def run(self):
while not self.stop:
try:
self.lrf.monitor_event.wait(1)
if self.lrf.monitor_event.isSet():
objects = self.lrf.check_for_obj()
if objects != []:
log.debug("LRF Detected Object(s): %s" % str(objects))
events.triggerEvent('LRF Detected Object', objects)
self.lrf.monitor_event.clear()
except Exception as e:
log.error("Recieved Exception in thread %s: %s" % (self.name, e))
return
def notify(self, return_code, msg):
# Handel the messge
if return_code == 'Micro Switch Triggered':
log.debug("Micro switch depressed.")
events.triggerEvent(return_code, msg)
elif return_code == 'Start Button Pressed':
log.info("Start Button depressed.")
self.stop_program = True
self.start_button_event.set()
else:
self.object = return_code
self.msg = msg
self.obj_detected.set()
def notify(self, return_code, msg):
# Handel the messge
if return_code == 'Angle: ':
# Angle returned
log.debug("Current Angle: %s", msg[2:])
self.angle = int(msg[2:])
self.angle_got.set()
elif return_code == 'Left':
log.debug("Angle change completed in the LEFT direction.")
if not self.passive:
self.direction = 'Left'
self.angle_reached.set()
else:
events.triggerEvent(return_code, msg)
elif return_code == 'Right':
log.debug("Angle change completed in the RIGHT direction.")
if not self.passive:
self.direction = 'Right'
self.angle_reached.set()
else:
events.triggerEvent(return_code, msg)
else:
log.error("Error in handeling notifications.")
def notify(self, return_code, msg):
# Handel the messge
if return_code == 'Left':
log.debug("Antenna array indicates we are LEFT of the line.")
events.triggerEvent(return_code, msg)
elif return_code == 'Right':
log.debug("Antenna array indicates we are RIGHT of the line.")
events.triggerEvent(return_code, msg)
elif return_code == 'Dead On':
log.debug("Antenna array indicates we are DEAD ON the line.")
events.triggerEvent(return_code, msg)
elif return_code == 'No Line':
log.debug("Antenna array indicates NO LINE is detected.")
events.triggerEvent(return_code, msg)
elif return_code == 'On Corner':
log.debug("Antenna array indicates we are ON the CORNER.")
events.triggerEvent(return_code, msg)
elif return_code == 'Left Back':
log.debug("Antenna array indicates the line is near the LEFT BACK of the robot.")
events.triggerEvent(return_code, msg)
elif return_code == 'Right Back':
log.debug("Antenna array indicates the line is near the RIGHT BACK of the robot.")
events.triggerEvent(return_code, msg)
elif return_code == 'Right Front':
log.debug("Antenna array indicates the line is near the RIGHT FRONT of the robot.")
events.triggerEvent(return_code, msg)