Exemple #1
0
	def execute(self, userdata):
		rd_goal = userdata.goal_from_ui
		rd_result = userdata.result_for_ui

		if rd_goal.ui_command.command == bdm.GetUserCommand.MOVE_TO_HOME_POSITION or \
		   rd_goal.ui_command.command == bdm.GetUserCommand.MOVE_TO_IDLE_MODE or \
		   rd_goal.ui_command.command == bdm.GetUserCommand.CANCEL_DEMO:

			return 'different_request'

		else:

			global p
			x = YamlExtractor(rd_goal.ui_command.command)
			
			if x.get_name() is not None:
				topics = x.get_topics()
				ids = x.get_bond_ids()
				bond_list = []

			# Generate bond instances
			for i in range(len(topics)):
				bond = bondpy.Bond(topics[i], ids[i])
				bond_list.append(bond)	
		
			ui_cmd = x.get_command()

			if p is None:
				p = subprocess.Popen(ui_cmd)
				rd_result.sys_result.result = bdm.GetResult.DEMO_EXECUTED

				def on_formed_cb():
					print "Bond has been formed"

				def on_broken_cb():
					print "Bond has been broken"
					if p is not None:
						nxr.terminate_process_and_children(p)
						#termination_publisher()

				for j in range(len(bond_list)):
					bond_list[j].start()
					bond_list[j].set_formed_callback(on_formed_cb)
					bond_list[j].set_broken_callback(on_broken_cb)
					bond_list[j].wait_until_formed()
				return 'demo_executed'

			else:
				rd_result.sys_result.result = bdm.GetResult.IS_ABORTED
				return 'aborted'
Exemple #2
0
		def get_selection_cb(userdata, goal):
			print "  d1 : joint velocity wobbler \n  d2 : joint velocity puppet\n  d3 : joint position keyboard\n  d4 : head wobbler\n  d5 : gripper cuff control\n  d6: joint position joystick \n test1 : turtle_sim infinity drawer\n test2 : turtle_sim circle drawer\n test3 : dummy demo \n"
			print "Select a demo to run (e.g. d1): "
			inp, out, err = select.select([sys.stdin], [], [], 15)

			if inp:

				usr_inp = sys.stdin.readline().strip()
				x = YamlExtractor(usr_inp)
				demo_req = x.get_name()

				if demo_req is None:
					print "Undefined input!\n"
					return get_selection_cb(userdata, goal)
				else:
					goal.ui_command.command = demo_req

			else:
				goal.ui_command.command = bdm.GetUserCommand.MOVE_TO_IDLE_MODE
				print "Baxter is moving to idle mode...\n"

			return goal