def __call__(self, command):
p_status = ModeProgram.__call__(self, command)
if p_status:
return p_status
if command.startswith(POINTS_PREFIX):
json_str = command[len(POINTS_PREFIX):]
self.new_points = self.transform_points(json.loads(json_str))
return "received {} points".format(str(len(self.new_points)))
if command == 'short:trace':
if self.mode == 0:
return "0 {}".format(self.heading)
if self.mode == 'halt':
return "{} {}".format(len(self.points)-1, self.heading)
t = self.mode_time()
T = self.go_for
i = self.index - 1
delta_i = 1
theta = self.heading
delta_theta = 0
if self.mode == 'rotate':
delta_i = 0
delta_theta = self.delta_angle
theta -= delta_theta
vals = [t, T, i, delta_i, theta, delta_theta]
return ' '.join(map(str, vals));
def __call__(self, command):
p_status = ModeProgram.__call__(self, command)
if p_status:
return p_status
if command.startswith(POINTS_PREFIX):
json_str = command[len(POINTS_PREFIX):]
self.new_points = self.transform_points(json.loads(json_str))
return "received {} points".format(str(len(self.new_points)))
if command == 'short:trace':
if self.mode == 0:
return "0 {}".format(self.heading)
if self.mode == 'halt':
return "{} {}".format(len(self.points) - 1, self.heading)
t = self.mode_time()
T = self.go_for
i = self.index - 1
delta_i = 1
theta = self.heading
delta_theta = 0
if self.mode == 'rotate':
delta_i = 0
delta_theta = self.delta_angle
theta -= delta_theta
vals = [t, T, i, delta_i, theta, delta_theta]
return ' '.join(map(str, vals))
def __call__(self, command):
p_status = ModeProgram.__call__(self, command)
if p_status:
return p_status
if command == 'short:att':
if self.running:
t = self.mode_time()
s = self.speed
angle = self.params['calib_angle']
return str(t * s / angle)
else:
return "program not running"
def __call__(self, command):
p_status = ModeProgram.__call__(self, command)
if p_status:
return p_status
if command == 'short:att':
if self.running:
t = self.mode_time()
s = self.speed
angle = self.params['calib_angle']
return str(t * s / angle)
else:
return "program not running"
