def test_clear_many(self):
smokesignal.on(('foo', 'bar', 'baz'), self.fn)
smokesignal.clear('foo', 'bar')
assert smokesignal.receivers == {
'foo': set(),
'bar': set(),
'baz': set([self.fn]),
}
def test_clear_many(self):
smokesignal.on(('foo', 'bar', 'baz'), self.fn)
smokesignal.clear('foo', 'bar')
assert smokesignal.receivers == {
'foo': set(),
'bar': set(),
'baz': set([self.fn]),
}
def test_clear_many(self):
smokesignal.on(('foo', 'bar', 'baz'), self.callback)
assert len(smokesignal._receivers['foo']) == 1
assert len(smokesignal._receivers['bar']) == 1
assert len(smokesignal._receivers['baz']) == 1
smokesignal.clear('foo', 'bar')
assert len(smokesignal._receivers['foo']) == 0
assert len(smokesignal._receivers['bar']) == 0
assert len(smokesignal._receivers['baz']) == 1
def test_clear_many(self):
smokesignal.on(('foo', 'bar', 'baz'), self.callback)
assert len(smokesignal._receivers['foo']) == 1
assert len(smokesignal._receivers['bar']) == 1
assert len(smokesignal._receivers['baz']) == 1
smokesignal.clear('foo', 'bar')
assert len(smokesignal._receivers['foo']) == 0
assert len(smokesignal._receivers['bar']) == 0
assert len(smokesignal._receivers['baz']) == 1
def attachEvents(self, mic):
## clear all signals
smokesignal.clear()
text = ""
@smokesignal.on('say')
def onSay(args):
print "Info from Nav"
infoFromNav = eval(args.get('payload'))
print infoFromNav
infotosay = infoFromNav["text"]
print infotosay
print "Info from Nav before Mic"
mic.say(infotosay)
def attachEvents(self):
smokesignal.clear()
@smokesignal.on('sonarData')
def sonardata(args):
payload = eval(args.get("payload"))
strSonarLeft = self.convertStr(payload['1'])
self.sonarLeft = int(strSonarLeft)
strSonarRight = self.convertStr(payload['2'])
self.sonarRight = int(strSonarRight)
self.sendAlert(self.checkForObstacle())
def attachEvents(self):
smokesignal.clear()
@smokesignal.on('sonarData')
def sonardata(args):
payload = eval(args.get("payload"))
strSonarLeft = self.convertStr(payload['1'])
self.sonarLeft = int(strSonarLeft)
strSonarRight = self.convertStr(payload['2'])
self.sonarRight = int(strSonarRight)
self.sendAlert(self.checkForObstacle())
def test_clear_no_args_clears_all(self):
smokesignal.on(('foo', 'bar', 'baz'), self.fn)
assert smokesignal.receivers == {
'foo': set([self.fn]),
'bar': set([self.fn]),
'baz': set([self.fn]),
}
smokesignal.clear()
assert smokesignal.receivers == {
'foo': set(),
'bar': set(),
'baz': set(),
}
def test_clear_no_args_clears_all(self):
smokesignal.on(('foo', 'bar', 'baz'), self.fn)
assert smokesignal.receivers == {
'foo': set([self.fn]),
'bar': set([self.fn]),
'baz': set([self.fn]),
}
smokesignal.clear()
assert smokesignal.receivers == {
'foo': set(),
'bar': set(),
'baz': set(),
}
def attachEvents(self):
"""Configure event callbacks to attach to daemon on start.
All events must be a series of event functions.
1:345 2:60
Do not call this externally!
"""
## clear all signals
smokesignal.clear()
@smokesignal.on('sonarData')
def sonardata(args):
threshold=70
if(currentsoundtime-triggersoundtime>self.sendAlertInterval):
self.sendflag=1
else
self.sendflag=0
#1-proceed #2-stop #3 step right #4 step left
if(self.state ==1): #proceed state
payload =eval(args.get("payload"))
leftvalue= payload["1"]
rightvalue=payload["2"]
leftvalue=int(leftvalue.rstrip('\u0'))
rightvalue=int(rightvalue.rstrip('\u0'))
if((leftvalue <= threshold) OR(rightvalue <= threshold)):
self.state=2 #stop state
currentsoundtime=datetime.datetime.now().time()
if(self.sendflag==1):
self._dispatcherClient.send(9002, 'say', {'text': 'stop'})
triggersoundtime=datetime.datetime.now().time() # when it sends
else
self.state=1 # proceed state
self._dispatcherClient.send(9002, 'say', {'text': 'proceed'})
triggersoundtime=datetime.datetime.now().time() # when it sends
def attachEvents(self):
"""Configure event callbacks to attach to daemon on start.
All events must be a series of event functions.
Do not call this externally!
"""
## clear all signals
smokesignal.clear()
@smokesignal.on('newPath')
def onNewPath(args):
logging.debug('Event triggered: Request for new path.')
nodeTo = args.get('to')
if ((nodeTo == None)):
logging.error('Received no start / end nodes')
return
self.getPathTo(nodeTo)
@smokesignal.on('obstacle')
def onObstacle(args):
##TODO: Implement obstacle detection
pass
def test_clear(self):
smokesignal.on('foo', self.fn)
assert smokesignal.receivers['foo'] == set([self.fn])
smokesignal.clear('foo')
assert smokesignal.receivers['foo'] == set()
def test_clear(self):
smokesignal.on('foo', self.callback)
assert len(smokesignal._receivers['foo']) == 1
smokesignal.clear('foo')
assert len(smokesignal._receivers['foo']) == 0
def attachEvents(self):
"""Configure event callbacks to attach to daemon on start.
All events must be a series of event functions.
Do not call this externally!
"""
## clear all signals
smokesignal.clear()
@smokesignal.on('newPath')
def onNewPath(args):
logging.debug('Event triggered: Request for new path.')
nodeFrom = json.loads(args.get('payload')).get('from')
nodeTo = json.loads(args.get('payload')).get('to')
if ((nodeTo == None) or (nodeFrom == None)):
logging.error('Received no start / end nodes')
return
# DEPRECATED ------
## reset current location
# self.setPosBySUID(str(nodeFrom))
# /DEPRECATED ------
## Get new path
self.getPathTo(nodeFrom, nodeTo)
# @smokesignal.on('obstacle')
# def onObstacle(args):
# response = int(json.loads(args.get('payload')).get('status'))
# if (response == 0):
# self.obstacle = None
# return # Do not set collision locked
# elif (response == 1):
# self.obstacle = 'FRONT'
# elif (response == 2):
# self.obstacle = 'LEFT'
# elif (response == 3):
# self.obstacle = 'RIGHT'
# # If collision, set to true
# self.collisionLocked = True
@smokesignal.on('point')
def onPoint(args):
"""Update location based on interprocess posting
by cruncher
"""
locInfo = json.loads(args.get('payload'))
x = locInfo.get('x')
y = locInfo.get('y')
z = locInfo.get('z')
angle = locInfo.get('ang')
self.__model['currLoc'] = Point.fromParam(
x=x,
y=y,
z=z,
orientation=angle)
# logging.info(
# '[ NAV ] Internal pos is currently: (x=%s y=%s z=%s ang=%s)' %
# (x,y,z,angle) )
@smokesignal.on('reset')
def onReset(args):
"""If navigation needs to be reset during routing,
use this
"""
self._dispatcherClient.send(9002, 'say', {'text': 'Nav reset.'})
self._resetNavParams() # Reset all navigation params and await new path
logging.debug('Nav has been RESET.')
@smokesignal.on('pause')
def onPause(args):
""" Pause navigation. Useful for stairs / etc.
"""
self.toPause = True
self._dispatcherClient.send(9002, 'say', {'text': 'Nav paused.'})
logging.debug('Nav is PAUSED.')
@smokesignal.on('unpause')
def onPause(args):
""" Unpause navigation. Useful for stairs / etc.
"""
self.toPause = False
self._dispatcherClient.send(9002, 'say', {'text': 'Nav resumed.'})
logging.debug('Nav is RESUMED.')
@smokesignal.on('checkNavigation')
def onPause(args):
""" Unpause navigation. Useful for stairs / etc.
"""
isNavigating = self.isNavigating()
self._dispatcherClient.send(9002, 'checkNavigation', {'isNavigating': isNavigating })
logging.debug('Nav state checked.')
def test_clear(self):
smokesignal.on('foo', self.fn)
assert smokesignal.receivers['foo'] == set([self.fn])
smokesignal.clear('foo')
assert smokesignal.receivers['foo'] == set()
def test_clear(self):
smokesignal.on('foo', self.callback)
assert len(smokesignal._receivers['foo']) == 1
smokesignal.clear('foo')
assert len(smokesignal._receivers['foo']) == 0
def attachEvents(self, mic):
## clear all signals
smokesignal.clear()
text = ""
@smokesignal.on('say')
def onSay(args):
print "Info from Nav"
infoFromNav = eval(args.get('payload'))
print infoFromNav
self.infotosay = infoFromNav["text"]
try:
if(self.infotosay != None and self.infotosay == 'Retrieved new path.'):
self.OngoingNav = 1
#self.speaker.say(self.infotosay)
if self.infotosay != None and "Destination" in self.infotosay:
self.OngoingNav = 0
self.speaker.say(self.infotosay)
# if self.infotosay != None and "reset" in self.infotosay:
# self.OngoingNav = 0
# if "paused" in self.infotosay:
# self.OngoingNav = 0
# if "resumed" in self.infotosay:
# self.OngoingNav=1
if self.infotosay != None and "Checkpoint" in self.infotosay:
self.speaker.say(self.infotosay)
print self.infotosay
except:
pass
@smokesignal.on('cruncherAlert')
def onSay(args):
print "Info from Nav"
try:
if(self.OngoingNav == 1):
os.system("sudo pkill -SIGTERM -f \"aplay\" ")
infoFromCruncher = eval(args.get('payload'))
print infoFromCruncher
self.cruncherInfotosay = infoFromCruncher["text"]
self.cruncherAlert = 1
print self.cruncherInfotosay
except:
pass
@smokesignal.on('obstacle')
def onObstacle(args):
try:
response = int(json.loads(args.get('payload')).get('status'))
if (response == 0):
self.obstacle = None
return
elif (response == 1):
self.obstacle = 'FRONT'
self.collisionLocked = True
elif (response == 2):
self.obstacle = 'LEFT'
self.collisionLocked = True
elif (response == 3):
self.obstacle = 'RIGHT'
self.collisionLocked = True
# If collision, set to true
if(self.OngoingNav==1 and not self.collisionLocked):
os.system("sudo pkill -SIGTERM -f \"aplay\" ")
#self.collisionLocked = True
except:
pass
@smokesignal.on('reset')
def onObstacle(args):
self.speaker.say("Voice reset")
self.OngoingNav = 0 #clear ongoing nav