def SCENARIO_PATROLLING_GET_START_STOP():
#index, msg = receive_msg()
send_request(GET_PATROLS_REQ)
msg = wait_for(GET_PATROLS_RES)
get_patrols = embisphere_pb2.GetPatrolsResponse()
get_patrols.ParseFromString(msg)
if 0 != len(get_patrols.patrols):
#get_patrols.patrols.reverse()
print " --- StartPatrol request--- %s" % (get_patrols.patrols[0])
instance = embisphere_pb2.StartPatrol()
instance.name = get_patrols.patrols[0]
instance.sens = 1
instance.timestamp = 100
send_msg(instance, START_PATROL_REQ)
# RECEIVE START
wait_for(START_PATROL_RES)
wait_robot_state(3) #PATROLLING
#SEND STOP PATROL
time.sleep(60)
print " "
send_request(STOP_PATROL_REQ)
msg = wait_for(STOP_PATROL_RES)
wait_robot_state(0) #PATROLLING
else:
print " --- NO Patrol PRESENT ---"
def SCENARIO_CHANGE_SPEED():
# REQUEST and RECEIVE ALL robot patrols
send_request(GET_PATROLS_REQ)
msg = wait_for(GET_PATROLS_RES)
get_patrols = embisphere_pb2.GetPatrolsResponse()
get_patrols.ParseFromString(msg)
if 0 != len(get_patrols.patrols):
#get_patrols.patrols.reverse()
# START FIRST PATROL
print " --- StartPatrol request--- %s" % (get_patrols.patrols[0])
instance = embisphere_pb2.StartPatrol()
instance.name = get_patrols.patrols[0]
instance.sens = 1
instance.timestamp = 100
send_msg(instance, START_PATROL_REQ)
wait_for(START_PATROL_RES) # RECEIVE START
wait_robot_state(3) #PATROLLING
#SEND STOP PATROL
time.sleep(60)
#change Robot speed from 0 to 100 step 10 by ten := {0, 10, 20 .. 100}
for i in np.arange(11) * 10:
changeSpeed = embisphere_pb2.ChangeSpeed()
changeSpeed.timestamp = 101
changeSpeed.speed = i
send_msg(changeSpeed, CHANGE_SPEED_REQ)
wait_for(CHANGE_SPEED_RES)
time.sleep(2)
send_request(STOP_PATROL_REQ)
msg = wait_for(STOP_PATROL_RES)
wait_robot_state(0) #PATROLLING
else:
print " --- NO Patrol PRESENT ---"
def SCENARIO_GET_PATROLS_AND_START_FIRST():
send_request(4)
msg = wait_for(5)
get_patrols = embisphere_pb2.GetPatrolsResponse()
get_patrols.ParseFromString(msg)
if 0 != len(get_patrols.patrols):
#get_patrols.patrols.reverse()
print " --- StartPatrol request--- %s" % (get_patrols.patrols[0])
instance = embisphere_pb2.StartPatrol()
instance.name = get_patrols.patrols[0]
instance.sens = 1
instance.timestamp = 100
send_msg(instance, 8)
else:
print " --- NO Patrol PRESENT ---"
def print_received_msg(index, msg):
if index == 0:
print " --- Version received---" #OK
version = embisphere_pb2.Version()
version.ParseFromString(msg)
print "Version %d.%d.%d" % (version.MAJOR, version.MINOR,
version.RELEASE)
elif index == 1:
print " --- MapInfo received---" #OK
map_info = embisphere_pb2.MapInfo()
map_info.ParseFromString(msg)
print "resolution : %f, width %d, height : %d" % (
map_info.resolution, map_info.width, map_info.height)
elif index == 3:
print " --- ChangeSpeed received---" #OK
change_speed = embisphere_pb2.ChangeSpeedResponse()
change_speed.ParseFromString(msg)
print "speed : %f, " % (change_speed.result)
elif index == 5:
print " --- GetPatrols received---" #OK
get_patrols = embisphere_pb2.GetPatrolsResponse()
get_patrols.ParseFromString(msg)
print "patrols : %s, " % (get_patrols.patrols)
elif index == 7:
print " --- TurnAround received---" #OK
turn_around = embisphere_pb2.TurnAroundResponse()
turn_around.ParseFromString(msg)
#print "turn around : %d, " %(turn_around.sens)
elif index == 9:
print " --- StartPatrol received---" #OK
start_patrol = embisphere_pb2.StartPatrolResponse()
start_patrol.ParseFromString(msg)
print "StartPatrol : %d %d" % (start_patrol.timestamp,
start_patrol.result)
elif index == 11:
print " --- StopPatrol received---" #OK
stop_patrolling = embisphere_pb2.StopPatrollingResponse()
stop_patrolling.ParseFromString(msg)
elif index == 13:
print " --- GoBackDocking received---" #OK
go_back_docking = embisphere_pb2.GoBackDocking()
go_back_docking.ParseFromString(msg)
elif index == 14:
print " --- RobotPosition received---"
robot_position = embisphere_pb2.RobotPosition()
robot_position.ParseFromString(msg)
elif index == 15:
print " --- RobotState received---" #OK
robot_state = embisphere_pb2.RobotState()
robot_state.ParseFromString(msg)
print "state %d, x %f, y %f, theta %f" % (
robot_state.state, robot_state.position.x, robot_state.position.y,
robot_state.position.theta)
elif index == 16:
print " --- PatrollingState received---" # KO
patrolling_state = embisphere_pb2.PatrollingState()
patrolling_state.ParseFromString(msg)
print "patrolling_state : patrol_name %s , percent %f" % (
patrolling_state.patrol_name, patrolling_state.percent_done)
elif index == 17:
print " --- RobotIssue received---" # KO
robot_issue = embisphere_pb2.RobotIssue()
robot_issue.ParseFromString(msg)
print "Robot issue : issue %f, status %f" % (robot_issue.issue,
robot_issue.status)