class NAOProtocol(RobotProtocol):
def __init__(self):
self.walk = None
def nxt_missing(self, nxt_handle, color):
print "Searching for NXT #%d, color=%d" % (nxt_handle, color)
return {"ack": "searching"}
command.NXTMissing.responder(nxt_missing)
def perform_calibration(self, nao_handle, nxt_handle, color):
print "Performing calibration on NXT #%d, color=%d" % (nxt_handle, color)
calibration = NAOCalibration()
calibrationResult = calibration.performCalibration(color)
if calibrationResult[0] != -1:
return {
"nao_handle": nao_handle,
"nxt_handle": nxt_handle,
"x_axis": calibrationResult[0],
"y_axis": calibrationResult[1],
"yaw": calibrationResult[2],
}
else:
return {"handle": self.handle, "nxt_handle": nxt_handle, "x_axis": -1, "y_axis": -1, "yaw": -1}
command.PerformCalibration.responder(perform_calibration)
def send_path(self, path):
print "Follow path"
pprint.pprint(path)
return {"ack": "follow path"}
command.SendPath.responder(send_path)
def nao_walk(self, nao_handle, nxt_handle):
print "NAOWalk started"
self.walk = NaoWalk(self)
self.walk.followRedBall()
return {"ack": "walk finished"}
command.NAOWalk.responder(nao_walk)
def target_reached(self):
print "Target reached"
self.walk.target_reached = True
command.TargetReached.responder(target_reached)
def nao_walk(self, nao_handle, nxt_handle):
print "NAOWalk started"
self.walk = NaoWalk(self)
self.walk.followRedBall()
return {"ack": "walk finished"}
