def _run_search_pattern(self, loop, **kwargs):
'''
Look around using the search pattern.
If `loop` is true, then keep iterating over the list until timeout is reached or we find it.
'''
if self.search_pattern is None:
return
def pattern():
for pose in self.search_pattern:
fprint("Going to next position.", title="SEARCHER")
if type(pose) == list or type(pose) == np.ndarray:
yield self.nav.move.relative(pose).go(**kwargs)
else:
yield pose.go(**kwargs)
yield self.nav.nh.sleep(2)
if not loop:
fprint("Search Pattern Over", title="SEARCHER")
self.pattern_done = True
fprint("Executing search pattern.", title="SEARCHER")
if loop:
while True:
yield util.cancellableInlineCallbacks(pattern)()
else:
yield util.cancellableInlineCallbacks(pattern)()
def _run_search_pattern(self, loop, speed):
'''
Look around using the search pattern.
If `loop` is true, then keep iterating over the list until timeout is reached or we find it.
'''
def pattern():
for pose in self.search_pattern:
print "SEARCHER - going to next position."
if type(pose) == list or type(pose) == np.ndarray:
yield self.nav.move.relative(pose).go(speed=speed)
else:
yield pose.go(speed=speed)
yield self.nav.nh.sleep(2)
print "SEARCHER - Executing search pattern."
if loop:
while True:
yield util.cancellableInlineCallbacks(pattern)()
else:
yield util.cancellableInlineCallbacks(pattern)()