def tick(blackboard):
"""
This is the main entry point from C++ into our Python behaviours and back.
More specifically it is the bridge from which C++ calls Python inside
the runswift executable, and receives a BehaviourRequest back.
Currently called in `robot/perception/behaviour/python/PythonSkill.cpp`,
the `PythonSkill::execute()` C++ function, and explicitly the line
`behaviour_tick(bb)`.
:param blackboard: The runswift Blackboard, a bunch of things
stored in global memory.
:return: A `robot.BehaviourRequest()` instance, defined in C++ inside
`robot/types/BehaviourRequest.hpp`.
"""
# Update all blackboard dependent helper modules.
Global.update(blackboard)
TeamStatus.update(blackboard)
FieldGeometry.update(blackboard)
Timer.update(blackboard)
LedOverride.reset()
Sonar.update(blackboard)
# Set the HeadSkill
HeadSkill.singleton.resetRequestState()
global skill_instance
if not skill_instance:
skill_instance = skill_instance_factory(blackboard)
if isinstance(skill_instance, BehaviourTask):
# On every tick of the perception thread, we update the blackboard,
# tick the skill, and then return the resulting behaviour request.
skill_instance.world.update(blackboard)
skill_instance.world.b_request = robot.BehaviourRequest()
skill_instance.world.b_request.actions = robot.All()
skill_instance.tick()
request = skill_instance.world.b_request
else:
# Backwards compat for old style skills if called directly via -s.
request = skill_instance.tick(blackboard)
headRequest = HeadSkill.singleton.tick(blackboard)
request.actions.head = headRequest.actions.head
# LED colouring.
if len(blackboard.vision.uncertain_balls) > 0:
request.actions.leds.rightEye = LEDColour.blue
elif len(blackboard.vision.balls) > 0:
request.actions.leds.rightEye = LEDColour.red
else:
request.actions.leds.rightEye = LEDColour.off
if Global.amILost():
request.actions.leds.leftEye = LEDColour.off
else:
request.actions.leds.leftEye = LEDColour.cyan
return request
def tick(blackboard):
# Update all blackboard dependent helper modules.
Global.update(blackboard)
TeamStatus.update(blackboard)
FieldGeometry.update(blackboard)
Timer.update(blackboard)
Sonar.update(blackboard)
global skill_instance
if not skill_instance:
skill = blackboard.behaviour.skill
# Load the module and the class we're going to use.
found_skill = False
SkillClass = None
behaviour_packages = ["roles", "skills", "test"]
for package in behaviour_packages:
if skill not in [
name for _, name, _ in pkgutil.iter_modules(
["/home/nao/data/behaviours/%s" % package])
]:
Log.info("%s wasn't in %s, skipping import attempt.", skill,
package)
continue
try:
skill_module = __import__("%s.%s" % (package, skill),
fromlist=[skill])
# Access the class so we can do some reflection.
SkillClass = getattr(skill_module, skill)
found_skill = True
Log.info("Successfully imported %s from %s.%s", skill, package,
skill)
break
except ImportError, e:
Log.error("%s %s", package, e)
Log.error(traceback.format_exc())
if not found_skill:
raise ImportError(
"Could not find skill: %s in any of our behaviour folders." %
skill)
if issubclass(SkillClass, BehaviourTask):
new_world = world.World(blackboard) # It's a whole new world.
skill_instance = SkillClass(new_world)
else:
parentSkill = DummySkill(blackboard)
skill_instance = SkillClass(blackboard, parentSkill)
def tick(blackboard):
# Update all blackboard dependent helper modules.
Global.update(blackboard)
TeamStatus.update(blackboard)
FieldGeometry.update(blackboard)
Timer.update(blackboard)
Sonar.update(blackboard)
global skill_instance
if not skill_instance:
skill = blackboard.behaviour.skill
# Load the module and the class we're going to use.
found_skill = False
SkillClass = None
behaviour_packages = [ "roles", "skills", "test" ]
for package in behaviour_packages:
if skill not in [name for _, name, _ in pkgutil.iter_modules(["/home/nao/data/behaviours/%s" % package])]:
Log.info("%s wasn't in %s, skipping import attempt.", skill, package)
continue
try:
skill_module = __import__("%s.%s" % (package, skill), fromlist=[skill])
# Access the class so we can do some reflection.
SkillClass = getattr(skill_module, skill)
found_skill = True
Log.info("Successfully imported %s from %s.%s", skill, package, skill)
break
except ImportError, e:
Log.error("%s %s", package, e)
Log.error(traceback.format_exc())
if not found_skill:
raise ImportError("Could not find skill: %s in any of our behaviour folders." % skill)
if issubclass(SkillClass, BehaviourTask):
new_world = world.World(blackboard) # It's a whole new world.
skill_instance = SkillClass(new_world)
else:
parentSkill = DummySkill(blackboard)
skill_instance = SkillClass(blackboard, parentSkill)