Source code for morse.middleware.hla.certi_test_input
import logging; logger = logging.getLogger("morse." + __name__)
from morse.middleware.hla.message_buffer import MessageBufferReader
from morse.middleware.hla.abstract_hla import AbstractHLAInput
[docs]class CertiTestInput(AbstractHLAInput):
[docs] def initialize(self):
AbstractHLAInput.initialize(self)
bille_handle = self.amb.object_handle('Bille')
self.handle_x = self.amb.attribute_handle("PositionX", bille_handle)
self.handle_y = self.amb.attribute_handle("PositionY", bille_handle)
self.suscribe_attributes(bille_handle, [self.handle_x, self.handle_y])
[docs] def default(self, ci = 'unused'):
attributes = self.get_attributes()
if attributes and attributes[self.handle_x] and attributes[self.handle_y]:
x = MessageBufferReader(attributes[self.handle_x]).read_double()
y = MessageBufferReader(attributes[self.handle_y]).read_double()
logger.info("%s pose %f %f" % (self.hla_name(), x, y))
self.data['x'] = x
self.data['y'] = y
self.data['z'] = 0.0