Added TimeSwitch to switch between behaviors at set time intervals

2 files changed, 25 insertions, 1 deletions

diff --git a/behaviors/Circle.py b/behaviors/Circle.py
index 24d71f1..f3e103b 100644
--- a/behaviors/Circle.py
+++ b/behaviors/Circle.py
@@ -15,7 +15,7 @@ class Circle(Behavior):
                 data[self['Id']+'Radius'] = self['Radius']
             rad = data[self['Id']+'Radius']
             cond = '>=' if self['Outside'] else '<='
-            circleStr = 'math.sqrt(({x}-'+str(xLoc)+')**2+(({y}-'+str(yLoc)+')**2))'+cond+str(rad)
+            circleStr = 'math.sqrt(({x}-'+str(xLoc)+')**2+(({y}-'+str(yLoc)+')**2)*2)'+cond+str(rad)
             if self['Combine']:
                 data['Location'] += ',' + circleStr
             else:
diff --git a/behaviors/TimeSwitch.py b/behaviors/TimeSwitch.py
new file mode 100644
index 0000000..2cedfcf
--- /dev/null
+++ b/behaviors/TimeSwitch.py
@@ -0,0 +1,24 @@
+from operationscore.Behavior import *
+import util.TimeOps as clock
+import util.ComponentRegistry as compReg
+from logger import main_log
+class TimeSwitch(Behavior):
+    """TimeSwitch is a behavior that alternates between different behaviors for a set amount of time
+    (specify time in seconds.  Specify in a python-style dict:
+        <Behaviors>{'behaviorId1':60, 'behaviorId2':120}</Behaviors>
+    Would alternate between the 2 behaviors, spending 1 minute on b1 and 2 minutes on b2.
+    """
+    def behaviorInit(self):
+        self.keyIndex = 0
+        self.currentBehaviorId = self['Behaviors'].keys()[self.keyIndex]
+        self.behaviorStart = clock.time()
+
+    def processResponse(self, sensors, recurs):
+        if self.behaviorStart + self['Behaviors'][self.currentBehaviorId]*1000 <= clock.time():
+            self.keyIndex += 1
+            self.keyIndex = self.keyIndex % len(self['Behaviors'])
+            self.currentBehaviorId = self['Behaviors'].keys()[self.keyIndex]
+            self.behaviorStart = clock.time()
+            main_log.info('Switching behaviors')
+        return compReg.getComponent(self.currentBehaviorId).processResponse(sensors, recurs)
+