def _update_subswarm(self, new_subswarm):
''' Performs all required actions upon assignment to a new subswarm
@param new_subswarm: ID of the subswarm to which the UAV is assigned
'''
self._subswarm_id = new_subswarm
self._new_subswarm_publisher.publish(stdmsg.UInt8(new_subswarm))
self.log_info("Subswarm updated to %d" % self._subswarm_id)
def _update_swarm_state(self, new_state):
''' Performs all required actions when the swarm state changes
@param new_state: new swarm state value
'''
self._swarm_state = new_state
self._new_swarm_state_publisher.publish(stdmsg.UInt8(new_state))
self.log_info("Swarm state updated to %s" \
%enums.STATE_STRINGS[self._swarm_state])
def _update_swarm_behavior(self, new_behavior):
''' Performs all required post-swarm-behavior-initiation actions
@param new_behavior: behavior_id of the initiated swarm behavior
'''
self._swarm_behavior = new_behavior
self._new_swarm_behavior_publisher.publish(stdmsg.UInt8(new_behavior))
self._behavior_pub_ctr = SwarmController.BHVR_PUB_INTERVAL
self.log_info("Active swarm behavior updated to %s"\
%self._behavior_records[self._swarm_behavior].name)
def getAnimationMode():
return stdmsg.UInt8(api.getAnimationMode())
def pub_states_timer_callback(self):
msg = std_msgs.UInt8(planner_instance.controller_states)
publisher.publish(msg)