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Applied pycodestyle (pep8) with "--aggresive" #6

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Applied pycodestyle (pep8) with "--aggresive" #6

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809ee74
Applied pycodestyle (pep8) with "--aggresive"
matthias-mayr Apr 9, 2019
84f200b
Enabled empty configuration function for skiros_widget.
matthias-mayr Apr 10, 2019
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2 changes: 1 addition & 1 deletion skiros2_common/setup.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
Expand Down
103 changes: 54 additions & 49 deletions skiros2_common/src/skiros2_common/core/abstract_skill.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,22 +22,24 @@
"""
ParamOptions = Enum('ParamOptions', 'Consume Output Unspecify Lock RespectType')


class SkillDescription(object):
"""
An abstract skill description
"""

def __init__(self):
#Description
self._type= "skiros:" + self.__class__.__name__
#Params
self._params=params.ParamHandler()
#Conditions
self._pre_conditions=[]
self._hold_conditions=[]
self._post_conditions=[]
# Description
self._type = "skiros:" + self.__class__.__name__
# Params
self._params = params.ParamHandler()
# Conditions
self._pre_conditions = []
self._hold_conditions = []
self._post_conditions = []
self.createDescription()
self.generateDefParams()
#self.generateDefConditions()
# self.generateDefConditions()

@property
def params(self):
Expand Down Expand Up @@ -78,43 +80,44 @@ def addParam(self, key, value, param_type, options=[], description=""):
description: an optional verbose description
"""
self._params.addParam(key, value, param_type, description)
if type(value) == type(Element()):
if isinstance(value, type(Element())):
for o in options:
if o == ParamOptions.Consume:
self._post_conditions += [self.getGenerateCond("Consume"+key, key, False)]
self._post_conditions += [self.getGenerateCond("Consume" + key, key, False)]
elif o == ParamOptions.Unspecify:
self._post_conditions += [self.getIsSpecifiedCond("Unset"+key, key, False)]
self._post_conditions += [self.getIsSpecifiedCond("Unset" + key, key, False)]
elif o == ParamOptions.Lock:
self._pre_conditions += [self.getPropCond(key+'Idle', "skiros:StateProperty", key, "=", "Idle", True)]
self._hold_conditions += [self.getPropCond(key+'Busy', "skiros:StateProperty", key, "=", "Idle", False)]
self._post_conditions += [self.getPropCond(key+'Idle', "skiros:StateProperty", key, "=", "Idle", True)]
self._pre_conditions += [self.getPropCond(key + 'Idle', "skiros:StateProperty", key, "=", "Idle", True)]
self._hold_conditions += [self.getPropCond(key + 'Busy', "skiros:StateProperty", key, "=", "Idle", False)]
self._post_conditions += [self.getPropCond(key + 'Idle', "skiros:StateProperty", key, "=", "Idle", True)]
elif o == ParamOptions.RespectType:
self._pre_conditions.append(self.getOnTypeCond(key+'OfType', key, self.params[key].default.type))
self._pre_conditions.append(self.getOnTypeCond(key + 'OfType', key, self.params[key].default.type))

def generateDefParams(self):
"""
Some default params are added automatically
"""
if not self._params.hasParam('Robot'):
self._params.addParam("Robot", Element("sumo:Agent"), params.ParamTypes.Required)
#if not self._params.hasParam('Skill'):
# if not self._params.hasParam('Skill'):
# self._params.addParam("Skill", self.toElement(), params.ParamTypes.Required)

def generateDefConditions(self):
"""
Some default preconditions are added automatically
"""
#self.addPreCondition(self.getRelationCond("HasSkill", "hasSkill", "Robot", "Skill", True))
#for key, param in self._params.getParamMapFiltered(params.ParamTypes.Hardware).iteritems():
# for key, param in self._params.getParamMapFiltered(params.ParamTypes.Hardware).iteritems():
# self.addPreCondition(self.getPropCond("DeviceIdle", "deviceState", key, "Idle", True))
for key, param in self._params.getParamMapFiltered(params.ParamTypes.Optional).iteritems():
if param.dataType() == type(Element()):
c1 = self.getGenerateCond("Has"+key, key, True)
if isinstance(Element(), param.dataType()):
c1 = self.getGenerateCond("Has" + key, key, True)
dont_add = False
for c2 in self._post_conditions:
if c1.isEqual(c2) or c1.hasConflict(c2):
dont_add = True
if not dont_add: self._post_conditions = [c1] + self._post_conditions
if not dont_add:
self._post_conditions = [c1] + self._post_conditions
return True

def getOutputParams(self):
Expand Down Expand Up @@ -156,7 +159,7 @@ def getOnTypeCond(self, clabel, subj, value):
def getModifiedParams(self):
param_list = set([])
for c in self._post_conditions:
#if isinstance(c, cond.ConditionGenerate):
# if isinstance(c, cond.ConditionGenerate):
param_list = param_list.union(set(c.getKeys()))
return param_list

Expand Down Expand Up @@ -196,6 +199,7 @@ def createDescription(self):
""" Optional, Not implemented in abstract class. """
return


class SkillCore(SkillDescription):
"""
@brief An abstract executable skill with a description (type, label, params, conditions), a state and progress code
Expand All @@ -204,25 +208,26 @@ class SkillCore(SkillDescription):
gen_id = IdGen()

def __init__(self):
#Description
self._id=SkillCore.gen_id.getId()
self._type=""
self._label=""
# Description
self._id = SkillCore.gen_id.getId()
self._type = ""
self._label = ""
self._description = SkillDescription()
#Params
self._params=params.ParamHandler()
#Conditions
self._pre_conditions=[]
self._hold_conditions=[]
self._post_conditions=[]
#Execution
# Params
self._params = params.ParamHandler()
# Conditions
self._pre_conditions = []
self._hold_conditions = []
self._post_conditions = []
# Execution
self._state_change = Event()
self._state=State.Uninitialized
self._state = State.Uninitialized
self._time_keeper = TimeKeeper()
self._progress_code=0
self._progress_time=0.0
self._progress_msg=""
self._progress_code = 0
self._progress_time = 0.0
self._progress_msg = ""
#--------Class functions--------

def expand(self, skill):
return

Expand All @@ -234,11 +239,11 @@ def _setState(self, state):
self._state_change.set()

def _setProgress(self, msg, code=None):
if code==None:
code = self._progress_code+1
self._progress_code=code
self._progress_time=self._time_keeper.time_from_start()
self._progress_msg=msg
if code is None:
code = self._progress_code + 1
self._progress_code = code
self._progress_time = self._time_keeper.time_from_start()
self._progress_msg = msg

@property
def id(self):
Expand Down Expand Up @@ -311,6 +316,7 @@ def checkPostCond(self, verbose=False):
to_ret += c.getKeys()
return to_ret
#-------- Control functions--------

def preempt(self):
if self.hasState(State.Running):
self._setState(self.onPreempt())
Expand All @@ -323,13 +329,13 @@ def hasState(self, state):
return self._state == state

def waitState(self, state, isset=True):
if isset:#Xor?
while self._state!=state:
if isset: # Xor?
while self._state != state:
#print 'Waiting set.. {}'.format(self._state)
self._state_change.clear()
self._state_change.wait()
else:
while self._state==state:
while self._state == state:
#print 'Waiting not set.. {}'.format(self._state)
self._state_change.clear()
self._state_change.wait()
Expand All @@ -355,7 +361,7 @@ def start(self, params=None):
return self._state

def printInfo(self, verbose=False):
s = "{}-{} ".format(self._type,self._label)
s = "{}-{} ".format(self._type, self._label)
if verbose:
s += "["
s += self._params.printState() + ']\n'
Expand All @@ -365,7 +371,7 @@ def printInfo(self, verbose=False):
return s

def printState(self, verbose=False):
s = "{}-{}({})".format(self.type[self.type.find(":")+1:], self.label, self.state)
s = "{}-{}({})".format(self.type[self.type.find(":") + 1:], self.label, self.state)
if verbose:
s += "[{}]".format(self.params.printState())
return s
Expand Down Expand Up @@ -412,11 +418,10 @@ def setDescription(self, description, label=""):
"""
self._description = description
self._type = description._type
if label!="":
if label != "":
self._label = label
self._resetDescription()


#-------- Virtual functions--------
def modifyDescription(self, skill):
"""
Expand Down
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