Module misty2py_skills.demonstrations.explore

This module implements a SLAM mapping skill.

Global variables

var HELP_KEY

The key to print for help information.

var INFO_KEY

The key to print for SLAM information.

var START_KEY

The key to print to start exploring.

var TERM_KEY

The key to print to terminate the skill.

Functions

def explore()

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def explore():
    """Attempts to perform SLAM mapping."""
    get_instructions()
    with keyboard.Listener(
        on_press=handle_press, on_release=handle_release
    ) as listener:
        listener.join()

Attempts to perform SLAM mapping.

def get_instructions()

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def get_instructions():
    """Prints the instructions."""
    print(
        f"\n>>> INSTRUCTIONS <<<\n \
    - press {START_KEY} to start exploring (SLAM mapping) \n \
    - press {INFO_KEY} to see current exploration status (SLAM status) \n \
    - press {TERM_KEY} to stop this program; do not force-quit \
    "
    )

Prints the instructions.

def get_slam_info()

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def get_slam_info():
    """Obtains and prints the SLAM status."""
    enabled = misty.get_info("slam_enabled").parse_to_dict().get("rest_response", {})
    if enabled.get("success"):
        print("SLAM enabled.")
    else:
        print("SLAM disabled.")
        return

    status = misty.get_info("slam_status").parse_to_dict().get("rest_response", {})
    result = status.get("success")
    if result:
        info = status.get("result")
        if info:
            print(f"SLAM status: {info}")
    else:
        print("SLAM status unknown.")

Obtains and prints the SLAM status.

def handle_press(key: pynput.keyboard._xorg.Key | pynput.keyboard._xorg.KeyCode) ‑> bool

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def handle_press(key: Union[keyboard.Key, keyboard.KeyCode]) -> bool:
    """Handles responses to pressing a key.

    Args:
        key (Union[keyboard.Key, keyboard.KeyCode]): The pressed key.

    Returns:
        bool: `False` upon termination.
    """
    print(f"{key} registered.")
    stat = misty.get_info("slam_enabled").parse_to_dict().get("rest_response", {})

    if not stat.get("success"):
        print("SLAM disabled, terminating the program.")
        return False

    if key == START_KEY:
        resp = misty.perform_action("slam_mapping_start").parse_to_dict()
        print(resp)
        print(f"{key} processed.")

    elif key == INFO_KEY:
        get_slam_info()
        print(f"{key} processed.")

    elif key == HELP_KEY:
        get_instructions()
        print(f"{key} processed.")

    elif key == TERM_KEY:
        resp = misty.perform_action("slam_mapping_stop").parse_to_dict()
        print(resp)
        print(f"{key} processed.")
        return False

Handles responses to pressing a key.

Args

key : Union[keyboard.Key, keyboard.KeyCode]

The pressed key.

Returns

bool

False upon termination.

def handle_release(key: pynput.keyboard._xorg.Key)

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def handle_release(key: keyboard.Key):
    """The method required by the keyboard package but not used in this skill."""
    pass

The method required by the keyboard package but not used in this skill.