def sendWorldCleanedGrid(self,idnum,xpos,ypos) :
#update = XMLMessageVacuumCleanWorld()
update = XMLMessageVacuumIDPosBase()
update.setVacuumID(idnum)
update.setPos(xpos,ypos)
update.createRootNode()
update.specifyInformationType(XMLParser.MESSAGE_VACUUM_WORLD_CLEAN_GRID)
self.sendString(Router.WORLD,update.xml2Char(),idnum)
def sendPlannerVacuumMovedPosition(self,idnum,xpos,ypos) :
#update = XMLMessageVaccumMovedReportToPlanner()
update = XMLMessageVacuumIDPosBase()
update.setVacuumID(idnum)
update.setPos(xpos,ypos)
update.createRootNode()
update.specifyInformationType(XMLParser.MESSAGE_VACUUM_NEW_POSITION_PLANNER)
self.sendString(Router.PLANNER,update.xml2Char())
def sendMoveOrderFromCommander2Planner(self,xPos,yPos,IDnum) :
#print("Sending to id: {0} pos: {1},{2}".format(IDnum,xPos,yPos))
#orders = XMLMessageMoveOrderCommanderPlanner()
orders = XMLMessageVacuumIDPosBase()
orders.setVacuumID(IDnum)
orders.setPos(xPos,yPos)
orders.createRootNode()
orders.specifyInformationType(XMLParser.MESSAGE_MOVE_ORDER_COMMANDER_PLANNER)
self.sendString(Router.PLANNER,orders.xml2Char(),IDnum)
def sendMoveOrderFromCommander2Vacuum(self,xPos,yPos,vacuumID) :
#print("Sending to id: {0} pos: {1},{2}".format(vacuumID,xPos,yPos))
#orders = XMLMessageMoveOrderCommanderVacuum()
orders = XMLMessageVacuumIDPosBase()
orders.setVacuumID(vacuumID)
orders.setPos(xPos,yPos)
orders.createRootNode()
orders.specifyInformationType(XMLParser.MESSAGE_MOVE_ORDER_COMMANDER_VACUUM)
self.sendString(Router.VACUUM,orders.xml2Char(),vacuumID)
def sendVacuumReportFromCommander2Planner(self,xPos,yPos,IDnum) :
#print("Sending to id: {0} pos: {1},{2}".format(IDnum,xPos,yPos))
#network = XMLMessagePlannerReportVacuumOrders()
network = XMLMessageVacuumIDPosBase()
network.setVacuumID(IDnum)
network.setPos(xPos,yPos)
network.createRootNode()
network.specifyInformationType(XMLParser.MESSAGE_PLANNER_REPORT_VACUUM_ORDERS)
self.sendString(Router.PLANNER,network.xml2Char())
def sendRecommendOrderFromCommander2Planner(self,vacuumID,xPos,yPos) :
#print("Sending to id: {0} pos: {1},{2}".format(vacuumID,xPos,yPos))
#orders = XMLMessageRecommendOrderCommander2Planner()
orders = XMLMessageVacuumIDPosBase()
orders.setVacuumID(vacuumID)
orders.setPos(xPos,yPos)
orders.createRootNode()
orders.specifyInformationType(XMLParser.MESSAGE_RECOMMEND_ORDER_COMMANDER_PLANNER)
self.sendString(Router.PLANNER,orders.xml2Char())
