def SharedVarUpdated(sv): s = '(BB_sv_updated "' + sv.varName + '" ' if sv.svType in [ BB.SharedVarTypes.INT, BB.SharedVarTypes.LONG, BB.SharedVarTypes.DOUBLE ]: s += str(sv.data) elif sv.svType in [ BB.SharedVarTypes.INT_ARRAY, BB.SharedVarTypes.LONG_ARRAY, BB.SharedVarTypes.DOUBLE_ARRAY, BB.SharedVarTypes.BYTE_ARRAY ]: s += str(sv.size) + ' ' + ' '.join([str(x) for x in sv.data]) elif sv.svType == BB.SharedVarTypes.STRING: s += '"' + sv.data + '"' elif sv.svType == BB.SharedVarTypes.RECOGNIZED_SPEECH: s += str(len(sv.data)) + ' ' + ' '.join( ['"' + x + '" ' + str(y) for x, y in sv.data]) elif sv.svType == BB.SharedVarTypes.VAR: s += str(sv.data) elif sv.svType == BB.SharedVarTypes.MATRIX: s += str(len(sv.data)) + ' ' + str(len(sv.data[0])) + ' ' for r in sv.data: for c in r: s += ' ' + str(c) else: print 'ERROR: Parsing shared var: "{0}" failed'.format(sv.varName) return s += ')' clipsFunctions.Assert(s) clipsFunctions.PrintOutput()
def callbackCommandResponse(data): print "callbackCommandResponse name command:" + data.name rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name) clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(data.name, data.id, data.successful, data.params)) clipsFunctions.PrintOutput() clipsFunctions.Run(BBFunctions.gui.getRunTimes()) clipsFunctions.PrintOutput()
def RunCommand(c): clipsFunctions.Assert('(BB_cmd "{0}" {1} "{2}")'.format( c.name, c._id, c.params)) clipsFunctions.PrintOutput() clipsFunctions.Run() clipsFunctions.PrintOutput() time.sleep(1) return Response.FromCommandObject( c, False, 'CLIPS was busy or not able to handle the command.')
def callbackCommandResponse(data): print "callbackCommandResponse name command:" + data.name rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name) clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format( data.name, data.id, data.successful, data.params)) clipsFunctions.PrintOutput() clipsFunctions.Run( '' ) # aqui se manda el numero de pasos que ejecutara CLIPS con [''] se ejecutan todos los pasos sin detenerse clipsFunctions.PrintOutput()
def timerThread(t, sym): time.sleep(t/1000) clipsFunctions.Assert('(BB_timer {0})'.format(sym)) clipsFunctions.PrintOutput()
def cmdTimerThread(t, cmd, cmdId): time.sleep(t/1000) clipsFunctions.Assert('(BB_timer "{0}" {1})'.format(cmd, cmdId)) clipsFunctions.PrintOutput()
def ResponseReceived(r): clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format( r.name, r._id, r.successful, r.params)) clipsFunctions.PrintOutput() clipsFunctions.Run(gui.getRunTimes()) clipsFunctions.PrintOutput()