def init_sim(self):
'''Initialize the simulation interface'''
mode_helpers.set_mode('teleop', False)
hal_data['control']['ds_attached'] = True
hal_in_data['control']['ds_attached'] = True
# send it the initial seed data
msg = {'out': hal_data, 'in': hal_in_data}
self.write_message(json.dumps(msg, allow_nan=False), False)
self.sim_initialized = True
def on_step(self, tm):
'''
Called when a driver station packet would be delivered
'''
if tm < 5:
mode_helpers.set_mode('auto', False)
elif tm < 5 + self.autonomous_period:
mode_helpers.set_mode('auto', True)
elif tm < 5 + self.autonomous_period + 1:
mode_helpers.set_mode('teleop', False)
elif tm < 5 + self.autonomous_period + 1 + self.operator_period:
mode_helpers.set_mode('teleop', True)
else:
return False
if self._on_step is not None:
retval = self._on_step(tm)
if retval is not None:
return retval
return True
def on_step(self, tm):
'''
Called when a driver station packet would be delivered
'''
if tm < 5:
mode_helpers.set_mode('auto', False)
elif tm < 5 + self.autonomous_period:
mode_helpers.set_mode('auto', True)
elif tm < 5 + self.autonomous_period + 1:
mode_helpers.set_mode('teleop', False)
elif tm < 5 + self.autonomous_period + 1 + self.operator_period:
mode_helpers.set_mode('teleop', True)
else:
return False
if self._on_step is not None:
retval = self._on_step(tm)
if retval is not None:
return retval
return True
def on_message(self, message):
'''Called on incoming messages from the simulation. Incoming messages
are JSON encoded, with a 'msgtype' field. The rest of the JSON depends
on what 'msgtype' is.
Current values for msgtype:
* input: Then 'data' is filled with data to be updated in HAL
* mode: then 'mode' and 'enabled' are set
'''
msg = json.loads(message)
msgtype = msg['msgtype']
if msgtype == 'input':
update_hal_data(msg['data'])
elif msgtype == 'mode':
mode_helpers.set_mode(msg['mode'], msg['enabled'])
def init_sim(self):
'''Initialize the simulation interface'''
mode_helpers.set_mode('teleop', False)
hal_data['control']['ds_attached'] = True
hal_in_data['control']['ds_attached'] = True
config = {}
user_config = {}
try:
with open(join(self.sim_path, 'config.json'), 'r') as fp:
try:
config = json.loads(fp.read())
except:
logger.error("Error reading config.json")
except:
pass
try:
with open(join(self.sim_path, 'user-config.json'), 'r') as fp:
try:
user_config = json.loads(fp.read())
except:
logger.error("Error reading user-config.json")
except:
pass
# send it the initial seed data
msg = {
'out': hal_data,
'in': hal_in_data,
'total_time': fake_time.get(),
'mode_time': fake_time.get() - fake_time.mode_start_tm,
'paused': fake_time.paused,
'config': config,
'user_config': user_config
}
self.write_message(json.dumps(msg, allow_nan=False, cls=SetEncoder), False)
self.sim_initialized = True
def on_message(self, message):
'''Called on incoming messages from the simulation. Incoming messages
are JSON encoded, with a 'msgtype' field. The rest of the JSON depends
on what 'msgtype' is.
Current values for msgtype:
* input: Then 'data' is filled with data to be updated in HAL
* mode: then 'mode' and 'enabled' are set
'''
msg = json.loads(message)
msgtype = msg['msgtype']
if msgtype == 'input':
update_hal_data(msg['data'])
elif msgtype == 'add_device_gyro_channel':
self.add_device_gyro_channel(msg['angle_key'])
elif msgtype == 'update_gyros':
self.update_gyros(msg['da'])
elif msgtype == 'mode':
if self.is_mode_the_same(msg['mode'], msg['enabled']) is False:
fake_time.mode_start_tm = fake_time.get()
mode_helpers.set_mode(msg['mode'], msg['enabled'])
elif msgtype == 'set_autonomous':
if self.is_mode_the_same('auto', True) is False:
fake_time.mode_start_tm = fake_time.get()
mode_helpers.set_autonomous(True, msg['game_specific_message'])
elif msgtype == 'pause_sim':
fake_time.pause()
elif msgtype == 'resume_sim':
fake_time.resume()
elif msgtype == 'step_time':
try:
tm = float(msg['time'])
if tm > 0:
fake_time.resume(tm)
except ValueError:
logger.error("Invalid step time", "'%s' is not a valid number", msg['time'])
def set_test_mode(self, enabled=True):
"""Puts the robot in test mode (the robot mode, not related to unit testing)"""
mode_helpers.set_mode("test", enabled)
def set_operator_control(self, enabled=True):
"""Puts the robot in operator control mode"""
mode_helpers.set_mode("teleop", enabled)
def set_autonomous(self, enabled=True):
"""Puts the robot in autonomous mode"""
mode_helpers.set_mode(
"auto", enabled, game_specific_message=self.game_specific_message
)
def set_autonomous(self, enabled=True):
'''Puts the robot in autonomous mode'''
mode_helpers.set_mode('auto',
enabled,
game_specific_message=self.game_specific_message)
def set_operator_control(self, enabled=True):
'''Puts the robot in operator control mode'''
mode_helpers.set_mode('teleop', enabled)
def set_autonomous(self, enabled=True):
'''Puts the robot in autonomous mode'''
mode_helpers.set_mode('auto', enabled)
def set_test_mode(self, enabled=True):
"""Puts the robot in test mode (the robot mode, not related to unit testing)"""
mode_helpers.set_mode("test", enabled)
def set_operator_control(self, enabled=True):
"""Puts the robot in operator control mode"""
mode_helpers.set_mode("teleop", enabled)
def set_autonomous(self, enabled=True):
"""Puts the robot in autonomous mode"""
mode_helpers.set_mode("auto",
enabled,
game_specific_message=self.game_specific_message)
def set_operator_control(self, enabled=True):
'''Puts the robot in operator control mode'''
mode_helpers.set_mode('teleop', enabled)
def set_autonomous(self, enabled=True):
'''Puts the robot in autonomous mode'''
mode_helpers.set_mode('auto', enabled)
def set_test_mode(self, enabled=True):
'''Puts the robot in test mode (the robot mode, not related to unit testing)'''
mode_helpers.set_mode('test', enabled)
def set_test_mode(self, enabled=True):
'''Puts the robot in test mode (the robot mode, not related to unit testing)'''
mode_helpers.set_mode('test', enabled)
def set_autonomous(self, enabled=True):
"""Puts the robot in autonomous mode"""
mode_helpers.set_mode("auto", enabled)
