class RobotControllerRecordingDelegate(Delegate):
def __init__(self):
Delegate.__init__(self)
self.allowedEventTypes = ["NewPosition", "EndRecordSession", "NewRecordSession", "StartRecord", "StopRecord"]
self.sequence = PositionSequence()
self.manager = SequenceFileManager()
self.recording = False
def notify(self, event):
if not self.doesHandleEvent(event):
return
if( event.type == "NewRecordSession" ):
print "RobotControllerRecordingDelegate: new session named: " + event.data
self.sessionName = event.data
elif( event.type == "EndRecordSession" ):
#saving data
print "RobotControllerRecordingDelegate: saving file" + self.sessionName
self.manager.save( self.sequence, self.sessionName )
self.sessionName = 0
elif( event.type == "StartRecord"):
print "RobotControllerRecordingDelegate: start recording"
self.recording = True
elif( event.type == "StopRecord" ):
self.recording = False
elif( event.type == "NewPosition" and self.recording ):
print "RobotControllerRecordingDelegate: add position"
self.sequence.appendPosition(event.data)
def preparePositionSequence(self):
sequence = PositionSequence([])
for i in range(0,100):
sequence.appendPosition(JointPosition([0*i,1*i,2*i,3*i,4*i,5*i]))
return sequence
