class PreQualGlobalTask(Task):
"""
Task to complete prequalifying run by moving to global poses
"""
POSE1 = [0, 0, 0, 0, 0, 0]
POSE2 = [0, 0, 0, 0, 0, 0]
POSE3 = [0, 0, 0, 0, 0, 0]
POSE4 = [0, 0, 0, 0, 0, 0]
POSE5 = [0, 0, 0, 0, 0, 0]
def __init__(self):
super(PreQualGlobalTask, self).__init__()
self.list_task = ListTask([
MoveToPoseGlobalTask(*self.POSE1),
MoveToPoseGlobalTask(*self.POSE2),
MoveToPoseGlobalTask(*self.POSE3),
MoveToPoseGlobalTask(*self.POSE4),
MoveToPoseGlobalTask(*self.POSE5)
])
def _on_task_run(self):
self.list_task.run()
if self.list_task.finished:
self.finish()
def __init__(self):
super(PreQualLocalTask, self).__init__()
self.list_task = ListTask([
MoveToPoseLocalTask(*self.POSE1),
MoveToPoseLocalTask(*self.POSE2),
MoveToPoseLocalTask(*self.POSE3),
MoveToPoseLocalTask(*self.POSE4),
MoveToPoseLocalTask(*self.POSE5)
])
def __init__(self, *args, **kwargs):
super(PreQualGlobalTask, self).__init__(*args, **kwargs)
self.list_task = ListTask([
MoveToPoseGlobalTask(*self.POSE1),
MoveToPoseGlobalTask(*self.POSE2),
MoveToPoseGlobalTask(*self.POSE3),
MoveToPoseGlobalTask(*self.POSE4),
MoveToPoseGlobalTask(*self.POSE5)
])
class CompetitionTask(Task):
"""
High level competition level task, contains a list of tasks for each competition task.
"""
def __init__(self, *args, **kwargs):
super(CompetitionTask, self).__init__(*args, **kwargs)
self.list_task = ListTask([MoveToPoseGlobalTask(-7, 0, 0, 0, 0, 0)])
def _on_task_run(self):
self.list_task.run()
if self.list_task.finished:
self.finish()
def __init__(self, *args, **kwargs):
super(CompetitionTask, self).__init__(*args, **kwargs)
self.list_task = ListTask([MoveToPoseGlobalTask(-7, 0, 0, 0, 0, 0)])
# self.list_task = ListTask([MoveToPoseLocalTask(2, 0, 0, 0, 0, 0)])
# self.list_task = ListTask([HoldPositionTask()])
# self.list_task = ListTask([LogTask("FATAL", "This is falal")])
# self.list_task = ListTask([SimulTask([LogTask("WARN", "Warning"), MoveToPoseGlobalTask(30,0,0,0,0,0)])])
self.prequal_task = PreQualGlobalTask()
def __init__(self, *args, **kwargs):
super(CompetitionTask, self).__init__(*args, **kwargs)
self.list_task = ListTask([MoveToPoseGlobalTask(-7, 0, 0, 0, 0, 0)])