def docking(nh, boat, s):
global docking_info
global course
print "Moving to position to begin docking"
s.set_current_challenge('docking')
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, DOCK[course]),
ECEF_TIME)
except:
print 'ECEF timeout'
print "Turning to face dock"
yield boat.move.heading(DOCK_HEADING[course]).go()
# Get dock info
docking_info = yield docking_info
print 'JSON says: \n\n' + str(docking_info) + '\n\n'
shape1 = docking_info.first_dock_symbol
color1 = docking_info.first_dock_color
try:
print "Beginning Dock 1"
yield util.wrap_timeout(find_shape.main(nh, shape1, color1),
DOCK_TIME / 2.0)
print "Completed Dock 1"
except Exception:
print "Could not dock first shape, moving to next shape"
finally:
pass
#boat.default_state()
shape2 = docking_info.second_dock_symbol
color2 = docking_info.second_dock_color
try:
print "Beginning Dock 2"
yield util.wrap_timeout(find_shape.main(nh, shape2, color2),
DOCK_TIME / 2.0)
print "Completed Dock 2"
except Exception:
print "Could not dock second shape, moving on"
finally:
pass
def docking(nh, boat, s):
global docking_info
global course
print "Moving to position to begin docking"
s.set_current_challenge('docking')
try:
yield util.wrap_timeout(go_to_ecef_pos.main(nh, DOCK[course]), ECEF_TIME)
except:
print 'ECEF timeout'
print "Turning to face dock"
yield boat.move.heading(DOCK_HEADING[course]).go()
# Get dock info
docking_info = yield docking_info
print 'JSON says: \n\n' + str(docking_info) + '\n\n'
shape1 = docking_info.first_dock_symbol
color1 = docking_info.first_dock_color
try:
print "Beginning Dock 1"
yield util.wrap_timeout(find_shape.main(nh, shape1, color1), DOCK_TIME / 2.0)
print "Completed Dock 1"
except Exception:
print "Could not dock first shape, moving to next shape"
finally: pass
#boat.default_state()
shape2 = docking_info.second_dock_symbol
color2 = docking_info.second_dock_color
try:
print "Beginning Dock 2"
yield util.wrap_timeout(find_shape.main(nh, shape2, color2), DOCK_TIME / 2.0)
print "Completed Dock 2"
except Exception:
print "Could not dock second shape, moving on"
finally: pass
def do_dock(nh, shape): boat = yield boat_scripting.get_boat(nh) if shape == 'circle': try: print "Docking --- circle" yield util.wrap_timeout(find_shape.main(nh, 'circle'), CIRCLE_TIME) except Exception: print "Could not find circle, moving to next shape" if shape == 'triangle': try: print "Docking --- triangle" yield util.wrap_timeout(find_shape.main(nh, 'triangle'), TRIANGLE_TIME) except Exception: print "Could not find triangle, moving to next shape" if shape == 'cross': try: print "Docking --- cross" yield util.wrap_timeout(find_shape.main(nh, 'cross'), CROSS_TIME) except Exception: print "Could not find cross, moving to next shape"
def do_dock(nh, shape):
boat = yield boat_scripting.get_boat(nh)
if shape == 'circle':
try:
print "Docking --- circle"
yield util.wrap_timeout(find_shape.main(nh, 'circle'), CIRCLE_TIME)
except Exception:
print "Could not find circle, moving to next shape"
if shape == 'triangle':
try:
print "Docking --- triangle"
yield util.wrap_timeout(find_shape.main(nh, 'triangle'),
TRIANGLE_TIME)
except Exception:
print "Could not find triangle, moving to next shape"
if shape == 'cross':
try:
print "Docking --- cross"
yield util.wrap_timeout(find_shape.main(nh, 'cross'), CROSS_TIME)
except Exception:
print "Could not find cross, moving to next shape"
