Source Code for Script script-demo_shavenhaircut_py

  1  from joy import * 
  2   
  3 -class ShaveNHaircutPlan( Plan ): 
  4    """ 
  5    ShaveNHaircutPlan shows a simple example of sequential composition: 
  6    its behavior is to run the shave plan followed by the haircut plan. 
  7    """ 
  8 -  def __init__(self,app,shave,haircut,*arg,**kw): 
  9      Plan.__init__(self,app,*arg,**kw) 
 10      self.shave = shave 
 11      self.haircut = haircut 
 12       
 13 -  def behavior( self ): 
 14      progress("Both: starting 'Shave' sequence") 
 15      yield self.shave 
 16      progress("Both: starting 'Haircut' sequence") 
 17      yield self.haircut     
 18      progress("Both: done") 
 19       
 20 -class ShaveNHaircutApp( JoyApp ): 
 21    # Load both patterns from their CSV files 
 22    SHAVE = loadCSV("shave.csv") 
 23    HAIRCUT = loadCSV("haircut.csv") 
 24   
 25 -  def __init__(self,shaveSpec,hairSpec,*arg,**kw): 
 26      JoyApp.__init__(self, *arg,**kw) 
 27      self.shaveSpec = shaveSpec 
 28      self.hairSpec = hairSpec 
 29   
 30 -  def onStart(self): 
 31      # 
 32      # Use a sheetplan to realize SHAVE, outputting to self.shaveSpec 
 33      # 
 34      self.shaveplan = SheetPlan(self, self.SHAVE, x=self.shaveSpec )  
 35      # give us start and stop messages; in your own code you can omit these  
 36      self.shaveplan.onStart = lambda : progress("Shave: starting")  
 37      self.shaveplan.onStop = lambda : progress("Shave: done")  
 38      # 
 39      # Use a sheetplan to realize H, outputting to s 
 40      # 
 41      self.hairplan = SheetPlan(self, self.HAIRCUT, x=self.hairSpec ) 
 42      # give us start and stop messages; in your own code you can omit these  
 43      self.hairplan.onStart = lambda : progress("Haircut: starting")  
 44      self.hairplan.onStop = lambda : progress("Haircut: done")  
 45      # 
 46      # Set up a ShaveNHaircutPlan using both of the previous plans 
 47      # 
 48      self.both = ShaveNHaircutPlan(self, self.shaveplan, self.hairplan) 
 49   
 50 -  def onEvent(self,evt): 
 51      if evt.type != KEYDOWN: 
 52        return 
 53      # assertion: must be a KEYDOWN event  
 54      if evt.key == K_s: 
 55        if ( not self.shaveplan.isRunning() 
 56             and not self.both.isRunning() ): 
 57          self.shaveplan.start() 
 58      elif evt.key == K_h: 
 59        if ( not self.hairplan.isRunning() 
 60             and not self.both.isRunning() ): 
 61          self.hairplan.start() 
 62      elif evt.key == K_b: 
 63        if ( not self.shaveplan.isRunning()  
 64             and not self.hairplan.isRunning() 
 65             and not self.both.isRunning() ): 
 66          self.both.start() 
 67      elif evt.key == K_ESCAPE: 
 68          self.stop() 
 69   
 70  if __name__=="__main__": 
 71    robot = None 
 72    scr = None 
 73    shaveSpec = "#shave " 
 74    hairSpec = "#haircut " 
 75    args = list(sys.argv[1:]) 
 76    while args: 
 77      arg = args.pop(0) 
 78      if arg=='--mod-count' or arg=='-c': 
 79        N = int(args.pop(0)) 
 80        robot = dict(count=N) 
 81      elif arg=='--shave' or arg=='-s': 
 82        shaveSpec = args.pop(0) 
 83        if shaveSpec[:1]==">": scr = {} 
 84      elif arg=='--haircut' or arg=='-h': 
 85        hairSpec = args.pop(0) 
 86        if hairSpec[:1]==">": scr = {} 
 87      elif arg=='--help' or arg=='-h': 
 88        sys.stdout.write(""" 
 89    Usage: %s [options] 
 90     
 91      'Shave and a Haircut' example of running Plan-s in parallel and in 
 92      sequence. The example shows that plans can run in parallel, and that 
 93      Plan behaviors (e.g. the ShaveNHaircutPlan defined here) can use other 
 94      plans as sub-behaviors, thereby "calling them" sequentially. 
 95       
 96      When running, the demo uses the keyboard. The keys are: 
 97        's' -- start "Shave" 
 98        'h' -- start "Haircut" 
 99        'b' -- start "Both", calling "Shave" and "Haircut" in sequence 
100        'escape' -- exit program 
101         
102      Options:       
103        --mod-count <number> | -c <number> 
104          Search for specified number of modules at startup 
105         
106        --shave <spec> | -s <spec> 
107        --haircut <spec> | -h <spec> 
108          Specify the output setter to use for 'shave' (resp. 'haircut') 
109           
110          Typical <spec> values would be: 
111           '#shave ' -- to print messages to the terminal with '#shave ' as prefix 
112           '>x' -- send to Scratch sensor 'x' 
113           'Nx3C/@set_pos' -- send to position of CKBot servo module with ID 0x3C 
114           
115          NOTE: to use robot modules you MUST also specify a -c option 
116           
117      """ % sys.argv[0]) 
118        sys.exit(1) 
119      # ENDS cmdline parsing loop 
120     
121    app = ShaveNHaircutApp(shaveSpec,hairSpec,robot=robot,scr=scr) 
122    app.run() 
123