1 files changed, 26 insertions, 2 deletions
diff --git a/behaviors/RestrictLocation.py b/behaviors/RestrictLocation.py
index 649500f..febc9ed 100644
--- a/behaviors/RestrictLocation.py
+++ b/behaviors/RestrictLocation.py
@@ -1,12 +1,36 @@
 from operationscore.Behavior import *
 import util.ComponentRegistry as compReg
+from behaviors.ModifyParam import *
 import util.Geo as Geo
 import util.Strings as Strings
 import random
+import pdb
 class RestrictLocation(Behavior):
     def behaviorInit(self):
         action = self['Action']
         modifyParamArgs = {'ParamType': 'Sensor',
                 'ParamName':self['ParamName'],'ParamOp':self['Action']} 
-        
-    def processInput(
+        self.locBounds = self['LocationRestriction']
+        self.paramModifier = ModifyParam(modifyParamArgs) 
+        if isinstance(self.locBounds, str):
+            self.locBounds = self.locBounds.replace('{x}', 'l[0]')
+            self.locBounds = self.locBounds.replace('{y}', 'l[1]')
+            self.locEval = eval('lambda l:'+self.locBounds)
+        elif isinstance(self.locBounds, tuple):
+            if len(self.locBounds) != 4:
+                raise Exception('Must be in form (xmin,yin,xmax,ymax)')
+            else:
+                self.locEval = lambda l:Geo.pointWithinBoundingBox(l,\
+                        self.LocBounds)
+    def processResponse(self, sensorInputs, recursiveInputs):
+        ret = []
+        for data in sensorInputs:
+            if not self.locEval(data['Location']):
+                (dataOut, recur) = self.paramModifier.immediateProcessInput([data], [])
+                #behaviors expect lists ^[]
+                ret += dataOut
+            else:
+                ret.append(data)
+        return (ret, [])
+
+