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