def stop_all(self):
"""Stop all active processes and handle fall."""
self.run = False
# Stop all processes, cancel promises, disconnect callbacks
try:
utils.stop_monitoring_arm_move()
utils.stop_monitoring_grasp_status()
utils.stop_periodic_say()
except AttributeError:
pass
try:
self.thinking_sound_fut_1.cancel()
except (AttributeError, RuntimeError):
pass
try:
self.thinking_sound_fut_2.cancel()
except (AttributeError, RuntimeError):
pass
try:
self.grasp_object.setCanceled()
self.grasp_object = None
except (AttributeError, RuntimeError):
pass
try:
self.stop_sub.signal.disconnect(self.stop_sub_id)
except:
pass
try:
self.fall_sub.signal.disconnect(self.fall_sub_id)
except:
pass
# Handle a fall: quit app
if self.fell:
self.logger.debug('handling fall...')
time.sleep(3)
self.stand_up(3)
self.box.onStopped(1)
# UGH: be robust to launching from Choregraphe without life
elif self.memory.getData('AutonomousLife/State') == 'disabled':
self.motion.setBreathEnabled('Legs', False)
self.motion.setIdlePostureEnabled('Body', True)
self.stand_up(3)
def grasp_status_changed(stat):
self.logger.debug('call grasp_status_changed: {}'.format(stat))
if not self.run:
return
utils.stop_periodic_say()
if stat == 'present':
self.motion.stiffnessInterpolation("RArm", 1.0, 0.5)
self.say_and_animate('thanks', 'Grasping', 'ThankYou')
self.grasp_object.setValue(1)
elif stat == 'absent':
self.say_and_animate('missed', 'Grasping', 'Missed')
self.run_anim('OpenHand')
self.motion.stiffnessInterpolation("RArm", 1.0, 0.5)
self.missed_count += 1
if self.missed_count >= 3:
self.grasp_object.setCanceled()
else:
self.run_anim('ExtendHand')
self.wait_for_object()