foo

bitbots_hcm/src/bitbots_hcm/hcm_dsd/actions/play_animation.py

@@ -159,8 +159,6 @@ def __init__(self, blackboard, dsd, parameters=None):
     def perform(self, reevaluate=False):
         # we never want to leave the action when we play an animation
         # deactivate the reevaluate
-        if not self.blackboard.shut_down_request:
-            self.do_not_reevaluate()
 
         if self.first_perform:
             # get the animation that should be played

bitbots_hcm/src/bitbots_hcm/hcm_dsd/actions/wait.py

@@ -0,0 +1,33 @@
+# -*- coding:utf-8 -*-
+"""
+Wait
+^^^^
+
+.. moduleauthor:: Martin Poppinga <[email protected]>
+
+Just waits for something (i.e. that preconditions will be fullfilled)
+"""
+import rospy
+
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
+
+
+class Wait(AbstractActionElement):
+    """
+    This action waits a specified time before it pops itself
+    """
+
+    def __init__(self, blackboard, dsd, parameters=None):
+        """
+        :param parameters['time']: Time to wait in seconds
+        """
+        super(Wait, self).__init__(blackboard, dsd)
+        self.time = rospy.get_time() + float(parameters['time'])
+
+    def perform(self, reevaluate=False):
+        """
+        Only pop when the wait-time has elapsed
+        """
+
+        if self.time < rospy.get_time():
+            self.pop()

bitbots_hcm/src/bitbots_hcm/hcm_dsd/hcm.dsd

@@ -5,7 +5,7 @@ $Falling
     FALLING_FRONT --> @PlayAnimationFallingFront
     FALLING_BACK --> @PlayAnimationFallingBack
     NOT_FALLING --> $Fallen
-        FALLEN_FRONT --> @PlayAnimationStandUpFront, @PlayAnimationDynup
+        FALLEN_FRONT --> @PlayAnimationStandUpFront, @Wait + time:1, @PlayAnimationDynup
         FALLEN_BACK --> @SetFootZero, @PlayAnimationStandUpBack, @PlayAnimationDynup
         FALLEN_RIGHT --> @PlayAnimationStandUpRight, @PlayAnimationDynup
         FALLEN_LEFT --> @PlayAnimationStandUpLeft, @PlayAnimationDynup