def sendTPControlCommandToRobot(self, tpControlRole):
commandChannelMsg = t_commandChannel()
commandChannelMsg.sender = 'C'
commandChannelMsg.to = '%s' % self.robotID
commandChannelMsg.commandOwner = 'fieldSetup'
commandChannelMsg.commandType = t_commandChannel.controlInterfaceRole
commandChannelMsg.commandValue = tpControlRole
commandChannelMsg.commandID = 0 # not used by this program
commandChannelHandle.publish(commandChannelMsg)
def autoFeedOwnBallOff(self):
print "R%d :autoFeedOwnBall Off" % self.robotNR
self.autoFeedOwnBall = False
commandChannelMsg = t_commandChannel()
commandChannelMsg.sender = 'C'
commandChannelMsg.to = '%s' % self.robotNR
commandChannelMsg.commandOwner = 'fieldSetup'
commandChannelMsg.commandType = t_commandChannel.stringCommand
commandChannelMsg.commandValue = "autoFeedOwnBall Off"
commandChannelMsg.commandID = 0 # not used by this program
commandChannelHandle.publish(commandChannelMsg)
def sendObstacleListToRobot(self):
print "R%d :Sending obstaclelist" % self.robotNR
commandChannelMsg = t_commandChannel()
commandChannelMsg.sender = 'C'
commandChannelMsg.to = "%s" % self.robotNR
commandChannelMsg.commandOwner = 'fieldSetup'
commandChannelMsg.commandType = t_commandChannel.obstacleList
commandChannelMsg.commandValue = pickle.dumps(
self.getObstacleCoordList()) #serialize
commandChannelMsg.commandID = 0 # not used by this program
commandChannelHandle.publish(commandChannelMsg)
def autoFeedOwnObstaclesOn(self):
self.autoFeedOwnObstacles = True
print "R%d :autoFeedOwnObstacles On" % self.robotNR
commandChannelMsg = t_commandChannel()
commandChannelMsg.sender = 'C'
commandChannelMsg.to = '%s' % self.robotNR
commandChannelMsg.commandOwner = 'fieldSetup'
commandChannelMsg.commandType = t_commandChannel.stringCommand
commandChannelMsg.commandValue = "autoFeedOwnObstacles On"
commandChannelMsg.commandID = 0 # not used by this program
commandChannelHandle.publish(commandChannelMsg)
self.sendObstacleListToRobot()
def setLocation(self, x,
y): #used for interactive mode to emulate ball position
self.x = x
self.y = y
commandChannelMsg = t_commandChannel()
commandChannelMsg.sender = 'C'
commandChannelMsg.to = '%s' % self.robotNR
commandChannelMsg.commandOwner = 'fieldSetup'
commandChannelMsg.commandType = t_commandChannel.stringCommand
commandChannelMsg.commandValue = "ball %s %s" % (x, y)
commandChannelMsg.commandID = 0 # not used by this program
commandChannelHandle.publish(commandChannelMsg)
print "R%d set: %s " % (self.robotNR, commandChannelMsg.commandValue)