wip #65

Author: previ

event.py

@@ -12,17 +12,21 @@ def get_instance(cls, node_name=None):
     return cls._instance
 
   def __init__(self, node_name):
+    self._node_name = node_name
     rospy.init_node(node_name)
     self._publishers = {}
     self._event_generators = []
+    self._event_listeners = []
 
-  def register_publisher(self, topic):
-    publisher = rospy.Publisher("/" + node_name + "/" + topic, String, queue_size=10)
-    self._publishers[topic] = publisher
+  def get_publisher(self, topic):
+    publisher = self._publishers.get(topic)
+    if publisher is None:
+      publisher = rospy.Publisher("/" + self._node_name + "/" + topic, std_msgs.msg.String, queue_size=10)
+      self._publishers[topic] = publisher
     return publisher 
 
-  def register_listener(self, topic, callback):
-    rospy.Subscriber("/" + node_name + "/" + topic, std_msgs.msg.String, callback)
+  def register_event_listener(self, topic, callback):
+    self._event_listeners.append(rospy.Subscriber("/" + self._node_name + "/" + topic, std_msgs.msg.String, callback))
 
   def register_event_generator(self, generator_func):
     generator = threading.Thread(target=generator_func)

event_test.py

@@ -0,0 +1,17 @@
+def event_generator_1():
+  while True:
+    get_prog_eng().check_end() 
+    c = get_cam().find_class()
+    if c != "o":
+      get_event().get_publisher("image/classified").publish(c)
+      print "pub event: " + c
+get_event().register_event_generator(event_generator_1)
+
+def event_listener_1(event):
+  get_cam().set_text(event)
+  print event
+get_event().register_event_listener("image/classified", event_listener_1)
+
+while True:
+  get_prog_eng().check_end() 
+  get_cam().sleep(0.1)

program.py

@@ -152,7 +152,7 @@ def run(self):
           logging.debug("starting video")
       except:
         logging.error("Camera not available")
-     
+    
       exec(self._code)
     except RuntimeError as re:
       logging.info("quit: " + str(re))
@@ -164,7 +164,7 @@ def run(self):
         logging.error("Camera not available")
       self._running = False
 
-      get_event_manager().wait_event_generators()
+      get_event().wait_event_generators()
 
   def as_json(self):
     return {'name': self.name,

static/js/blockly/blocks.js

@@ -737,6 +737,82 @@ Blockly.Python['coderbot_adv_cnn_classify'] = function(block) {
   return [class_scores, Blockly.Python.ORDER_ATOMIC];
 };
 
+
+Blockly.Blocks['coderbot_event_generator'] = {
+  init: function() {
+    this.appendStatementInput("event_generator_function")
+        .appendField("event generator")
+        .setCheck(null);
+    this.setColour(15);
+ this.setTooltip("event generator");
+ this.setHelpUrl("");
+  }
+};
+
+var coderbot_generator_id = 1;
+Blockly.Python['coderbot_event_generator'] = function(block) {
+  Blockly.Generator.prototype.INDENT = '    ';
+  var statements_event_generator = Blockly.Python.statementToCode(block, 'event_generator_function');
+  Blockly.Generator.prototype.INDENT = '  ';
+  // TODO: Assemble Python into code variable.
+  var code = 'def event_generator_' + coderbot_generator_id + '():\n' +
+             '  while True:\n' +
+             '    get_prog_eng().check_end()\n' +
+             statements_event_generator + '\n' + 
+             'get_event().register_event_generator(event_generator_' + coderbot_generator_id + ')'
+  coderbot_generator_id++;
+  return code;
+};
+
+Blockly.Blocks['coderbot_event_listener'] = {
+  init: function() {
+    this.appendDummyInput()
+        .appendField("event listener for: ")
+        .appendField(new Blockly.FieldDropdown([["image/classified","image/classified"], ["image/face_detected","image/face_detected"], ["sonar/obstacle","sonar/obstacle"]]), "event_topic");
+   this.appendStatementInput("event_listener_code")
+        .setCheck(null);
+    this.setColour(15);
+ this.setTooltip("event listener");
+ this.setHelpUrl("");
+  }
+};
+
+var coderbot_listener_id = 1;
+Blockly.Python['coderbot_event_listener'] = function(block) {
+  var event_topic = block.getFieldValue('event_topic');
+  var statements_event_listener = Blockly.Python.statementToCode(block, 'event_listener_code');
+  // TODO: Assemble Python into code variable.
+  var code = 'def event_listener_' + coderbot_listener_id + '(event_data):\n' +
+             statements_event_listener + '\n' +
+             'get_event().register_event_listener(\'' + event_topic + '\', event_listener_' + coderbot_listener_id + ')'
+  coderbot_listener_id++; 
+  return code;
+};
+
+Blockly.Blocks['coderbot_event_publisher'] = {
+  init: function() {
+    this.appendDummyInput()
+        .appendField("publish event on topic:")
+        .appendField(new Blockly.FieldTextInput("event_topic"), "event_topic");
+    this.appendValueInput("event_data")
+        .setCheck(null)
+        .appendField("data:");
+    this.setInputsInline(true);
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setColour(15);
+ this.setTooltip("event publisher");
+ this.setHelpUrl("");
+  }
+};
+
+Blockly.Python['coderbot_event_publisher'] = function(block) {
+  var event_topic = block.getFieldValue('event_topic');
+  var event_data = Blockly.Python.valueToCode(block, 'event_data', Blockly.Python.ORDER_ATOMIC);
+  var code = 'get_event().get_publisher(\'' + event_topic + '\').publish(' + event_data + ')';
+  return code;
+};
+
 Blockly.Blocks['coderbot_audio_record'] = {
   /**
    * Block for findLogo function.

templates/blocks_adv.xml

@@ -169,6 +169,11 @@
     </category>
     <category name="{% trans %}Variables{% endtrans %}" custom="VARIABLE" colour="330"></category>
     <category name="{% trans %}Functions{% endtrans %}" custom="PROCEDURE" colour="290"></category>
+    <category name="{% trans %}Event{% endtrans %}" colour="40">
+      <block type="coderbot_event_generator"></block>
+      <block type="coderbot_event_publisher"></block>
+      <block type="coderbot_event_listener"></block>
+    </category>
     <category name="{% trans %}Movement{% endtrans %}" colour="40">
       <block type="coderbot_moveForward"></block>
       <block type="coderbot_moveBackward"></block>