def SharedVarUpdated(sv):
s = '(BB_sv_updated "' + sv.varName + '" '
if sv.svType in [
BB.SharedVarTypes.INT, BB.SharedVarTypes.LONG,
BB.SharedVarTypes.DOUBLE
]:
s += str(sv.data)
elif sv.svType in [
BB.SharedVarTypes.INT_ARRAY, BB.SharedVarTypes.LONG_ARRAY,
BB.SharedVarTypes.DOUBLE_ARRAY, BB.SharedVarTypes.BYTE_ARRAY
]:
s += str(sv.size) + ' ' + ' '.join([str(x) for x in sv.data])
elif sv.svType == BB.SharedVarTypes.STRING:
s += '"' + sv.data + '"'
elif sv.svType == BB.SharedVarTypes.RECOGNIZED_SPEECH:
s += str(len(sv.data)) + ' ' + ' '.join(
['"' + x + '" ' + str(y) for x, y in sv.data])
elif sv.svType == BB.SharedVarTypes.VAR:
s += str(sv.data)
elif sv.svType == BB.SharedVarTypes.MATRIX:
s += str(len(sv.data)) + ' ' + str(len(sv.data[0])) + ' '
for r in sv.data:
for c in r:
s += ' ' + str(c)
else:
print 'ERROR: Parsing shared var: "{0}" failed'.format(sv.varName)
return
s += ')'
clipsFunctions.Assert(s)
clipsFunctions.PrintOutput()
def callbackCommandResponse(data):
print "callbackCommandResponse name command:" + data.name
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name)
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(data.name, data.id, data.successful, data.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(BBFunctions.gui.getRunTimes())
clipsFunctions.PrintOutput()
def RunCommand(c):
clipsFunctions.Assert('(BB_cmd "{0}" {1} "{2}")'.format(
c.name, c._id, c.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run()
clipsFunctions.PrintOutput()
time.sleep(1)
return Response.FromCommandObject(
c, False, 'CLIPS was busy or not able to handle the command.')
def callbackCommandResponse(data):
print "callbackCommandResponse name command:" + data.name
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name)
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(
data.name, data.id, data.successful, data.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(
''
) # aqui se manda el numero de pasos que ejecutara CLIPS con [''] se ejecutan todos los pasos sin detenerse
clipsFunctions.PrintOutput()
def timerThread(t, sym):
time.sleep(t/1000)
clipsFunctions.Assert('(BB_timer {0})'.format(sym))
clipsFunctions.PrintOutput()
def cmdTimerThread(t, cmd, cmdId):
time.sleep(t/1000)
clipsFunctions.Assert('(BB_timer "{0}" {1})'.format(cmd, cmdId))
clipsFunctions.PrintOutput()
def ResponseReceived(r):
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(
r.name, r._id, r.successful, r.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(gui.getRunTimes())
clipsFunctions.PrintOutput()