Référence de la classe robot_behaviour.RobotBehavior

Dérivée par robot_behaviour.Robot.

Fonctions membres publiques
	__init__ (self, manager, *args, timelimit=None, exec_param=Logger.SHOW, log_level=INFO, **kwargs)
	perform (self, procedure, args=(), kwargs={}, timelimit=True)
	interrupt (self, thread)
	get (self, thread, timeout=None)
	send (self, *args, **kwargs)
	start_preparation (self)
	make_decision (self)
	goto_procedure (self, destination)
	set_side (self, side)
	set_position (self)
	positioning (self)
	start_procedure (self)
	stop_procedure (self)
	start (self)
	stop (self)
	get_elapsed_time (self)

Description détaillée

This class describe the generic beahviour of the robot. How to reach an action point and how to excute the desired action

Raises:
    TimeoutError: Timeout on communication or action
    AccessDenied: Thread is not allowed to execute on manager
    RuntimeError: Function not override
    RuntimeError: Function not override
    RuntimeError: Function not override
    RuntimeError: Function not override
    RuntimeError: Function not override

Documentation des constructeurs et destructeur

__init__()

robot_behaviour.RobotBehavior.__init__	(		self,
			manager,
		*	args,
			timelimit = None,
			exec_param = Logger.SHOW,
			log_level = INFO,
		**	kwargs )

Initialise all the useful object members

Args:
    manager (class): The manager proxy
    timelimit (int, optional): The match time limit. Defaults to None.
    exec_param (int, optional): The logger display configuration. Defaults to Logger.SHOW.
    log_level (int, optional): The logger display level. Defaults to INFO.

Voici le graphe d'appel pour cette fonction :

Documentation des fonctions membres

get()

robot_behaviour.RobotBehavior.get	(		self,
			thread,
			timeout = None )

Wait for the current running thread(Action procedure) is end. Return the procedure result after.

Args:
    thread (Thread id): The current action thread to perform
    timeout (int, optional): The action timeout. Defaults to None.

Raises:
    TimeoutError: Raise this error when a timeour occur

Returns:
    return param: the output parameter of the thread

get_elapsed_time()

robot_behaviour.RobotBehavior.get_elapsed_time

(

self

)

Get the time elapsed from the start of match

Returns:
    long: the elapsed time

Voici le graphe des appelants de cette fonction :

goto_procedure()

robot_behaviour.RobotBehavior.goto_procedure	(		self,
			destination )

This function is called to choose how to reach an action point. The child robot needs to override this method to choose the moving behavior

Args:
    destination (tuple): The robot destionation coordinates x,y,theta

Raises:
    RuntimeError: When the method in not override by the child class

interrupt()

robot_behaviour.RobotBehavior.interrupt	(		self,
			thread )

Interrupt the desired thread (Action procedure)

Args:
    thread (Thead id): The wanted thread

make_decision()

robot_behaviour.RobotBehavior.make_decision

(

self

)

This function is called to choose which action to execute. The child robot needs to override this method to choose the decision behavior

Raises:
    RuntimeError: When the method in not override by the child class

perform()

robot_behaviour.RobotBehavior.perform	(		self,
			procedure,
			args = (),
			kwargs = {},
			timelimit = True )

This method allow the robot to perform an action. It create one thread for the current action and check if this thread is allow to run

Args:
    procedure (function): The desired action procedure
    args (tuple, optional): The procedure arguments. Defaults to ().
    kwargs (dict, optional): The procedure kwargs . Defaults to {}.
    timelimit (bool, optional): The match time limit. Defaults to True.

Returns:
    Thread : Return the created thread

positioning()

robot_behaviour.RobotBehavior.positioning

(

self

)

Optionnal positioning method to do a small move after setting up the start position

send()

robot_behaviour.RobotBehavior.send	(		self,
		*	args,
		**	kwargs )

redefine the manager send method in order to only use the proxy when the running thread is authorized

Raises:
    AccessDenied: When the acces is denied for current thread

Returns:
    Manager ret code

Voici le graphe d'appel pour cette fonction :

Voici le graphe des appelants de cette fonction :

set_position()

robot_behaviour.RobotBehavior.set_position

(

self

)

This function is called to setup the starting position. The child robot needs to override this method to apply the stating position

Raises:
    RuntimeError: When the method in not override by the child class

Voici le graphe des appelants de cette fonction :

set_side()

robot_behaviour.RobotBehavior.set_side	(		self,
			side )

This function is called to choose the robot side. The child robot needs to override this method to choose how to attribute a side

Args:
    side (int): the side color

Raises:
    RuntimeError: When the method in not override by the child class

start()

robot_behaviour.RobotBehavior.start

(

self

)

This method is the core of the robot. It allow the robot to go to each action and reach all action points

start_preparation()

robot_behaviour.RobotBehavior.start_preparation

(

self

)

This method is called during prepartion phase in order to run the robot IHM and allow the user to setup the robot before a match.

start_procedure()

robot_behaviour.RobotBehavior.start_procedure

(

self

)

Optionnal function running when the robot start its match. Usually used tu put the actuators to its default position

stop()

robot_behaviour.RobotBehavior.stop

(

self

)

Stop the robot

Voici le graphe des appelants de cette fonction :

stop_procedure()

robot_behaviour.RobotBehavior.stop_procedure

(

self

)

Optionnal function running at the end of match. Usually used to check if the funny action is end

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La documentation de cette classe a été générée à partir du fichier suivant :

• C:/Users/boris/Desktop/robotique/team2024/raspberrypi/behaviours/robot_behaviour.py