def getState(self, uid):
# Получаем позицию робота
send = [-1] * 2 # initialize an array with -1
send[IndexSignalSend.type] = SignalType.getState
send[IndexSignalSend.uid] = uid
logging.debug("getState() robot_uid = %d" % uid)
# get a reply of the form [uid, ambient_light] | distance_keys | distance_values
recv = self.sendSignal(send)
#logging.debug("Received %s" % recv)
recv = recv.split(b'|')
for i in range(len(recv)):
# unpack ints in place
recv[i] = vrep.simxUnpackInts(recv[i])
logging.debug("recv[%d] = %s" % (i, recv[i]))
if (recv[0][IndexSignalReceive.uid] != uid):
logging.critical("received the state from the wrong robot (req.uid = %d, response.uid = %d)" % (uid, recv[0][IndexSignalReceive.uid]))
exit(1)
# construct the distances dictionary (robot_uid: current_distance)
distances = {recv[1][i]: recv[2][i] for i in range(len(recv[1]))}
# remove distance from myself, as it is always 0 and is not needed
del distances[uid]
return {
'uid' : recv[0][IndexSignalReceive.uid],
'light' : recv[0][IndexSignalReceive.ambient_light],
'distances' : distances}
def setState(self, uid, motion, light):
# Задаем текущее положение робота
send = [-1] * 6
send[IndexSignalSend.type] = SignalType.setState
send[IndexSignalSend.uid] = uid
send[IndexSignalSend.motion] = motion
send[IndexSignalSend.led_r] = light[0]
send[IndexSignalSend.led_g] = light[1]
send[IndexSignalSend.led_b] = light[2]
recv = vrep.simxUnpackInts(self.sendSignal(send))
def getState(self, uid):
"""Return the current state of the kilobot, under the form of a structured dictionary
:uid: the target kilobot's unique id
:returns: structured dictionary that represents the state of the robot
{
uid : the target kilobot's unique id
light : (val_now, val_previous)
distances : {robot_uid: current_distance}
}
"""
send = [-1] * 2 # initialize an array with -1
send[IndexSignalSend.type] = SignalType.getState
send[IndexSignalSend.uid] = uid
logging.debug("getState() robot_uid = %d" % uid)
# get a reply of the form [uid, ambient_light] | distance_keys | distance_values
recv = self.sendSignal(send)
# logging.debug("Received %s" % recv)
recv = recv.split(b"|")
for i in range(len(recv)):
# unpack ints in place
recv[i] = vrep.simxUnpackInts(recv[i])
logging.debug("recv[%d] = %s" % (i, recv[i]))
if recv[0][IndexSignalReceive.uid] != uid:
logging.critical(
"received the state from the wrong robot (req.uid = %d, response.uid = %d)"
% (uid, recv[0][IndexSignalReceive.uid])
)
exit(1)
# construct the distances dictionary (robot_uid: current_distance)
distances = {recv[1][i]: recv[2][i] for i in range(len(recv[1]))}
# remove distance from myself, as it is always 0 and is not needed
del distances[uid]
return {
"uid": recv[0][IndexSignalReceive.uid],
"light": recv[0][IndexSignalReceive.ambient_light],
"distances": distances,
}
def setState(self, uid, motion, light):
"""Set a current state for the end-effectors of the Kilobot (Motors and RGB-led)
:uid: the target kilobot's unique id
:motion: one of Motion(enum) values
:light: [r, g, b] list with values from [0-3] interval
:returns: TODO
"""
send = [-1] * 6
send[IndexSignalSend.type] = SignalType.setState
send[IndexSignalSend.uid] = uid
send[IndexSignalSend.motion] = motion
send[IndexSignalSend.led_r] = light[0]
send[IndexSignalSend.led_g] = light[1]
send[IndexSignalSend.led_b] = light[2]
# recv = self.sendSignal(send)
recv = vrep.simxUnpackInts(self.sendSignal(send))
logging.debug("Received %s" % recv)
