def start_follow(self):
FunctionUnit.init_node(self)
#print 'hello 1'
#print self._receive_topic
receive_1 = FunctionUnit.create_receive(self, self._receive_topic_follower, Odometry, self.receive_1_cb)
receive_2 = FunctionUnit.create_receive(self, self._receive_topic_intruder, Odometry, self.receive_2_cb)
#print 'hello 2'
FunctionUnit.spin(self)
def start_switch(self):
FunctionUnit.init_node(self)
#print 'run'
if not(self._topic_1 == None):
receive_1 = FunctionUnit.create_receive(self, self._topic_1, self._msg_type_1, self.receive_cb_1)
if not(self._topic_2 == None):
receive_2 = FunctionUnit.create_receive(self, self._topic_2, self._msg_type_2, self.receive_cb_2)
receive_3 = FunctionUnit.create_receive(self, self._motive_topic_1, Bool, self.motivational_shared_var_update)
FunctionUnit.spin(self)
def start_detect(self):
FunctionUnit.init_node(self)
#print 'hello 1'
#print self._receive_topic
receive_1 = FunctionUnit.create_receive(self, self._receive_topic, Image, self.receive_1_cb)
#print 'hello 2'
FunctionUnit.spin(self)
def add_action(self, sub_action_name, pub_action_name):
#self._action=action_client
self._action_mode = True
self._recieve_action_cancel = FunctionUnit.create_receive(
self, sub_action_name + '/goal', MoveBaseActionGoal,
self.receive_cb_goal)
self._send_cancel = FunctionUnit.create_send(
self, pub_action_name + '/cancel', GoalID)
def run(self):
FunctionUnit.init_node(self)
thread.start_new_thread(self.timer,())
heartbeat_receive = FunctionUnit.create_receive(self, self._heartbeat_topic, Heartbeat, self.heartbeat_on_received)
self._heartbeat_send = FunctionUnit.create_send(self, 'heart_beat', Heartbeat)
self._switch_send = FunctionUnit.create_send(self, self._switch_topic, Bool)
#sensory_receive = FunctionUnit.create_receive(self, self._node_name+"/sensory_feedback", Bool, self.sensory_on_received)
FunctionUnit.spin(self)
def run(self):
FunctionUnit.init_node(self)
receive_3 = FunctionUnit.create_receive(
self, self._motive_topic_1, Bool,
self.motivational_shared_var_update)
self.set_switch()
FunctionUnit.spin(self)
pass
def start_detect(self):
FunctionUnit.init_node(self)
#print 'hello 1'
#print self._receive_topic
receive_1 = FunctionUnit.create_receive(self, self._receive_topic,
Image, self.receive_1_cb)
#print 'hello 2'
FunctionUnit.spin(self)
def add_pair(self, input_topic, topic_type, output_topic):
self._output_list.append(
FunctionUnit.create_send(self, output_topic, topic_type))
self._cb_list.append(
SwitchCallback(self._output_list[self._list_count],
self._shared_list))
self._input_list.append(
FunctionUnit.create_receive(self, input_topic, topic_type,
self._cb_list[self._list_count]))
self._list_count += 1
def run(self):
FunctionUnit.init_node(self)
self.user()
self._robot_id=rospy.get_param('~robot_id',0)
self._behavior_id = rospy.get_param('~behavior_id',0)
thread.start_new_thread(self.timer,())
heartbeat_receive = FunctionUnit.create_receive(self, self._heartbeat_topic, Heartbeat, self.heartbeat_on_received)
self._heartbeat_send = FunctionUnit.create_send(self, '/heart_beat', Heartbeat)
self._switch_send = FunctionUnit.create_send(self, self._switch_topic, Bool)
#sensory_receive = FunctionUnit.create_receive(self, self._node_name+"/sensory_feedback", Bool, self.sensory_on_received)
FunctionUnit.spin(self)
def run(self):
FunctionUnit.init_node(self)
self._num = rospy.get_param('~num', 1)
for i in range(0, self._num): #bs_id
self._shared_list.append([])
for j in range(0, self._num): #r_id
self._shared_list[i].append(False)
receive_3 = FunctionUnit.create_receive(
self, '/heart_beat', Bool, self.motivational_shared_var_update)
self.set_type(Twist)
for i in range(0, self._num):
self._output_list.append(
FunctionUnit.create_send(self, 'output_' + str(i), self._type))
for i in range(0, self._num):
self._cb_list.append(
MultiSwitchCallback(self._output_list, self._shared_list,
self._num, i))
self._input_list.append(
FunctionUnit.create_receive(self, 'input_' + str(i),
self._type, self._cb_list[i]))
FunctionUnit.spin(self)
pass
def add_action(self,sub_action_name,pub_action_name):
#self._action=action_client
self._action_mode=True
self._recieve_action_cancel = FunctionUnit.create_receive(self, sub_action_name + '/goal', MoveBaseActionGoal, self.receive_cb_goal)
self._send_cancel= FunctionUnit.create_send(self, pub_action_name+'/cancel', GoalID)
def set_sensor(self,sensor_topic):
sensory_receive = FunctionUnit.create_receive(self, sensor_topic, Bool, self.sensory_on_received)
def add_pair(self,input_topic,topic_type,output_topic):
self._output_list.append(FunctionUnit.create_send(self, output_topic, topic_type))
self._cb_list.append(SwitchCallback(self._output_list[self._list_count],self._shared_list))
self._input_list.append(FunctionUnit.create_receive(self, input_topic, topic_type, self._cb_list[self._list_count]))
self._list_count += 1
def run(self):
FunctionUnit.init_node(self)
receive_3 = FunctionUnit.create_receive(self, self._motive_topic_1, Bool, self.motivational_shared_var_update)
self.set_switch()
FunctionUnit.spin(self)
pass
def user(self): #user defined inc(fast)
self._fast_receive = FunctionUnit.create_receive(
self, 'inc_input', Twist, self.fast_on_received)
self._fast = 0
def user(self):#user defined inc(fast)
self._fast_receive = FunctionUnit.create_receive(self, 'inc_input', Twist, self.fast_on_received)
self._fast = 0
