def _printNode(self,
key,
val,
padding='',
last=False,
maxdepth=None,
maxcount=None):
from fabulous.color import highlight_blue, red, blue, green, cyan, yellow, bold
from tables import Array
if isinstance(val, H5Node):
val.printTree(padding=padding,
last=last,
maxdepth=maxdepth,
maxcount=maxcount)
else:
if isinstance(val, Array):
val = yellow('Array(%s,__dtype__=%s)' %
(','.join(str(i) for i in val.shape), val.dtype))
elif isinstance(val, Table):
val = green(val)
else:
val = red('%s,__dtype__=%s' % (str(val), type(val).__name__))
if last:
print '%s `%s [%s]' % (padding[:-1], cyan(key), val)
else:
print '%s`%s [%s]' % (padding, cyan(key), val)
def switch_task(self, task):
'''Reads out the task topic and switches to the desired task.
'''
if task.data not in self.task_dict:
print highlight_red(
' Not a valid task, drone will remain in standby state.')
self.state_sequence = self.task_dict.get(task.data, [])
self.new_task = True
print cyan(' Core received a new task: ', task.data)
def take_off_land(self, pressed):
'''Check if menu button is pressed and switch to take-off or land
sequence depending on last task that was executed.
'''
if pressed.data:
if self.airborne:
self.state_sequence = self.task_dict.get("land", [])
else:
self.state_sequence = self.task_dict.get("take-off", [])
self.new_task = True
print cyan(' Bebop_core received a new task: ',
self.state_sequence[0])
def switch_p2p(self, pressed):
''' Function to switch easily to p2p
'''
if pressed.data and not self.gripButtonPressed_held:
self.state_sequence = self.task_dict.get("point to point", [])
self.new_task = True
print cyan(' Bebop_core received a new task: ',
self.state_sequence[0])
self.gripButtonPressed_held = True
elif not pressed.data and self.gripButtonPressed_held:
self.gripButtonPressed_held = False
def make(items):
for name, props in items:
print
print "make: %s" % (cyan(name))
print "-"*30
# move to this files parent directory and then to the bundle directory
os.chdir(dirname + "/..")
os.chdir(props["dir"])
for cmd in props["make"]:
print yellow(cmd)
c = subprocess.call(cmd_gen(cmd))
if c != 0:
print red("Error encountered (%s: %s)" % (cyan(name), yellow(cmd)))
sys.exit()
def _printNode(self, key, val, padding= '', last=False,maxdepth=None,maxcount=None):
from fabulous.color import highlight_blue,red,blue,green,cyan,yellow,bold
from tables import Array
if isinstance(val,H5Node):
val.printTree(padding=padding,last=last,maxdepth=maxdepth,maxcount=maxcount)
else:
if isinstance(val,Array):
val = yellow('Array(%s,__dtype__=%s)'% (','.join(str(i) for i in val.shape),val.dtype))
elif isinstance(val,Table):
val = green(val)
else:
val = red('%s,__dtype__=%s' % (str(val),type(val).__name__))
if last:
print '%s `%s [%s]' % (padding[:-1], cyan(key), val )
else:
print '%s`%s [%s]' % (padding, cyan(key), val )
def switch_task(self, task):
'''Reads out the task topic and switches to the desired task.
'''
if task.data in [
"home inspection", "home count", "home inventory",
"home guide", "home picture", "home events",
"home smart inspection"
]:
self.task_str = task.data
else:
if task.data not in self.task_dict:
print highlight_red(
' Not a valid task, drone will remain in standby state.')
self.state_sequence = self.task_dict.get(task.data, [])
self.new_task = True
print cyan(' Bebop_core received a new task: ', task.data)
def clean(items):
for name, props in items:
# only attempt if the clean method exists
if props["clean"]:
print
print "clean: %s" % (cyan(name))
print "-"*30
# move to this files parent directory and then to the bundle directory
os.chdir(dirname + "/..")
os.chdir(props["dir"])
print yellow(props["clean"])
subprocess.call(props["clean"].split())
def cyan(self):
return ansi(c.cyan(self.txt))
def start(self):
'''
Starts running of bebop_demo node. Runs along the state sequence, sends
out the current state and returns to the standby state when task is
completed.
'''
print green('---- Core running ----')
while not rospy.is_shutdown():
if self.new_task:
self.new_task = False
self.change_state = False
self.state_finish = False
# Run over sequence of states corresponding to current task.
for state in self.state_sequence:
self.state = state
print cyan(' Core state changed to: ', self.state)
self.fsm_state.publish(state)
# IRRELEVANT WHEN NOT USING OMGTOOLS
# # Omg tools should return to its own standby status
# # unless the state_button has been pressed.
# if self.state in {"omg standby", "omg fly"}:
# self.omg_standby = True
# else:
# self.omg_standby = False
if self.state == "land":
self.change_state = True
task_final_state = (self.state == self.state_sequence[-1])
# Check if previous state is finished and if allowed to
# switch state based on controller input.
while not ((self.state_finish and
(self.change_state or task_final_state))
or self.new_task or rospy.is_shutdown()):
# Remaining in state. Allow state action to continue.
rospy.sleep(0.1)
self.change_state = False
self.state_finish = False
# OMG STUFF
leave_omg = False
# leave_omg = (
# self.state == "omg standby" and not self.omg_standby)
# # User forces leaving omg with state_button or other new
# # task received --> leave the for loop for the current
# # task.
if (leave_omg or self.new_task):
# print cyan('---- Broke for loop ----')
break
# # Make sure that omg-tools task is repeated until force quit.
# if self.omg_standby:
# self.new_task = True
# Only publish standby state when task is finished.
# Except for repetitive tasks (back to first state in task).
if not self.new_task:
self.state = "standby"
self.fsm_state.publish("standby")
print cyan(' Core state changed to: ', "standby")
# print 'core sleeping'
rospy.sleep(0.1)
#!/usr/bin/env python
"""Colour theme for terminals which support only 8-bit colors.
"""
from fabulous import color as col
messagefmt = {
None: '{asctime} {module} {levelname} {msg}'.format(
asctime=col.highlight_blue('{r.asctime}'),
module=col.cyan(('{r.module}')),
levelname=col.cyan('{r.levelname}'),
msg=col.bold(col.yellow('{r.msg}')),
),
'INFO': '{asctime} {module} {levelname} {msg}'.format(
asctime=col.highlight_blue('{r.asctime}'),
module=col.cyan(('{r.module}')),
levelname=col.green('{r.levelname}'),
msg=col.bold(col.yellow('{r.msg}')),
),
'WARNING': '{asctime} {module} {levelname} {msg}'.format(
asctime=col.highlight_blue('{r.asctime}'),
module=col.cyan(('{r.module}')),
levelname=col.bold(col.magenta('{r.levelname}')),
msg=col.bold(col.yellow('{r.msg}')),
),
'ERROR': '{asctime} {module} {levelname} {msg}'.format(
asctime=col.highlight_blue('{r.asctime}'),
def show_contacts(phone_book):
if phone_book == {}:
print(red("No hay contactos en Phone_book"))
else:
for name, phone in phone_book.items():
print(cyan(name, ":", phone))
def start(self):
'''
Starts running of bebop_demo node. Runs along the state sequence, sends
out the current state and returns to the standby state when task is
completed.
'''
print green('---- Bebop core running ----')
while not rospy.is_shutdown():
if self.task_str == "home inspection":
self.home_inspection()
elif self.task_str == "home inventory":
self.inventory()
elif self.task_str == "home count":
self.count()
elif self.task_str == "home picture":
self.picture()
elif self.task_str == "home guide":
self.guide()
elif self.task_str == "home events":
self.events()
elif self.task_str == "home smart inspection":
self.home_inspection_smart()
if self.new_task:
self.new_task = False
self.change_state = False
self.state_finish = False
# Run over sequence of states corresponding to current task.
for state in self.state_sequence:
self.state = state
print cyan(' Bebop_core state changed to: ', self.state)
self.fsm_state.publish(state)
# Omg tools should return to its own standby status unless
# the controller trackpad has been pressed.
if self.state in {
"omg standby", "omg fly", "omg fly A",
"omg standby A", "omg fly inspection"
}:
self.omg_standby = True
else:
self.omg_standby = False
if self.state == "land":
self.change_state = True
task_final_state = (self.state == self.state_sequence[-1])
# Check if previous state is finished and if allowed to
# switch state based on controller input.
while not ((self.state_finish and
(self.change_state or task_final_state))
or self.new_task or rospy.is_shutdown()):
# Remaining in state. Allow state action to continue.
if self.state not in {"standby", "initialization"}:
self.camera_actions()
rospy.sleep(0.1)
self.change_state = False
self.state_finish = False
leave_omg = (self.state == "omg standby"
and not self.omg_standby)
# User forces leaving omg with trackpad or other new task
# received --> leave the for loop for the current task.
if (leave_omg or self.new_task):
# print cyan('---- Broke for loop ----')
break
# Make sure that omg-tools task is repeated until force quit.
if self.omg_standby:
self.new_task = True
# Only publish standby state when task is finished.
# Except for repetitive tasks (back to first state in task).
if not self.new_task:
self.state = "standby"
self.fsm_state.publish("standby")
print cyan(' Bebop_core state changed to: ', "standby")
rospy.sleep(0.1)
