def __init__(self, node_name, receive_topic, send_topic, virtual_off=None):
FunctionUnit.__init__(self, node_name)
self._receive_topic = receive_topic
self._send_topic = send_topic
self._virtual = virtual_off
self.br = CvBridge()
self._virtual_send = FunctionUnit.create_send(self, virtual_off, Bool)
def __init__(self, node_name, topic_1 = None, msg_type_1 = None, send_topic_1 = None, topic_2 = None, msg_type_2 = None, send_topic_2 = None):
self._motive_topic_1=node_name+'/activate'
if not(topic_1 == None) and not(msg_type_1 == None):
self._topic_1 = topic_1
self._msg_type_1 = msg_type_1
self._send_topic_1=send_topic_1
self.send_1 = FunctionUnit.create_send(self, self._send_topic_1, self._msg_type_1)
else:
self._topic_1 = None
self._msg_type_1 = None
if not(topic_2 == None) and not(msg_type_2 == None):
self._topic_2 = topic_2
self._msg_type_2 = msg_type_2
self._send_topic_2=send_topic_2
self.send_2 = FunctionUnit.create_send(self, self._send_topic_2, self._msg_type_2)
else:
self._topic_2 = None
#print 'init'
FunctionUnit.__init__(self, node_name)
self.motivational_shared_var = False #'True' means the behavior set is activated
self._action_mode = False
self._last_goal = GoalID()
def __init__(self, node_name, receive_topic, send_topic, virtual_off= None):
FunctionUnit.__init__(self, node_name)
self._receive_topic = receive_topic
self._send_topic = send_topic
self._virtual = virtual_off
self.br = CvBridge()
self._virtual_send = FunctionUnit.create_send(self, virtual_off, Bool)
def __init__(self, node_name, robot_id, behavior_id, switch_topic, heartbeat_topic = None):
if heartbeat_topic == None:
self._heartbeat_topic = 'heart_beat'
#param
self._fast = 20#fast rate, constant for now
self._slow = 3#slow rate,constant for now
self._comm_influence_time=10
self._comm_keep_time=20
self._reset_influence_time=10
self._acquienscence_time_0=20#if other robot is runing the same behavior
self._acquienscence_time_1=60
self._acquienscence_influence_time=5
self._robot_id=robot_id#i
self._behavior_id=behavior_id#j
self._switch_topic=switch_topic
self._broadcast_rate=5
self._random_inc = False
self._node_name=node_name
FunctionUnit.__init__(self, node_name)
self._threshold_of_activation = 100#The initial value of threshold_of_activation is 100.
self._sensory_feedback = 0#If the sensory information is valid, the sensory feedback is true, the value is 1 or 0.
self._comm_recieved = [[0 for col in range(1)] for row in range(10)]#_comm_received,row=k,col=t
self._activity_suppression = 1
self._impatience = self._fast
self._impatience_reset = 1#if this robot is running an other behavior,reset=0
self._acquiescence = 1#if this behavior has run too long, acquiescence=0
self._m = 0#final score
self._time = 0
self._active=0#bool, active=0 else=1
self._active_time = 0#when this behavior is active
def __init__(self, node_name):
self._input_list = []
self._output_list = []
self._cb_list = []
self._shared_list = []
FunctionUnit.__init__(self, node_name)
self._action_mode = False
self._last_goal = GoalID()
def __init__(self, node_name, pose_0, pose_1, pose_2, pose_3, topic, wait_time):
FunctionUnit.__init__(self, node_name)
#self._node_name = node_name
self._pose_0 = pose_0
self._pose_1 = pose_1
self._pose_2 = pose_2
self._pose_3 = pose_3
self._topic = topic
self._wait_time = wait_time
def __init__(self, node_name, pose_0, pose_1, pose_2, pose_3, topic,
wait_time):
FunctionUnit.__init__(self, node_name)
#self._node_name = node_name
self._pose_0 = pose_0
self._pose_1 = pose_1
self._pose_2 = pose_2
self._pose_3 = pose_3
self._topic = topic
self._wait_time = wait_time
def __init__(self, node_name):
self._input_list=[]
self._output_list=[]
self._cb_list=[]
self._shared_list=[]
self._shared_list.append(False)
self._list_count = 0
self._motive_topic_1='activate'
FunctionUnit.__init__(self, node_name)
self._action_mode = False
self._last_goal = GoalID()
def __init__(self, node_name, receive_topic_follower, receive_topic_intruder, send_topic):
FunctionUnit.__init__(self, node_name)
self._receive_topic_follower = receive_topic_follower
self._receive_topic_intruder = receive_topic_intruder
self.follower_pose_x = 0.0
self.follower_pose_y = 0.0
self.intruder_pose_x = 0.0
self.intruder_pose_y = 0.0
self.follow_distance = 0.5 # The follower will be away from the intruder according to this distance
self.linear_velocity = 0.3
self.angular_velocity = 0.5
self.send = FunctionUnit.create_send(self, send_topic, Twist)
def __init__(self, node_name):
self._input_list = []
self._output_list = []
self._cb_list = []
self._shared_list = []
self._shared_list.append(False)
self._list_count = 0
self._motive_topic_1 = 'activate'
FunctionUnit.__init__(self, node_name)
self._action_mode = False
self._last_goal = GoalID()
def __init__(self, node_name, robot_id, behavior_id, switch_topic, filename = None,heartbeat_topic = None):
if heartbeat_topic == None:
self._heartbeat_topic = 'heart_beat'
#param
self._fast = 20#fast rate, constant for now
self._slow = 3#slow rate,constant for now
self._comm_influence_time=10
self._comm_keep_time=20
self._reset_influence_time=10
self._acquienscence_time_0=20#if other robot is runing the same behavior
self._acquienscence_time_1=60
self._acquienscence_influence_time=5
self._robot_id=robot_id#i
self._behavior_id=behavior_id#j
self._switch_topic=switch_topic
self._broadcast_rate=5
self._random_inc = False
if(filename !=None):
self._debug_mode = True
else:
self._debug_mode = False
if(self._debug_mode == True):
print "Debug"
self._f = file(filename,'w+')
self._f.close()
self._filename=filename
self._node_name=node_name
FunctionUnit.__init__(self, node_name)
self._threshold_of_activation = 100#The initial value of threshold_of_activation is 100.
self._sensory_feedback = 0#If the sensory information is valid, the sensory feedback is true, the value is 1 or 0.
self._comm_recieved = [[0 for col in range(1)] for row in range(10)]#_comm_received,row=k,col=t
self._activity_suppression = 1
self._impatience = self._fast
self._impatience_reset = 1#if this robot is running an other behavior,reset=0
self._acquiescence = 1#if this behavior has run too long, acquiescence=0
self._m = 0#final score
self._time = 0
self._active=0#bool, active=0 else=1
self._active_time = 0#when this behavior is active
