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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):
"""RestrictLocation is a Behavior which does an action -- A ModifyParam, actually, when a certain
location based condition is met. It takes arguments as follows:
<Action> -- Operation to perform, using ModifyParam syntax. Use {val} to reference the variable
specified by ParamName.
<ParamName> -- the name of the parameter to modify.
<LocationRestriction> -- either a tuple of (xmin,ymin,xmax,ymax) or a python-correct conditional. Use {x} and
{y} to reference x and y. Use < and > to get < and > in XML. EG:
<LocationRestriction>{x}<0 or {x}>800</LocationRestriction>"""
def behaviorInit(self):
action = self['Action']
modifyParamArgs = {'ParamType': 'Sensor',
'ParamName':self['ParamName'],'ParamOp':self['Action']}
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 self.locEval(data['Location']):
(dataOut, recur) = self.paramModifier.immediateProcessInput([data], [])
#behaviors expect lists ^[]
ret += dataOut
else:
ret.append(data)
return (ret, [])
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