97 lines
3.8 KiB
Python
97 lines
3.8 KiB
Python
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#!/usr/bin/env python
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#
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# License: BSD
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# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
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#
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##############################################################################
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# Documentation
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##############################################################################
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"""
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Time related behaviours.
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"""
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##############################################################################
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# Imports
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##############################################################################
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import numbers
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import time
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from . import behaviour
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from . import common
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##############################################################################
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# Behaviours
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##############################################################################
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class Timer(behaviour.Behaviour):
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"""
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Simple timer class that is :py:data:`~py_trees.common.Status.RUNNING` until the timer
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runs out, at which point it is :data:`~py_trees.common.Status.SUCCESS`. This can be
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used in a wide variety of situations - pause, duration, timeout depending on how
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it is wired into the tree (e.g. pause in a sequence, duration/timeout in
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a parallel).
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The timer gets reset either upon entry (:meth:`~py_trees.behaviour.Behaviour.initialise`)
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if it hasn't already been set and gets cleared when it either runs out, or the behaviour is
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interrupted by a higher priority or parent cancelling it.
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Args:
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name (:obj:`str`): name of the behaviour
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duration (:obj:`int`): length of time to run (in seconds)
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Raises:
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TypeError: if the provided duration is not a real number
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.. note::
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This succeeds the first time the behaviour is ticked **after** the expected
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finishing time.
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.. tip::
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Use the :func:`~py_trees.decorators.RunningIsFailure` decorator if you need
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:data:`~py_trees.common.Status.FAILURE` until the timer finishes.
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"""
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def __init__(self, name="Timer", duration=5.0):
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super(Timer, self).__init__(name)
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if not isinstance(duration, numbers.Real):
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raise TypeError("Timer: duration should be int or float, but you passed in {}".format(type(duration)))
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self.duration = duration
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self.finish_time = None
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self.feedback_message = "duration set to '{0}'s".format(self.duration)
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def initialise(self):
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"""
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Store the expected finishing time.
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"""
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self.logger.debug("%s.initialise()" % self.__class__.__name__)
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if self.finish_time is None:
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self.finish_time = time.time() + self.duration
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self.feedback_message = "configured to fire in '{0}' seconds".format(self.duration)
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def update(self):
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"""
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Check current time against the expected finishing time. If it is in excess, flip to
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:data:`~py_trees.common.Status.SUCCESS`.
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"""
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self.logger.debug("%s.update()" % self.__class__.__name__)
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current_time = time.time()
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if current_time > self.finish_time:
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self.feedback_message = "timer ran out [{0}]".format(self.duration)
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return common.Status.SUCCESS
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else:
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# do not show the time, it causes the tree to be 'changed' every tick
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# and we don't want to spam visualisations with almost meaningless updates
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self.feedback_message = "still running" # (%s)" % (self.finish_time - current_time)
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return common.Status.RUNNING
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def terminate(self, new_status):
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"""
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Clear the expected finishing time.
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"""
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self.logger.debug("%s.terminate(%s)" % (self.__class__.__name__, "%s->%s" % (self.status, new_status) if self.status != new_status else "%s" % new_status))
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# clear the time if finishing with SUCCESS or in the case of an interruption from INVALID
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if new_status == common.Status.SUCCESS or new_status == common.Status.INVALID:
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self.finish_time = None
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