def stop_robot_feedback(self):
"""Called eg. in mult-logic just after finishing robot logic."""
self.logger.info("Stop robot feed...")
self.conn.send_message(message="stop",
type=types.ROBOT_FEEDBACK_CONTROL,
flush=True)
time.sleep(0.5) #make sure(?) robot feedback will not overwrite below
ugm_helper.send_logo(self.conn, 'obci.gui.ugm.resources.bci.png')
def stop_robot_feedback(self):
"""Called eg. in mult-logic just after finishing robot logic."""
self.logger.info("Stop robot feed...")
self.conn.send_message(
message = "stop",
type=types.ROBOT_FEEDBACK_CONTROL,
flush=True)
time.sleep(0.5)#make sure(?) robot feedback will not overwrite below
ugm_helper.send_logo(self.conn, 'obci.gui.ugm.resources.bci.png')
def handle_message(self, mxmsg):
if mxmsg.type == types.ROBOT_FEEDBACK_CONTROL:
if mxmsg.message == 'start':
self.logger.info("Got start message. Start robot feedback!!!")
self.is_on = True
elif mxmsg.message == 'stop':
self.logger.info("Got stop message. Stop robot feedback!!!")
self.is_on = False
ugm_helper.send_logo(self.conn, 'obci.gui.ugm.resources.bci.png')#todo - CEBIT fix... should be done somewhere in logic, but to ensure that robot feed will not overwrite log do it here...
else:
self.logger.warning("Unrecognised control message:" + str(mxmsg.message))
if DEBUG:
self.debug.next_sample()
diff = (time.time() - self._last_time)
if not self.is_on:
self.no_response()
return
elif diff > 1.0:
self._last_time = time.time()
self.logger.error("Last time bigger than 1.0... give it a chance next time. ...")
self.no_response()
return
elif diff > 0.2:
self.logger.debug("Last time bigger than 0.2... don`t try read image for a while ...")
self.no_response()
return
elif diff > 0.05:
self._last_time = time.time()
t = time.time()
try:
self.logger.debug("Start getting image...")
image = self._robot.get_image(timeout=0.5)
self.logger.debug("Succesful get_image time:"+str(time.time()-t))
except:
self.logger.error("UNSuccesful get_image time:"+str(time.time()-t))
self.logger.error("Could not connect to ROBOT. Feedback is OFF!")
else:
try:
with open(self.imgpath, 'w') as fil:
fil.write(image)
fil.close()
ugm_helper.send_config_for(self.conn, self.robot_image_id, 'image_path', self.imgpath)
self.logger.debug("Robot image sent " + self.imgpath + ' id: ' + str(self.robot_image_id))
self.index = int(not self.index)
self.imgpath = self.paths[self.index]
except Exception, e:
self.logger.error("An error occured while writing image to file!")
print(repr(e))
self.no_response()
return
def handle_message(self, mxmsg):
if mxmsg.type == types.ROBOT_FEEDBACK_CONTROL:
if mxmsg.message == 'start':
self.logger.info("Got start message. Start robot feedback!!!")
self.is_on = True
elif mxmsg.message == 'stop':
self.logger.info("Got stop message. Stop robot feedback!!!")
self.is_on = False
ugm_helper.send_logo(
self.conn, 'obci.gui.ugm.resources.bci.png'
) #todo - CEBIT fix... should be done somewhere in logic, but to ensure that robot feed will not overwrite log do it here...
else:
self.logger.warning("Unrecognised control message:" +
str(mxmsg.message))
if DEBUG:
self.debug.next_sample()
diff = (time.time() - self._last_time)
if not self.is_on:
self.no_response()
return
elif diff > 1.0:
self._last_time = time.time()
self.logger.error(
"Last time bigger than 1.0... give it a chance next time. ...")
self.no_response()
return
elif diff > 0.2:
self.logger.debug(
"Last time bigger than 0.2... don`t try read image for a while ..."
)
self.no_response()
return
elif diff > 0.05:
self._last_time = time.time()
t = time.time()
try:
self.logger.debug("Start getting image...")
image = self._robot.get_image(timeout=0.5)
self.logger.debug("Succesful get_image time:" +
str(time.time() - t))
except:
self.logger.error("UNSuccesful get_image time:" +
str(time.time() - t))
self.logger.error(
"Could not connect to ROBOT. Feedback is OFF!")
else:
try:
with open(self.imgpath, 'w') as fil:
fil.write(image)
fil.close()
ugm_helper.send_config_for(self.conn,
self.robot_image_id,
'image_path', self.imgpath)
self.logger.debug("Robot image sent " + self.imgpath +
' id: ' + str(self.robot_image_id))
self.index = int(not self.index)
self.imgpath = self.paths[self.index]
except Exception, e:
self.logger.error(
"An error occured while writing image to file!")
print(repr(e))
self.no_response()
return
