sumo.seatml

<?xml version="1.0" encoding="UTF-8"?>
<seatml>
  <general name="SimpleIO">
    <adaptor name="str_out" type="rtcout" datatype="TimedString" />
    <adaptor name="str_in" type="rtcin" datatype="TimedString" />

    <script>
<!--
import sumo

global sumo_ctrl
sumo_ctrl=sumo.SumoController("MySumo")
-->
    </script>

  </general>

  <state name="init_mode">

    <label text="JumpingSumo Controller" colspan="4" bg_color="blue" />

    <brk />
    <label text="Sumo:" />
    <button label="Connect">
      <script>
sumo_ctrl=sumo.SumoController("MySumo")
sumo_ctrl.connect()
      </script>
       <statetransition>main_mode</statetransition>
    </button>
    <button label="Exit">
      <script>
seatmgr.manager.shutdown()
      </script>
    </button>
  </state>

  <state name="main_mode">

    <label text="JumpingSumo Controller" colspan="4" bg_color="blue" />

    <brk />
    <label text="Sumo:" />
    <button label="Terminate">
      <script>
sumo_ctrl.terminate()
sumo_ctrl=None
      </script>
       <statetransition>init_mode</statetransition>
    </button>
    <brk />
    <label text="move:" />
    <button label="Forward">
      <script>
sumo_ctrl.move(30)
      </script>
    </button>
    <button label="Stop">
      <script>
sumo_ctrl.move(0)
      </script>
    </button>
    <button label="Back">
      <script>
sumo_ctrl.move(-30)
      </script>
    </button>
    <brk />

    <label text="turn:" />
    <button label="Left">
      <script>
sumo_ctrl.move(0,50,48)
      </script>
    </button>
    <button label="Stop">
      <script>
sumo_ctrl.move(0,0)
      </script>
    </button>
    <button label="Right">
      <script>
sumo_ctrl.move(0,-50, 48)
      </script>
    </button>
    <brk />

    <label text="Posture:" />
    <button label="Standing">
      <script>
sumo_ctrl.posture(0)
      </script>
    </button>
    <button label="Jumper">
      <script>
sumo_ctrl.posture(1)
      </script>
    </button>

    <button label="Kicker">
      <script>
sumo_ctrl.posture(2)
      </script>
    </button>
    <brk />

    <label text="Coming Text:" />
    <text id="textOut" width="50" height="5" colspan="3" >
    </text>
    <brk />

    <button label="Clear">
      <script>
seat.clearText("main_mode:textOut")
      </script>
    </button>

    <rule>
      <key>Exit</key>
      <script>
sumo_ctrl.terminate()
sumo_ctrl=None
      </script>
       <statetransition>init_mode</statetransition>
    </rule>


    <rule source="str_in">
      <script>
seat.appendText("main_mode:textOut", rtc_in_data.data+"\n")

vals = rtc_in_data.data.split(',')

if len(vals) == 2:
  sumo_ctrl.move(int(vals[0]),int(vals[1]))
elif len(vals) == 3:
  sumo_ctrl.move(int(vals[0]),int(vals[1]), int(vals[2]))
else:
  sumo_ctrl.move(0,0)
      </script>
    </rule>

  </state>

</seatml>