def run(self):
waitTime, success = self.interpreter.evaluateExpression(self.parameters['time'])
# Split the wait into incriments of 0.1 seconds each, and check if the thread has been stopped at each incriment
if success:
wait(waitTime, self.interpreter.isExiting)
return True
else:
printf("Commands| ERROR: Expression ", self.parameters['time'], " failed to evaluate correctly!")
return False
def run(self):
waitTime, success = self.interpreter.evaluateExpression(
self.parameters['time'])
# Split the wait into incriments of 0.1 seconds each, and check if the thread has been stopped at each incriment
if success:
wait(waitTime, self.interpreter.isExiting)
return True
else:
printf("Commands| ERROR: Expression ", self.parameters['time'],
" failed to evaluate correctly!")
return False
def run(self):
frequency, fSuccess = self.interpreter.evaluateExpression(self.parameters['frequency'])
duration, dSuccess = self.interpreter.evaluateExpression(self.parameters['time'])
# Check if evaluation worked
if fSuccess and dSuccess:
# Send buzzer command
self.robot.setBuzzer(frequency, duration)
# If the user wants to sleep while the buzzer is running, then sleep.
if self.parameters["waitForBuzzer"]:
wait(duration, self.interpreter.isExiting)
return True
else:
printf("Commands| ERROR: ", self.parameters['frequency'],
" or ", self.parameters["time"], "failed to evaluate correctly!")
return False
def run(self):
frequency, fSuccess = self.interpreter.evaluateExpression(
self.parameters['frequency'])
duration, dSuccess = self.interpreter.evaluateExpression(
self.parameters['time'])
# Check if evaluation worked
if fSuccess and dSuccess:
# Send buzzer command
self.robot.setBuzzer(frequency, duration)
# If the user wants to sleep while the buzzer is running, then sleep.
if self.parameters["waitForBuzzer"]:
wait(duration, self.interpreter.isExiting)
return True
else:
printf("Commands| ERROR: ", self.parameters['frequency'], " or ",
self.parameters["time"], "failed to evaluate correctly!")
return False
def cleanNamespace(self):
"""
This function resets the self.variables namespace, and creates a variable called self.execBuiltins which
holds the python builtin functions that are allowed in the Script command. It also adds several things
as builtins.
Extra Builtins
- robot
- vision
- settings
- resources
- vStream
Excluded Builtins
- setattr
- dir
- next
- id
- object
- staticmethod
- eval
- open
- exec
- format
- getattr
- memoryview
- compile
- classmethod
- repr
- property
- hasattr
- help
- input
"""
# Reset self.__variables with the default values/functions #
safeList = ['acos', 'asin', 'atan', 'atan2', 'ceil', 'cos', 'cosh', 'degrees',
'e', 'exp', 'fabs', 'floor', 'fmod', 'frexp', 'hypot', 'ldexp', 'log', 'log10',
'modf', 'pi', 'pow', 'radians', 'sin', 'sinh', 'sqrt', 'tan', 'tanh']
variables = dict([(k, getattr(math, k)) for k in safeList])
variables['math'] = math
robot = self.env.getRobot()
vision = self.env.getVision()
settings = self.env.getSettings()
resources = self.env.getObjectManager()
vStream = self.env.getVStream()
newSleep = lambda time: wait(time, self.isExiting)
isExiting = self.isExiting
# Add Python builtins, and also the extra ones (above)
execBuiltins = { "abs": abs, "dict": dict, "__import__": __import__,
"all": all, "hex": hex, "slice": slice,
"any": any, "divmod": divmod, "sorted": sorted,
"ascii": ascii, "enumerate": enumerate, "range": range,
"bin": bin, "int": int, "str": str,
"bool": bool, "isinstance": isinstance, "ord": ord,
"bytearray": bytearray, "filter": filter, "issubclass": issubclass,
"bytes": bytes, "float": float, "iter": iter,
"callable": callable, "len": len, "type": type,
"chr": chr, "frozenset": frozenset, "list": list,
"locals": locals, "zip": zip, "vars": vars,
"globals": globals, "map": map, "reversed": reversed,
"complex": complex, "max": max, "round": round,
"delattr": delattr, "hash": hash, "set": set,
"min": min, "oct": oct, "sum": sum,
"pow": pow, "super": super, "print": printf,
"tuple": tuple, "robot": robot, "resources": resources,
"vision": vision, "settings": settings, "vStream": vStream,
"sleep": newSleep, "isStopping": isExiting, "classmethod": classmethod,
"object": object, "__build_class__": __build_class__, "__name__": "__main__"}
execBuiltins = {"__builtins__": execBuiltins, "variables": variables, "__author__": "Alexander Thiel"}
self.nameSpace = execBuiltins
def cleanNamespace(self):
"""
This function resets the self.variables namespace, and creates a variable called self.execBuiltins which
holds the python builtin functions that are allowed in the Script command. It also adds several things
as builtins.
Extra Builtins
- robot
- vision
- settings
- resources
- vStream
Excluded Builtins
- setattr
- dir
- next
- id
- object
- staticmethod
- eval
- open
- exec
- format
- getattr
- memoryview
- compile
- repr
- property
- hasattr
- help
- input
"""
# Reset self.__variables with the default values/functions #
safeList = [
'acos', 'asin', 'atan', 'atan2', 'ceil', 'cos', 'cosh', 'degrees',
'log10', 'e', 'exp', 'fabs', 'floor', 'fmod', 'frexp', 'hypot',
'ldexp', 'log', 'modf', 'pi', 'pow', 'radians', 'sin', 'sinh',
'sqrt', 'tan', 'tanh'
]
variables = dict([(k, getattr(math, k)) for k in safeList])
variables['math'] = math
customPrint = lambda *args: printf("Output| ", *args)
robot = self.env.getRobot()
vision = self.env.getVision()
settings = self.env.getSettings()
resources = self.env.getObjectManager()
vStream = self.env.getVStream()
newSleep = lambda time: wait(time, self.isExiting)
isExiting = self.isExiting
# Add Python builtins, and also the extra ones (above)
builtins = {
"abs": abs,
"dict": dict,
"__import__": __import__,
"all": all,
"hex": hex,
"slice": slice,
"any": any,
"divmod": divmod,
"sorted": sorted,
"ascii": ascii,
"enumerate": enumerate,
"range": range,
"bin": bin,
"int": int,
"str": str,
"bool": bool,
"isinstance": isinstance,
"ord": ord,
"bytearray": bytearray,
"filter": filter,
"issubclass": issubclass,
"bytes": bytes,
"float": float,
"iter": iter,
"callable": callable,
"len": len,
"type": type,
"chr": chr,
"frozenset": frozenset,
"list": list,
"locals": locals,
"zip": zip,
"vars": vars,
"globals": globals,
"map": map,
"reversed": reversed,
"complex": complex,
"max": max,
"round": round,
"delattr": delattr,
"hash": hash,
"set": set,
"min": min,
"oct": oct,
"sum": sum,
"pow": pow,
"super": super,
"print": customPrint,
"tuple": tuple,
"robot": robot,
"resources": resources,
"vision": vision,
"settings": settings,
"vStream": vStream,
"sleep": newSleep,
"scriptStopping": isExiting,
"classmethod": classmethod,
"object": object,
"__build_class__": __build_class__,
"__name__": "__main__",
"env": self.env,
"interpreter": self
}
namespace = {}
namespace.update(commandClasses)
namespace.update(eventClasses)
namespace.update(variables)
namespace.update(builtins)
namespace.update({"__author__": "Alexander Thiel"})
self.nameSpace = namespace