def doSense(self):
#update the dictionary to return your values
return {"unix_time":rospy.get_time(),
"midnight_time":time_since_midnight(rospy.get_time()),
"light": self.light_level,
"temp":self.temperature, "humid":self.humidity,
"smoist":self.moisture, "level":self.wlevel,
"light_raw": self.light_level_raw,
"temp_raw":self.temperature_raw, "humid_raw":self.humidity_raw,
"smoist_raw":self.moisture_raw, "level_raw":self.wlevel_raw}
def doSense(self):
#update the dictionary to return your values
return {
"unix_time": rospy.get_time(),
"midnight_time": time_since_midnight(rospy.get_time()),
"light": self.light_level,
"temp": self.temp_output,
"humid": self.humid_output,
"smoist": self.smoist_output,
"level": self.level_output
}
def activate(self, time):
child = copy.deepcopy(self)
child.parent = self
# Update the timeout so it doesn't keep triggering
if (self.abs_time != None): self.timeout += 24 * 60 * 60 # Add a day
if (child.agenda.time0 == None):
child.agenda.time0 = time - time_since_midnight(time)
first_constraint = child.agenda.schedule[0]
first_constraint.set_timeout(time, child.agenda.time0)
#print("First timeout: %s for %s" %(clock_time(first_constraint.timeout), first_constraint))
return child
def amb_light(time):
global morning_hour, evening_hour, light_level_day, light_level_night
dl = light_level_night
if (is_daylight(time)):
dt = time_since_midnight(time)
dl += ((light_level_day - light_level_night) *
sqrt(1 - abs(1 - ((dt - 3600 * morning_hour) /
(3600 * (evening_hour - morning_hour) / 2)))))
if is_logging:
global last_print, clock_start
if (time - last_print > 1800):
last_print = time
print(" Ambient: %.1f (%s)" % (dl, clock_time(time)))
return dl
def main(self):
rospy.sleep(2)
while rospy.get_time() == 0: rospy.sleep(1)
#your code here if necessary
last_ping = rospy.get_time()
self.ping_behavior.act()
while not rospy.core.is_shutdown():
t = time_since_midnight(self.sensors.getTime())
self.planning_layer.doStep(t)
rospy.sleep(1)
self.executive_layer.doStep(t)
rospy.sleep(1)
self.behavioral_layer.doStep()
rospy.sleep(1)
def run_command(self, time):
curr_cmd = self.schedule[self.index]
if (self.time0 == None):
self.time0 = time - time_since_midnight(time)
curr_cmd.cmd_start = self.time0
# Set up the local variables:
light = self.vars.get('light')
temperature = self.vars.get('temp');
humidity = self.vars.get('humid');
smoist = self.vars.get('smoist');
current = self.vars.get('cur');
wlevel = self.vars.get('level');
wpump = self.vars.get('wpump');
led = self.vars.get('led');
fan = self.vars.get('fan');
if (curr_cmd != self.last_cmd):
print(" %s" %curr_cmd.line_str())
self.last_cmd = curr_cmd
if (curr_cmd.type == 'WAIT' and len(curr_cmd.constraint) == 0 ):
if (time > curr_cmd.timeout):
print("SUCCESS: %s"%curr_cmd.line_str())
self.next_cmd(time)
return 1
elif (curr_cmd.type == 'WAIT'):
res = eval(curr_cmd.constraint)
if res: #success!
print("SUCCESS: %s"%curr_cmd.line_str())
self.next_cmd(time)
return 1
elif (time > curr_cmd.timeout):
print("FAIL: %s"%curr_cmd.line_str())
self.next_cmd(time)
return -1
elif (curr_cmd.type == 'ENSURE'):
res = eval(curr_cmd.constraint)
if (time > curr_cmd.timeout) and res:
print("SUCCESS: %s"%curr_cmd.line_str())
self.next_cmd(time)
return 1
elif not res: #fail
print("FAIL: %s"%curr_cmd.line_str())
self.next_cmd(time)
return -1
sensor_values[a[0]] = eval(a[1])
#print(" %s: %s" %(a[0], sensor_values[a[0]]))
self.index += 1
return True
else: return False
def display(self):
for s in self.schedule:
# Not sure why this prints right - but it does
print("%sAT %s" %("START " if (self.time0 == s[0]) else "",
clock_time(s[0])))
for sv in s[1]:
print(" %s = %s" %(sv[0], sv[1]))
if __name__ == '__main__':
import sys, time
if (len(sys.argv) == 2):
now = time.time()
time0 = now - time_since_midnight(now)
baseline = Baseline(sys.argv[1], time0)
baseline.display()
#"""
# Testing how baseline works
t = baseline.time0; sensor_values = {}
while not baseline.finished():
baseline.update(t, sensor_values)
t += 1
#"""
else:
print("Need to provide baseline file to parse")
int(internal_vars['smoist'][1])]
return s_array
sensor_funcs = {
'cur': get_cur,
'light': get_light,
'level': get_level,
'temp': get_temp,
'humid': get_humid,
'smoist': get_smoist
}
now = int(time.time())
# Convert to midnight
now += clock_start - time_since_midnight(now)
try:
baseline_schedule = baseline.Baseline(args.baseline, now)
now = baseline_schedule.time0
except:
print('baseline file %s not found or parse error' % args.baseline)
exit()
rospy.init_node('Simulator', anonymous=True)
generate_publishers()
generate_subscribers()
#print("Now: %f %s" %(now, clock_time(now)))
clock_pub.publish(rospy.Time.from_sec(now))
