def setActuators(self, actuator_values):
"""Send the actuator actions."""
parsed_values = []
for actuator, value in actuator_values:
if int(value):
print "ActuatorHandler: Setting actuator", actuator, "to", value
else:
print "ActuatorHandler: Taking no action on zero setting of", actuator
continue
# Parse the action
action_match = ACTION_RE.match(actuator)
action = action_match.group('action')
# Verify that it's either a simple or complex action
if action_match and action in COMPLEX_ACTUATORS:
actuator = COMPLEX_ACTUATORS[action]
value = action_match.group('target')
elif actuator in SIMPLE_ACTUATORS:
# No target for a simple action
value = None
else:
raise ValueError("Don't know how to %s. " % actuator +
"Maybe it should be a custom proposition and not an actuator.")
# Notify about the actuator and store the result for the command
self.state_mgr.notify_actuator(action, value)
parsed_values.append((actuator, value))
send_ltl_commands(parsed_values, self.state_mgr.pub)
def setActuators(self, actuator_values):
"""Send the actuator actions."""
parsed_values = []
for actuator, value in actuator_values:
if int(value):
print "ActuatorHandler: Setting actuator", actuator, "to", value
else:
print "ActuatorHandler: Taking no action on zero setting of", actuator
continue
# Parse the action
action_match = ACTION_RE.match(actuator)
action = action_match.group('action')
# Verify that it's either a simple or complex action
if action_match and action in COMPLEX_ACTUATORS:
actuator = COMPLEX_ACTUATORS[action]
value = action_match.group('target')
elif actuator in SIMPLE_ACTUATORS:
# No target for a simple action
value = None
else:
raise ValueError("Don't know how to %s. " % actuator +
"Maybe it should be a custom proposition and not an actuator.")
# Notify about the actuator and store the result for the command
self.state_mgr.notify_actuator(action, value)
parsed_values.append((actuator, value))
send_ltl_commands(parsed_values, self.state_mgr.pub)
def gotoRegion(self, current_region, next_region):
"""Send a drive message to the specified region and return True if we arrive."""
if current_region == next_region:
# We don't print anything as this message would come up all the time
# But do release the lock, as we will be stopping motion if we were moving.
if self.have_lock:
self.state_mgr.motion_lock.release()
self.have_lock = False
self.next_region = None
return False
elif self.next_region == next_region:
# In test mode, always get there
if self.test_mode or self.state_mgr.location == next_region:
# For the sake of test mode, lie about the true location
if self.test_mode:
self.state_mgr.location = next_region
print "MotionHandler: Finished moving from", current_region, "to", next_region
self.state_mgr.motion_lock.release()
self.have_lock = False
print "Released motion lock."
return True
else:
# Keep doing what we're doing
return False
else:
if self.have_lock:
print "Already have lock"
else:
print "Acquiring lock..."
if self.have_lock or self.state_mgr.motion_lock.acquire(False):
self.have_lock = True
print "Got motion lock."
print "MotionHandler: Moving from", current_region, "to", next_region
self.next_region = next_region
room_name = next_region
send_ltl_commands(((DRIVE_COMMAND, room_name),), self.state_mgr.pub)
return False
else:
print "MotionHandler: Couldn't get motion lock. Not moving."
return False
def gotoRegion(self, current_region, next_region):
"""Send a drive message to the specified region and return True if we arrive."""
if current_region == next_region:
# We don't print anything as this message would come up all the time
# But do release the lock, as we will be stopping motion if we were moving.
if self.have_lock:
self.state_mgr.motion_lock.release()
self.have_lock = False
self.next_region = None
return False
elif self.next_region == next_region:
# In test mode, always get there
if self.test_mode or self.state_mgr.location == next_region:
# For the sake of test mode, lie about the true location
if self.test_mode:
self.state_mgr.location = next_region
print "MotionHandler: Finished moving from", current_region, "to", next_region
self.state_mgr.motion_lock.release()
self.have_lock = False
print "Released motion lock."
return True
else:
# Keep doing what we're doing
return False
else:
if self.have_lock:
print "Already have lock"
else:
print "Acquiring lock..."
if self.have_lock or self.state_mgr.motion_lock.acquire(False):
self.have_lock = True
print "Got motion lock."
print "MotionHandler: Moving from", current_region, "to", next_region
self.next_region = next_region
room_name = next_region
send_ltl_commands(((DRIVE_COMMAND, room_name),), self.state_mgr.pub)
return False
else:
print "MotionHandler: Couldn't get motion lock. Not moving."
return False
def stopActuators(self):
"""Stop all actuators."""
print "Stopping automaton by request."
send_ltl_commands((), self.state_mgr.pub)
def stopActuators(self):
"""Stop all actuators."""
print "Stopping automaton by request."
send_ltl_commands((), self.state_mgr.pub)
