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renamed controller to masterloop

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This commit is contained in:
Pavel Lutskov
2019-02-04 16:23:48 +01:00
parent 3708633328
commit 36f787087c
9 changed files with 64 additions and 57 deletions
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12
script/fall_detector.py
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@@ -4,14 +4,14 @@ import os
import rospy
from naoqi import ALProxy, ALBroker, ALModule
from controller import inform_controller_factory
from masterloop import inform_masterloop_factory
fall_broker = None
almem = None
_inform_controller = inform_controller_factory('fall_detector')
_inform_masterloop = inform_masterloop_factory('fall_detector')
class FallDetectorModule(ALModule):
@@ -21,10 +21,10 @@ class FallDetectorModule(ALModule):
self.mp = ALProxy('ALMotion')
def on_robot_falling(self, *_args):
_inform_controller('falling')
_inform_masterloop('falling')
def on_robot_fallen(self, *_args):
if not _inform_controller('fallen'):
if not _inform_masterloop('fallen'):
return
self.mp.rest()
rospy.Rate(0.5).sleep()
@@ -33,12 +33,12 @@ class FallDetectorModule(ALModule):
while not pp.goToPosture('StandInit', 1.0):
pass
rospy.Rate(1).sleep()
_inform_controller('recovered')
_inform_masterloop('recovered')
if __name__ == "__main__":
rospy.init_node('fall_detector')
rospy.wait_for_service('inform_controller')
rospy.wait_for_service('inform_masterloop')
fall_broker = ALBroker("fall_broker", "0.0.0.0", 0,
os.environ['NAO_IP'], 9559)
fall_detector = FallDetectorModule("fall_detector")