def boot_robot_adapter_main(params):
check_parameters(params, required=['robot_spec', 'root'],
optional=['maximum_interval', 'sleep'])
data_central = DataCentral(params['root'])
bo_config = data_central.get_bo_config()
sleep = params.get('sleep', 0.0)
maximum_interval = params.get('maximum_interval', 2)
robot_spec = params['robot_spec']
# check_valid_robot_config(robot_spec)
robot = bo_config.robots.instance_spec(robot_spec) # @UndefinedVariable
adapter = BootRobotAdapter(id_robot=robot_spec['id'],
robot=robot,
maximum_interval=maximum_interval,
sleep=sleep)
adapter.loop()
def boot_agent_adapter_main(params):
Global.logger = RospyLogger("agent_adapter")
Global.logger.info("My params:\n%s" % pformat(params))
check_parameters(params, required=["agent_spec", "root"], optional=["publish_interval"])
data_central = DataCentral(params["root"])
bo_config = data_central.get_bo_config()
publish_interval = params.get("publish_interval", 0)
agent_spec = params["agent_spec"]
# check_valid_agent_config(agent_spec)
agent = bo_config.agents.instance_spec(agent_spec) # @UndefinedVariable
id_agent = agent_spec["id"]
AgentInterface.logger = RospyLogger(id_agent)
agent_adapter = BootAgentAdapter(
data_central=data_central, id_agent=id_agent, agent=agent, publish_interval=publish_interval
)
agent_adapter.go()