def __init__(self, timesteplength):
self.behaviors = [] # List of all behaviors
self.activeBehaviors = [] # List of all behaviors currently monitored
self.senseobs = [] # List of all unique sensobs, for updating
self.motob = Motob(Motors()) # List of all unique motobs
self.timesteplength = timesteplength # Time step (how often the robot should choose a new action)
self.arbitrator = Arbitrator(self, False) # Arbitrator
self.halt = False
logging.debug("Behavior-based Controller initialized")
class BBCON:
def __init__(self, timesteplength):
self.behaviors = [] # List of all behaviors
self.activeBehaviors = [] # List of all behaviors currently monitored
self.senseobs = [] # List of all unique sensobs, for updating
self.motob = Motob(Motors()) # List of all unique motobs
self.timesteplength = timesteplength # Time step (how often the robot should choose a new action)
self.arbitrator = Arbitrator(self, False) # Arbitrator
self.halt = False
logging.debug("Behavior-based Controller initialized")
def get_activeBehaviors(self):
return self.activeBehaviors
logging.debug("Active behaviors retrieved")
# Appends a behavior object to a list
def add_behavior(self, behavior):
self.behaviors.append(behavior)
logging.debug("Behavior added to behavior list")
# Appends a sense object to a list
def add_senseob(self, senseob):
self.senseobs.append(senseob)
logging.debug("Senseob added to senseob list")
# Appends a behavior to a list
def activate_behavior(self, behavior):
if behavior in self.behaviors:
self.activeBehaviors.append(behavior)
logging.debug("Behavior activated")
# Removes a behavior from a list
def deactivate_behavior(self, behavior):
if behavior in self.active_behaviors:
self.activeBehaviors.remove(behavior)
logging.debug("Behavior deactivated")
# IN PROGRESS
def run_one_timestep(self):
logging.debug("==== RUNNING TIMESTEP ====")
self.update_senseobs()
self.update_behaviors()
arbitratorsChoice = self.arbitrator.choose_action()
if arbitratorsChoice[1]: # If halt_request is true
self.halt = True
self.update_motobs(0)
logging.debug("HALT REQUESTED!")
elif arbitratorsChoice == (None, None):
pass
else:
# self.update_motobs(arbitratorsChoice[0]*0.1)
self.update_motobs([x * 1 for x in arbitratorsChoice[0]])
sleep(self.timesteplength)
self.reset_sensobs()
logging.debug("==== TIMESTEP RUN SUCCESSFUL ====")
# Updates the values for each sense object, called at each timestep
def update_senseobs(self):
for sense in self.senseobs:
sense.update()
logging.debug("Senseobs updated")
# Updates the values for each behavior object, called at each timestep
def update_behaviors(self):
for behavior in self.behaviors:
behavior.update()
logging.debug("Behaviors updated")
def update_motobs(self, value):
self.motob.update(value)
logging.debug("Motobs updated")
def reset_sensobs(self):
for sense in self.senseobs:
sense.reset()
logging.debug("Senseobs reset")
