What it does¶
ALExpressionWatcher module allows you to be notified or query the validity of a condition expression.
This module is useful when you want to create an higher ordered event based on a combination of others events.
Especially, with various time-based operators (~, #, @, bang(), etc...), ALExpressionWatcher lets you create complex events combinations without needing to implement complex asynchronous time-based code.
How it works¶
- A condition expression mixes several ALMemory events and/or ALValues using Conditions expression language.
- Adding a condition expression into ALExpressionWatcher, provides a unique ExpressionObject embedding methods and a also a qi::Signal (see C++ qi API Reference or Python qi API reference).
- This ExpressionObject should be kept alive as a variable otherwise the expression is not watched anymore.
- This signal is triggered with the condition expression result value when the expression is valid relative to the selected report mode.
ALExpressionWatcher is usable with 3 different report modes:
Report Modes Emit ExpressionObject signal... REPORT_CHANGE Any time the Value of the condition expression changes. REPORT_EDGE Only when the Boolean casted value of the condition expression changes. REPORT_EDGE_TRUE Only when the Boolean casted value of the condition expression goes from False to True.
Create a condition expression:
Mix several ALMemory events and/or ALValues using Conditions expression language.
Add the condition expression using
An ExpressionObject object, with an embedded qi::Signal, returning the condition expression value, triggered according to the chosen report mode.
Suppose you want to be notified if the left bumper was pressed for 5 seconds and then released. With ALExpressionWatcher you can do something like:
#! /usr/bin/env python # -*- encoding: UTF-8 -*- """ Example: Use the ALExpressionWatcher Module Use the parameter --qi-url=tcp://10.0.0.2:9559 on the command line to connect to your robot, replacing 10.0.0.2 with your robot's IP address. """ import qi import sys def onExpressionReport(expression_value): print "Got ALExpressionWatcher signal with value: ", expression_value # you can check the expression value, though report_mode=2 gauanteed it is true if expression_value: print "You held the left bumber for at least 5 seconds, then let go!" if __name__ == "__main__": # Initialize qi framework by creating a local app and connecting to robot app = qi.Application(sys.argv) app.start() # Get a reference to the Expression Watcher service expression_svc = app.session.service("ALExpressionWatcher") # Setup the expression report_mode = 2 # see API doc for behavior of different report modes # The left bumper is not currently pressed, but 0.1 seconds ago, it was # pressed continuously for at least 5 seconds. expression_condition = "!'LeftBumperPressed' && ('LeftBumperPressed' ~ 5 @ 0.1)" # Add the expression, and get back an object representing it. # When this object goes out of memory scope, the expression is deleted. expression_obj = expression_svc.add(expression_condition, report_mode) # Connect expression object signal to a callback, which is called based on report_mode # To stop listening to this callback, you can call expression_obj.signal.disconnect(signal_id) signal_id = expression_obj.signal.connect(onExpressionReport) app.run() # Will block until the app connection is destroyed, or ctrl+c