#!/usr/bin/env python3
import enum
from ..apis.base_api import BaseApi, DEFAULT_TIMEOUT
from ..apis.cmdid import _PCProgramCmdId
from ..pb2.codemao_controlbehavior_pb2 import ControlBehaviorRequest, ControlBehaviorResponse
from ..pb2.pccodemao_message_pb2 import Message
@enum.unique
class _RobotBehaviorControlType(enum.Enum):
"""
表现力控制类型
START(开始) : 开始舞蹈
STOP(停止) : 停止舞蹈
"""
START = 1 # 开始
STOP = 0 # 停止
[文档]class StartBehavior(BaseApi):
"""开始舞蹈api
控制机器人开始舞蹈
Args:
is_serial (bool): 是否等待回复，默认True
name (str): 表现力名称，不可为空或None
#ControlBehaviorResponse.isSuccess : 是否成功
#ControlBehaviorResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True, name: str = None):
assert isinstance(name, str) and len(name), 'StartBehavior : name should be available'
self.__is_serial = is_serial
self.__name = name
self.__event_type = _RobotBehaviorControlType.START.value
[文档] async def execute(self):
"""
执行开始舞蹈指令
Returns:
ControlBehaviorResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = ControlBehaviorRequest()
request.name = self.__name
request.eventType = self.__event_type
cmd_id = _PCProgramCmdId.CONTROL_BEHAVIOR_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
ControlBehaviorResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = ControlBehaviorResponse()
response.ParseFromString(data)
return response
else:
return None
[文档]class StopBehavior(BaseApi):
"""停止舞蹈api
控制机器人停止舞蹈
Args:
is_serial (bool): 是否等待回复，默认True
#ControlBehaviorResponse.isSuccess : 是否成功
#ControlBehaviorResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True):
self.__is_serial = is_serial
self.__event_type = _RobotBehaviorControlType.START.value
[文档] async def execute(self):
"""
执行停止舞蹈指令
Returns:
ControlBehaviorResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = ControlBehaviorRequest()
request.eventType = self.__event_type
cmd_id = _PCProgramCmdId.CONTROL_BEHAVIOR_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
ControlBehaviorResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = ControlBehaviorResponse()
response.ParseFromString(data)
return response
else:
return None
# class _ControlBehavior(BaseApi):
# """控制表现力api
#
# 控制机器人开始/停止舞蹈
#
# Args:
# is_serial (bool): 是否等待回复，默认True
# name (str): 表现力名称，不可为空或None
# control_type (RobotBehaviorControlType): 控制类型，默认START，表示开始执行
#
# #ControlBehaviorResponse.isSuccess : 是否成功
#
# #ControlBehaviorResponse.resultCode : 返回码
# """
#
# def __init__(self, is_serial: bool = True, name: str = None,
# control_type: RobotBehaviorControlType = RobotBehaviorControlType.START):
# assert name is not None and len(name), 'ControlBehavior name should be available'
# self.__isSerial = is_serial
# self.__name = name
# self.__eventType = control_type.value
#
# async def execute(self):
# """
# 执行表现力控制指令
#
# Returns:
# ControlBehaviorResponse
# """
# timeout = 0
# if self.__isSerial:
# timeout = DEFAULT_TIMEOUT
#
# request = ControlBehaviorRequest()
# request.name = self.__name
# request.eventType = self.__eventType
#
# cmd_id = _PCProgramCmdId.CONTROL_BEHAVIOR_REQUEST.value
#
# return await self.send(cmd_id, request, timeout)
#
# def _parse_msg(self, message):
# """
#
# Args:
# message (Message):待解析的Message对象
#
# Returns:
# ControlBehaviorResponse
# """
# if isinstance(message, Message):
# data = message.bodyData
# response = ControlBehaviorResponse()
# response.ParseFromString(data)
# return response
# else:
# return None