def convertBoard(self, cubes):
"""
Takes in a list of cubes structs and converts it to board model
Called by Kevin's script for building planning
"""
#Set Up board
board = []
#Add a new z layers
for i in xrange(5):
board.append([[None, None, None, None, None],
[None, None, None, None, None],
[None, None, None, None, None],
[None, None, None, None, None],
[None, None, None, None, None]])
#Convert cube data to board dimensions
#Fill out board according to cube data
for cube in cubes.building:
gcube = Grid_Cube()
gcube.x = self.closest(self.pixelX, cube.x)
gcube.y = self.closest(self.pixelY, cube.y)
gcube.z = self.closest(self.pixelZ, cube.z)
board[gcube.x][gcube.y][gcube.z] = gcube
return board #3d array with x, y, and z of blocks
def make_grid_cube(self, cube):
"""
converting between data types, this one converts from python cube to ros cube
"""
if not cube:
return None
grid_cube = Grid_Cube()
grid_cube.x = cube.x
grid_cube.y = cube.y
grid_cube.z = cube.z
return grid_cube
def receive_email(self):
username = '******'
password = '******'
# login to mail service
M = imaplib.IMAP4_SSL('imap.gmail.com', '993')
# M.login(username, getpass.getpass())
M.login(username, password)
M.select()
typ, data = M.search(None, 'ALL')
# read from the most recent email
num = data[0].split(' ')[-1]
typ, data = M.fetch(num, '(RFC822)')
subject = data[0][1].split('\r\n')[11]
body = data[0][1].split('\r\n')[15]
M.close()
M.logout()
if subject != self.previous_subject and self.is_receiving:
print("email received")
cube_structure = Cube_Structures()
coords = body.split(',')
topic = coords[0]
coords = coords[1:]
if topic == '/build_cmd' and self.name != 'castor':
real_building = Real_Structure()
coords = coords[0:len(coords) - 1]
for i in range(len(coords) / 6):
real_building.building.append(
Real_Cube(x=float(coords[i * 3]),
y=float(coords[i * 3 + 1]),
z=float(coords[i * 3 + 2])))
cube_structure.real_building = real_building
grid_building = Grid_Structure()
for i in range(len(coords) / 6, len(coords) / 3):
grid_building.building.append(
Grid_Cube(x=int(coords[i * 3]),
y=int(coords[i * 3 + 1]),
z=int(coords[i * 3 + 2])))
cube_structure.grid_building = grid_building
print("Cube Message Published")
self.cmd_pub.publish(cube_structure)
elif topic == '/coordination_status_castor' and self.name == 'pollux':
print('Castor Status Message Published')
print(coords[0])
self.castor_status_pub.publish(coords[0])
elif topic == '/coordination_status_pollux' and self.name == 'castor':
print('Pollux Status Message Published')
print(coords[0])
self.pollux_status_pub.publish(coords[0])
self.previous_subject = subject
self.is_receiving = True
def make_real_cube(self, cube):
"""
converting between data types, this one converts from python cube to ros cube
"""
real_cube = Grid_Cube()
real_cube.height = cube.height
real_cube.connections = cube.connections
real_cube.x = cube.x
real_cube.y = cube.y
real_cube.z = cube.z
return real_cube
def make_real_cube(self, cube):
"""
converts between python class cube and ros data structure cube
"""
real_cube = Grid_Cube()
real_cube.height = cube.height
real_cube.connections = cube.connections
real_cube.x = cube.x
real_cube.y = cube.y
real_cube.z = cube.z
return real_cube