pepperplus/pepperplus-cb
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

create UserInterruptAgent with connection to UI

Browse Source
This commit is contained in:
Pim Hutting
2025-12-22 13:56:02 +00:00
committed by Luijkx,S.O.H. (Storm)
parent 3e7f2ef574
commit 0501a9fba3
15 changed files with 371 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/control_backend/agents/actuation/robot_gesture_agent.py
View File

@@ -28,6 +28,7 @@ class RobotGestureAgent(BaseAgent):
address = ""
bind = False
gesture_data = []
single_gesture_data = []
def __init__(
self,
@@ -35,8 +36,10 @@ class RobotGestureAgent(BaseAgent):
address=settings.zmq_settings.ri_command_address,
bind=False,
gesture_data=None,
single_gesture_data=None,
):
self.gesture_data = gesture_data or []
self.single_gesture_data = single_gesture_data or []
super().__init__(name)
self.address = address
self.bind = bind
@@ -99,7 +102,13 @@ class RobotGestureAgent(BaseAgent):
gesture_command.data,
)
return
elif gesture_command.endpoint == RIEndpoint.GESTURE_SINGLE:
if gesture_command.data not in self.single_gesture_data:
self.logger.warning(
"Received gesture '%s' which is not in available gestures. Early returning",
gesture_command.data,
)
return
await self.pubsocket.send_json(gesture_command.model_dump())
except Exception:
self.logger.exception("Error processing internal message.")