from collections.abc import Iterable
from deepbots.robots.controllers.emitter_receiver_robot import \
EmitterReceiverRobot
[docs]class CSVRobot(EmitterReceiverRobot):
"""
Basic implementation of a robot that can emit and receive messages to/from
the supervisor in string utf-8 form that are Comma Separated Values,
i.e. a list.
"""
def __init__(self,
emitter_name="emitter",
receiver_name="receiver",
timestep=None):
"""
The constructor just passes the arguments provided to the parent
class contructor.
:param emitter_name: The name of the emitter device on the
robot node, defaults to "emitter"
:param receiver_name: The name of the receiver device on the
robot node, defaults to "receiver"
:param timestep: The robot controller timestep, defaults to None
"""
super().__init__(emitter_name, receiver_name, timestep)
[docs] def initialize_comms(self, emitter_name, receiver_name):
"""
This method implements the basic emitter/receiver initialization that
assumes that an emitter and a receiver component are present on the
Webots robot with appropriate DEFs ("emitter"/"receiver").
:param emitter_name: The name of the emitter device on the
supervisor node
:param receiver_name: The name of the receiver device on the
supervisor node
:return: The initialized emitter and receiver references
"""
emitter = self.getDevice(emitter_name)
receiver = self.getDevice(receiver_name)
receiver.enable(self.timestep)
return emitter, receiver
[docs] def handle_emitter(self):
"""
This emitter uses the user-implemented create_message() method to get
whatever data the robot gathered, convert it to a string if needed and
then use the emitter to send the data in a string utf-8 encoding to the
supervisor.
"""
data = self.create_message()
assert isinstance(data,
Iterable), "The action object should be Iterable"
string_message = ""
# message can either be a list that needs to be converted in a string
# or a straight-up string
if type(data) is list:
string_message = ",".join(map(str, data))
elif type(data) is str:
string_message = data
else:
raise TypeError(
"message must be either a comma-separated string or a 1D list")
string_message = string_message.encode("utf-8")
self.emitter.send(string_message)
[docs] def handle_receiver(self):
"""
This receiver uses the basic Webots receiver-handling code. The
use_message_data() method should be implemented to actually use the
data received from the supervisor.
"""
if self.receiver.getQueueLength() > 0:
# Receive and decode message from supervisor
try:
message = self.receiver.getString()
except AttributeError:
message = self.receiver.getData().decode("utf-8")
# Convert string message into a list
message = message.split(",")
self.use_message_data(message)
self.receiver.nextPacket()
[docs] def create_message(self):
"""
This method should be implemented to convert whatever data the robot
has, eg. sensor data, into a message to be sent to the supervisor via
the emitter.
:return: a list or a comma-separated string containing all data
"""
raise NotImplementedError
[docs] def use_message_data(self, message):
"""
This method should be implemented to apply whatever actions the
message (received from the supervisor) contains.
:param message: list containing data received from the supervisor
"""
raise NotImplementedError