def _request_angular_move_(self, angle_ns, angle_ew): request = tracker_pb2.ControlRequest(\ authority_level = self.authority_level, description = self.description, \ move_type = tracker_pb2.ControlRequest.ANGLE) request.angle.ns = angle_ns request.angle.ew = angle_ew self._request_move_and_block_(request)
def _request_position_move_(self, pos_ns, pos_ew): request = tracker_pb2.ControlRequest(\ authority_level = self.authority_level, description = self.description, \ move_type = tracker_pb2.ControlRequest.POSITION) request.position.ns = pos_ns request.position.ew = pos_ew self._request_move_and_block_(request)
def _control_iterator_(self):
self.logger.info("Sending initial control request")
yield tracker_pb2.ControlRequest(authority_level = self.authority_level, description = self.description)
while self._is_ok_() and self.retain_control:
if self.control_requests_queue.empty():
time.sleep(1.0)
else:
request = self.control_requests_queue.get()
yield request
def __init__(self, server, authority_level, description, client_response_cb = None, timeout = 10.0):
self.authority_level = authority_level
self.description = description
self.stub = server
self.have_tracker_control = False
self._move_response_callback_ = None
self.client_response_cb = client_response_cb
self.logger = logging.getLogger(__name__)
self.logger.propagate = True
self.retain_control = True
self.control_thread = Thread(target = self._tracker_control_, \
args=(self.on_response,))
self.control_requests_queue = Queue()
self.control_thread.start()
count = 0.0
while not self.have_tracker_control and count < timeout:
count += 1
request = tracker_pb2.ControlRequest(authority_level = self.authority_level, description = self.description)
self.control_requests_queue.put(request)
time.sleep(1.0)
if not self.have_tracker_control:
raise ControlDisruption("Getting tracker control failed")
self.logger.info("Tracker control succeeded")
def in_control(self): request = tracker_pb2.ControlRequest(\ authority_level = self.authority_level, description = self.description) self._request_move_and_block_(request) return self.have_tracker_control
def _request_direction_move_(self, direction): request = tracker_pb2.ControlRequest(\ authority_level = self.authority_level, description = self.description, \ move_type = tracker_pb2.ControlRequest.DURATION) request.direction = direction self._request_move_and_block_(request)
def _stop_(self): request = tracker_pb2.ControlRequest(\ authority_level = self.authority_level, description = self.description, \ move_type = tracker_pb2.ControlRequest.STOP) self._request_move_and_block_(request)