def loop(self):
"""Advances to the next mode and performs the instruction when it is
time (when the condition is met), otherwise does nothing."""
BaseProgram.loop(self)
if self.condition_satisfied():
self.increment_mode()
self.perform_instruction()
return self.s
def __call__(self, command):
base_response = BaseProgram.__call__(self, command)
if base_response:
return base_response
return "unrecognized command"
def start(self):
"""Fixes the start time so that the pause doesn't count towards the
elapsed time, and continues the previous motion of the robot."""
BaseProgram.start(self)
self.start_time += time.time() - self.pause_time
self.perform_instruction()
def stop(self):
"""Record the time when the program is paused."""
BaseProgram.stop(self)
self.pause_time = time.time()
def reset(self):
"""Resets the program to the first mode."""
BaseProgram.reset(self)
self.mode_ind = -1
def __init__(self, seq):
"""Creates a program that interprets the given sequence."""
BaseProgram.__init__(self)
self.seq = seq
self.build_maps()
self.reset()