def __init__(self, knowledge_base):
# this knowledge base reference is used for updating the robot state
self.knowledge_base = knowledge_base
# create the viewer
self.viewer = Viewer()
BaseJob.__init__(self, None, None)
def _handler(self):
logger.debug('child {} start'.format(self.child.pid))
# hold a reference to the world so that it is not garbage collected
self.world = WorldModel()
# create the robot model for the controller
self.robot = self.world.loadRobot(os.path.join('klampt_models', baxter.klampt_model_name))
logger.debug('robot model loaded from {}'.format(baxter.klampt_model_name))
self.controller = LowLevelController(self.robot, baxter.klampt_model_name)
logger.debug('controller low-level controller initialized')
# send the initial controller state
self.child_pipe.send((None, RobotState(self.controller)))
while True:
# get the call information
try:
# update the viewer while waiting for a command
while not self.child_pipe.poll():
self._update_viewer()
sleep(interval)
# receive the command
(self.knowledge_base, self.method, self.args, self.kwargs) = self.child_pipe.recv()
except EOFError:
logger.info('child {} shutdown requested'.format(self.child.pid))
# signal to shut down
break
# distinguish between pure knowledge base updates and method calls
if not self.method:
self._update_viewer()
self._send_result(None)
continue
# route remote calls
self.init_args = (self.controller, self.knowledge_base)
# hook the sleep method to update the viewer during execution
self.kwargs['sleep'] = lambda n: self._sleep(n)
BaseJob._handler(self)
# clean up
# need to call the superclass since this class overrides with empty method
BaseJob._close()
# TODO: shutdown the controller
#controller.motion.shutdown()
self.viewer.close()
def _send_result(self, result):
# attach the robot state to the job result
BaseJob._send_result(self, (result, RobotState(self.controller)))
