Source code for morse.middleware.moos.light

import logging; logger = logging.getLogger("morse." + __name__)
import pymoos.MOOSCommClient
from morse.middleware.moos import AbstractMOOS

[docs]class LightReader(AbstractMOOS): """ Read light commands. """
[docs] def initialize(self): AbstractMOOS.initialize(self) # register for control variables from the database self.m.Register("cLight")
[docs] def default(self, ci='unused'): current_time = pymoos.MOOSCommClient.MOOSTime() # get latest mail from the MOOS comm client messages = self.getRecentMail() new_information = False for message in messages: # look for command messages if (message.GetKey() == "cLight"): self.data['emit'] = (message.GetString()=="true") new_information = True return new_information