def _WriteSharedVar(sharedVarType, name, data):
w = str(data)
if sharedVarType == SharedVarTypes.BYTE_ARRAY:
w = '0x' + ''.join(["%02X" % x for x in data])
elif sharedVarType in [SharedVarTypes.INT, SharedVarTypes.LONG]:
w = str(int(data))
elif sharedVarType == SharedVarTypes.DOUBLE:
w = str(float(data))
elif sharedVarType in [
SharedVarTypes.INT_ARRAY, SharedVarTypes.LONG_ARRAY
]:
w = ' '.join([str(int(x)) for x in data])
elif sharedVarType == SharedVarTypes.DOUBLE_ARRAY:
w = ' '.join([str(float(x)) for x in data])
elif sharedVarType == SharedVarTypes.STRING:
w = Message._SerializeString(data)
elif sharedVarType == SharedVarTypes.MATRIX:
w = SharedVar._SerializeMatrix(data)
elif sharedVarType == SharedVarTypes.RECOGNIZED_SPEECH:
w = SharedVar._SerializeRecognizedSpeech(data)
else:
print 'pyRobotics - ERROR: Unhandled shared var type'
return False
r = BB.SendAndWait(
Command('write_var', sharedVarType + ' ' + name + ' ' + w), 2000, 2)
return (r and r.successful)
def _SubscribeToSharedVar(name, subscriptionType, reportType):
r = BB.SendAndWait(
Command(
'suscribe_var',
name + ' suscribe=' + subscriptionType + ' report=' + reportType),
2000, 2)
return (r and r.successful)
def _ReadSharedVar(name):
r = BB.SendAndWait(Command('read_var', name), 2000)
if not (r and r.successful):
return None
return r.data
def _Execute(self):
response = None
currentAttempt = 0
self._attemptsLock.acquire()
att = self._attempts
self._attemptsLock.release()
while not response and (att == 0 or currentAttempt < att):
currentAttempt += 1
response = BB.SendAndWait(self._command, self._timeout)
self._attemptsLock.acquire()
att = self._attempts
self._attemptsLock.release()
self._setResponse(response)
self._setSending(False)
def _CreateSharedVar(svType, name):
r = BB.SendAndWait(Command('create_var', svType + ' ' + name), 2000, 2)
return (r and r.successful)