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Commit 1a8b987f authored by Tommy Persson's avatar Tommy Persson
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Paper scenario.

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......@@ -80,6 +80,7 @@ parser.add_option ("", "--pathtest4", action="store_true", dest="pathtest4", hel
parser.add_option ("", "--search-areas", action="store_true", dest="search_areas", help="Test search areas")
parser.add_option ("", "--n-areas", action="store", type="int", dest="n_areas", default=3, help="Specify number of areas to search")
parser.add_option ("", "--paper-scenario1", action="store_true", dest="paper_scenario1", help="Paper Scenario 1")
parser.add_option ("", "--paper-scenario2", action="store_true", dest="paper_scenario2", help="Paper Scenario 2")
parser.add_option ("", "--frame-rate", action="store", type="int", dest="frame_rate", default=15, help="frame_rate")
(options, args) = parser.parse_args()
......@@ -462,14 +463,14 @@ def paper_scenario1(ns, unit):
seq.add_child(searcharea)
send_signal_1 = Node("send-signal", {"execution-ns": unit, "uuid": det_uuid, "signal": "$enough"})
send_signal_2 = Node("send-signal", {"execution-ns": unit, "uuid": loop_uuid, "signal": "$abort"})
send_signal_2 = Node("send-signal", {"execution-ns": unit, "uuid": loop_uuid, "signal": "$enough"})
seq.add_child(send_signal_1)
seq.add_child(send_signal_2)
conc.add_child(seq)
testif = Node("test-if", {"execution-ns": unit})
body_detected = Node("body-detected", {"execution-ns": unit, "node-uuid": loop_uuid})
body_detected = Node("body-detected", {"execution-ns": unit})
add_task = Node("add-task-to-team-queue", {"execution-ns": unit})
no_op1 = Node("no-op", {"execution-ns": unit})
no_op2 = Node("no-op", {"execution-ns": unit})
......@@ -478,7 +479,7 @@ def paper_scenario1(ns, unit):
testif.add_child(no_op1)
testif.add_child(no_op2)
loop = Node("loop", {"execution-ns": unit})
loop = Node("loop", {"execution-ns": unit, "node-uuid": loop_uuid})
loop.add_child(testif)
conc.add_child(loop)
......@@ -488,6 +489,16 @@ def paper_scenario1(ns, unit):
return (res, reason, timing)
def paper_scenario2(ns, unit):
gp = wtogp (20, 50, 0)
observerpos = Node("observe-position", {"execution-ns": unit, "geopoint": gp})
tree = Node("seq", {"execution-ns": options.op}, [observerpos])
mo = MissionObject("psberve_position", ns, options.display, options.verbose)
(res, reason, timing) = mo.delegation_process(tree, options.exectree)
return (res, reason, timing)
if __name__ == "__main__":
......@@ -583,5 +594,8 @@ if __name__ == "__main__":
if options.paper_scenario1:
paper_scenario1(ns, unit)
if options.paper_scenario2:
paper_scenario2(ns, unit)
print("RES:", res)
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