def __init__(self):
"""
For simplicity, we use destination in local coordinate system for calculating.
"""
self.nearDistance = NEARBY_SWITCHING_DISTANCE
self.vx = 0
self.bb = getbb()
def getSkill():
bb = getbb()
skill = bb.parameters.skill
behaivorPackages = ["roles", "skills", "demo", "headskills", "states"]
foundSkill = False
skillDir = os.getcwd()
skillClass = None
for package in behaivorPackages:
modules = ['{}/{}'.format(skillDir, package)]
allName = [name for _, name, _ in pkgutil.iter_modules(modules)]
if skill not in allName:
continue
skillModule = __import__('{}.{}'.format(package, skill),
fromlist=[skill])
skillClass = getattr(skillModule, skill)
foundSkill = True
print '\n[python] Module --- {} --- imported\n'.format(skill)
if not foundSkill:
raise ImportError('Can not find skill: {}'.format(skill))
elif not issubclass(skillClass, Task):
raise TypeError('Found skill is not a Task')
return skillClass()
def main():
skillInstance = getSkill()
rate = rospy.Rate(60)
bb = getbb()
brain = Brain()
while not rospy.is_shutdown():
bb.resetCmd()
bb.checkMotionConnection()
# brain
brain.tick()
skillInstance.tick()
bb.publish()
rate.sleep()
import logging
from Blackboard import getbb
logger = logging.getLogger('behavior')
logger.setLevel(logging.DEBUG)
logFolder = './log'
fileHandler = logging.FileHandler(logFolder)
logger.addHandler(fileHandler)
consoleHandler = logging.StreamHandler()
logger.addHandler(consoleHandler)
bb = getbb()
ENABLE_LOG = bb.parameters.enableLog
if ENABLE_LOG:
def debug(*args, **kwargs):
logger.debug(*args, **kwargs)
def info(*args, **kwargs):
logger.info(*args, **kwargs)
def warning(*args, **kwargs):
logger.warning(*args, **kwargs)
def error(*args, **kwargs):
logger.error(*args, **kwargs)
def __init__(self):
# Status Code
self.status = Status.FRESH
self._children = []
self.bb = getbb()
self.init()