def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IDepthSensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IDepthSensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
simDevice = vehicle.getDevice('SimulationDevice')
SimPayloadSet.__init__(self, eventHub, self._name, count = 2,
scene = simDevice.scene,
robot = simDevice.robot, payload = 'grabber')
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
simDevice = vehicle.getDevice('SimulationDevice')
SimPayloadSet.__init__(self, eventHub, self._name, count = 2,
scene = simDevice.scene,
robot = simDevice.robot, payload = 'grabber')
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IThruster.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
robot = simDevice.robot
self._simThruster = getattr(robot.parts, config['simName'])
self._enabled = True
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IThruster.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
robot = simDevice.robot
self._simThruster = getattr(robot.parts, config['simName'])
self._enabled = True
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IPositionSensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
self.initialPos = math.Vector2(self.robot._main_part._node.position.x,
-self.robot._main_part._node.position.y)
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IPositionSensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
self.initialPos = math.Vector2(self.robot._main_part._node.position.x,
-self.robot._main_part._node.position.y)
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IVelocitySensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
# This will keep track of the current velocity
self.oldPos = math.Vector2(self.robot._main_part._node.position.x,
-self.robot._main_part._node.position.y)
self.velocity = math.Vector2(0, 0)
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IVelocitySensor.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
# This will keep track of the current velocity
self.oldPos = math.Vector2(self.robot._main_part._node.position.x,
-self.robot._main_part._node.position.y)
self.velocity = math.Vector2(0, 0)
def __init__(self, config, deps):
ext.core.Subsystem.__init__(self, config.get('name', 'Simulation'),
deps)
# Grab the vehicle
sim = ext.core.Subsystem.getSubsystemOfType(Simulation, deps,
nonNone = True)
vehicle = ext.core.Subsystem.getSubsystemOfType(IVehicle, deps,
nonNone = True)
self._robot = vehicle.getDevice('SimulationDevice').robot
# Grab the pinger object
self._pingers = sim.scene.getObjectsByInterface(IPinger)
assert len(self._pingers) <= 2
self._setup()
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IDevice.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
self._scene = simDevice.scene
# Settings
self._dropMarkers = config.get('markers', True)
self._markerInterval = config.get('markerInterval', 1)
# State variables
self._markers = []
self._markerCount = 0
self._timeSinceLastMarker = self._markerInterval
def __init__(self, config, deps):
ext.core.Subsystem.__init__(self, config.get('name', 'Simulation'),
deps)
# Grab the vehicle
sim = ext.core.Subsystem.getSubsystemOfType(Simulation,
deps,
nonNone=True)
vehicle = ext.core.Subsystem.getSubsystemOfType(IVehicle,
deps,
nonNone=True)
self._robot = vehicle.getDevice('SimulationDevice').robot
# Grab the pinger object
self._pingers = sim.scene.getObjectsByInterface(IPinger)
assert len(self._pingers) <= 2
self._setup()
def __init__(self, config, eventHub, vehicle):
self._name = config['name']
SimDevice.__init__(self)
device.IDevice.__init__(self, eventHub, self._name)
simDevice = vehicle.getDevice('SimulationDevice')
self.robot = simDevice.robot
self._scene = simDevice.scene
# Settings
self._dropMarkers = config.get('markers', True)
self._markerInterval = config.get('markerInterval', 1)
# State variables
self._markers = []
self._markerCount = 0
self._timeSinceLastMarker = self._markerInterval
def _lookupByName(self, publisher, deps):
# Subscribe to the queued event hub if no publisher is specified
if publisher is None:
return self._qeventHub
# If the publisher is a device, different operations are performed
if publisher.startswith("Vehicle.Device."):
deviceName = publisher[len("Vehicle.Device.") :]
vehicle = core.Subsystem.getSubsystemOfType(ext.vehicle.IVehicle, deps)
device = vehicle.getDevice(deviceName)
return device
else:
# Normal operations for any other publisher
systemName = publisher.split(".")[0]
for d in deps:
depName = d.getPublisherName().split(".")[-1]
if depName == systemName:
return d
def _lookupByName(self, publisher, deps):
# Subscribe to the queued event hub if no publisher is specified
if publisher is None:
return self._qeventHub
# If the publisher is a device, different operations are performed
if publisher.startswith('Vehicle.Device.'):
deviceName = publisher[len('Vehicle.Device.'):]
vehicle = core.Subsystem.getSubsystemOfType(
ext.vehicle.IVehicle, deps)
device = vehicle.getDevice(deviceName)
return device
else:
# Normal operations for any other publisher
systemName = publisher.split('.')[0]
for d in deps:
depName = d.getPublisherName().split('.')[-1]
if depName == systemName:
return d
