def subscribe_flock(self):
flock_coordinate_subject_list = [self.selfposition_subject]
flock_coordinate_subject_list.extend(self.flock_coordinates.values())
self.flockSubscription = Observable.combine_latest(flock_coordinate_subject_list, lambda *positions: self.repulsion_vector(positions)) \
.sample(self.SAMPLE_RATE) \
.subscribe(on_next= lambda v: self.flock_repulsion.on_next(v))
def __init__(self, id, local_setvelocity_publisher, xoffset, yoffset,
leader):
self.local_setvelocity_publisher = local_setvelocity_publisher
self.id = id
self.xoffset = xoffset
self.yoffset = yoffset
self.leader = leader
self.started = False
self.ros_subscriptions = []
self.flock_coordinates = {}
self.leaderposition_subject = Subject()
self.selfposition_subject = Subject()
self.leadervelocity_subject = Subject()
self.selfvelocity_subject = Subject()
self.flock_repulsion = Subject()
formation_position_attraction = Observable.combine_latest(
self.leaderposition_subject, self.selfposition_subject,
lambda leaderposition, selfposition: self.formation_position(
leaderposition, selfposition))
leaderVelocity = self.leadervelocity_subject \
.map(lambda twist: self.format_velocities(twist))
leaderVelocityDampening = Observable.combine_latest(
self.leadervelocity_subject, self.selfvelocity_subject,
lambda leadertwist, selftwist: self.velocity_dampening(
leadertwist, selftwist))
# self.navigate_subscription = Observable.combine_latest([leaderVelocity, formation_position_attraction, self.flock_repulsion], lambda vectors: self.navigate(vectors))
self.navigate_subscription = Observable.combine_latest([leaderVelocity, leaderVelocityDampening, formation_position_attraction, self.flock_repulsion], lambda *positions: positions) \
.sample(self.SAMPLE_RATE) \
.subscribe(lambda vectors: self.navigate(vectors))
# self.navigate_subscription = self.flock_repulsion \
# .subscribe(lambda vectors: self.navigate([vectors]))
self.flockSubscription = Observable.empty().subscribe()
def combine_latest(self, *args):
"""Merges the specified observable sequences into one observable
sequence by using the selector function whenever any of the
observable sequences produces an element. This can be in the form of
an argument list of observables or an array.
1 - obs = observable.combine_latest(obs1, obs2, obs3,
lambda o1, o2, o3: o1 + o2 + o3)
2 - obs = observable.combine_latest([obs1, obs2, obs3],
lambda o1, o2, o3: o1 + o2 + o3)
Returns an observable sequence containing the result of combining
elements of the sources using the specified result selector
function.
"""
args = list(args)
if args and isinstance(args[0], list):
args = args[0]
args.insert(0, self)
return Observable.combine_latest(*args)
def combine_latest(self, *args):
"""Merges the specified observable sequences into one observable
sequence by using the selector function whenever any of the
observable sequences produces an element. This can be in the form of
an argument list of observables or an array.
1 - obs = observable.combine_latest(obs1, obs2, obs3,
lambda o1, o2, o3: o1 + o2 + o3)
2 - obs = observable.combine_latest([obs1, obs2, obs3],
lambda o1, o2, o3: o1 + o2 + o3)
Returns an observable sequence containing the result of combining
elements of the sources using the specified result selector
function.
"""
args = list(args)
if args and isinstance(args[0], list):
args = args[0]
args.insert(0, self)
return Observable.combine_latest(*args)
