align('down', 'wreath/bin/high', 2, selector=select_centered, turn=False), 10)
yield sub.move.relative(RELATIVE_VISION_MOVE).go()
except util.TimeoutError:
print 'bin alignment timed out'
yield bin_pose.go()
except:
print 'bin alignment???'
yield bin_pose.go()
yield path.main(nh, orient_away_from=True, forward=False, depth=0.4)
yield sub.move.forward(2).go()
yield retry_to_grab(sub, 'moonrock', freq, surface=True)
yield retry_to_grab(sub, 'moonrock', freq, bubbles=True, surface=True)
yield retry_to_grab(sub, 'cheese', freq)
yield retry_to_grab(sub, 'cheese', freq)
yield retry_to_grab(sub, 'cheese', freq, bubbles=True)
yield retry_to_grab(sub, 'moonrock', freq)
while True:
yield retry_to_grab(sub, 'moonrock', freq)
