def runAction(actNum):
'''
运行动作组，无法发送stop停止信号
:param actNum: 动作组名字 ， 字符串类型
:param times: 运行次数
:return:
'''
global runningAction
global stopRunning
global online_action_times
if actNum is None:
return
hwaxNum = "/home/pi/human_code/ActionGroups/" + actNum + ".hwax"
actNum = "/home/pi/human_code/ActionGroups/" + actNum + ".d6a"
if os.path.exists(hwaxNum) is True:
if runningAction is False:
runningAction = True
ssc.portWrite()
hwax = HWAX(hwaxNum, ssc.serialHandle)
hwax.reset()
while True:
if stopRunning is True:
stopRunning = False
print('stop')
break
ret = hwax.next()
if ret is None:
hwax.reset()
break
hwax.close()
runningAction = False
elif os.path.exists(actNum) is True:
if runningAction is False:
runningAction = True
ag = sql.connect(actNum)
cu = ag.cursor()
cu.execute("select * from ActionGroup")
while True:
act = cu.fetchone()
if stopRunning is True:
stopRunning = False
print('stop')
break
if act is not None:
for i in range(0, len(act) - 2, 1):
serial_setServo(i + 1, act[2 + i], act[1])
time.sleep(float(act[1]) / 1000.0)
else: # 运行完才退出
break
runningAction = False
cu.close()
ag.close()
else:
runningAction = False
print("未能找到动作组文件")
def run_ActionGroup(actNum, times):
'''
运行动作组
:param actNum:动作组文件名
:param times:运行次数，次数为0时表示无限循环，无法停止
:return:无
'''
global runningAction
global stopRunning
global action_group_finish
d6aNum = "/home/pi/human_code/ActionGroups/" + actNum + ".d6a"
hwaxNum = "/home/pi/human_code/ActionGroups/" + actNum + ".hwax"
stopRunning = False
if action_group_finish:
if times == 0: #对传入次数进行分类处理
times = 1
state = False
else:
times = abs(times)
state = True
if os.path.exists(hwaxNum) is True:
ssc.portWrite()
hwax = HWAX(hwaxNum, ssc.serialHandle)
hwax.reset()
while times:
if state:
times -= 1
if runningAction is False:
runningAction = True
while True:
if stopRunning is True:
runningAction = False
break
ret = hwax.next()
if ret is None:
runningAction = False
hwax.reset()
break
else:
break
elif os.path.exists(d6aNum) is True: # 如果存在该动作组
while times:
if state:
times -= 1
ag = sql.connect(d6aNum) # 打开数据库actNum
cu = ag.cursor() # 定义了一个游标
cu.execute("select * from ActionGroup") # 查询
if runningAction is False: # 没有动作组在运行
runningAction = True
while True:
if stopRunning is True:
runningAction = False
cu.close() # 关闭一个数据库链接
ag.close() # 游标关闭
break
act = cu.fetchone() # 返回列表中的第一项，再次使用,则返回第二项,依次下去
if act is not None:
for i in range(0, len(act) - 2, 1):
serial_setServo(i + 1, act[2 + i], act[1])
time.sleep(float(act[1]) / 1000.0)
else:
runningAction = False
cu.close()
ag.close()
break
else:
break
else:
runningAction = False
print("未能找到动作组文件")
def run_ActionGroup(actNum, times):
'''
Run the action group
:param actNum:Action group filename
:param times:The times of running. when the number of times is 0, it means infinite loop, which cannot be stopped
:return:无
'''
global runningAction
global stopRunning
global stop
if not stopRunning:
stop = False
write_data(stop)
d6aNum = "/home/pi/human_code/ActionGroups/" + actNum + ".d6a"
hwaxNum = "/home/pi/human_code/ActionGroups/" + actNum + ".hwax"
if times == 0: #Classify the times of imcoming
times = 1
state = False
else:
times = abs(times)
state = True
if os.path.exists(hwaxNum) is True:
ssc.portWrite()
hwax = HWAX(hwaxNum, ssc.serialHandle)
hwax.reset()
while times:
if state:
times -= 1
if stop is False: #Action group stop flag bit is not
if runningAction is False:
runningAction = True
while True:
if stopRunning is True:
stop = True
write_data(stop)
runningAction = False
break
ret = hwax.next()
if ret is None:
runningAction = False
hwax.reset()
break
else:
break
else:
stopRunning = False
break
elif os.path.exists(d6aNum) is True: # If the action group exists
while times:
if state:
times -= 1
if stop is False: #Action group stop flag bit is not
ag = sql.connect(d6aNum) # Open the database actNum
cu = ag.cursor() # Defines a cursor
cu.execute("select * from ActionGroup") # Inquire
if runningAction is False: # None of action groups are running
runningAction = True
while True:
if stopRunning is True:
stop = True
write_data(stop)
runningAction = False
cu.close() # Close a database link
ag.close() # Close the cursor
break
act = cu.fetchone(
) # Return to the first item in the list, do it again, it will return to the second item
if act is not None:
for i in range(0, len(act) - 2, 1):
serial_setServo(i + 1, act[2 + i], act[1])
time.sleep(float(act[1]) / 1000.0)
else:
runningAction = False
cu.close()
ag.close()
break
else:
stopRunning = False
break
else:
stopRunning = False
break
else:
runningAction = False
print("The action group file could not be found")
stop = True
write_data(stop)
stopRunning = False