def runBehavior_BM( strBehavior, nTimeOut = 60 ):
"launch a behavior on Nao, return "" if loading failed, or the 'naoqi' name of the behavior"
"nTimeOut: temps maximum a attendre en secondes, -1 => pas d'attente (don't wait end)"
abm = naoqitools.myGetProxy( "ALBehaviorManager" );
strBeName = getLibraryName( strBehavior );
# comme on ne peut le charger qu'une fois, on doit toujours le stopper avant (ca stoppera un précédent)
try:
print( "naolibrary.runBehavior: stopping previously running (%s)" % strBehavior );
abm.stopBehavior( strBeName );
except:
pass # not previously running ... not a big deal
try:
print( "naolibrary.runBehavior: unloading previously loaded (%s)" % strBehavior );
abm.unloadBehavior( self.strBehaviorName );
except:
pass # not previously running ... not a big deal
try:
print( "naolibrary.runBehavior: loading (%s)" % strBehavior );
abm.loadBehavior( strBeName );
except:
print( "naolibrary.runBehavior: can't preload behavior, version >= 1.4.32 (%s) ?" % strBehavior );
try:
print( "naolibrary.runBehavior: running (%s)" % strBehavior );
abm.runBehavior( strBeName );
rStep = 0.2;
rTotal = 0;
while( abm.isBehaviorRunning( strBeName ) or rTotal > nTimeOut ):
print( "naolibrary.runBehavior: waiting '%s'... %f..." % ( strBehavior, rStep ) );
time.sleep( rStep );
rTotal += rStep;
except BaseException, err:
debug.logToChoregraphe( "naolibrary.runBehavior: error occurs: " + str( err ) );
strBeName = "";
def run( self ):
import debug # import the module in the children thread
debug.debug( "evaltools.ASyncEvalThread evaluating '%s'" % self.strPythonCode );
self.bMustStop = False;
sys.settrace( self.globaltrace ); # permit to kill thread, WRN: it's a debug purpose functionnality not existing or all platform and ...
#~ self.strPythonCode = """
#~ import signal
#~ print( 'installing handler...' );
#~ def handler(signum, frame):
#~ print 'Signal handler called with signal', signum;
#~ exit( 42 );
#~ signal.signal(signal.SIGTERM, handler)
#~ """ + self.strPythonCode; => ERROR signal only works in main thread
if( config.bDebugMode ):
debug.logToChoregraphe( "ASyncEvalThread: strPythonCode: '%s'" % self.strPythonCode );
exec( self.strPythonCode, self.globaldico, self.localdico ); # TODO: here: do something to test bMustStop is not Set to True, if so exit
debug.debug( "altools: ASyncEvalThread evaluating '%s' - end" % ( self.strPythonCode ));