Commit 35742868 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Python interpreter should not do any computation in the graph.

parent d63ea124
......@@ -100,6 +100,8 @@ class Supervisor(object):
csot = self.sots[self.currentSot]
nsot = self.sots[transitionName]
t = self.sotrobot.device.control.time
# This is not safe since it would be run concurrently with the
# real time thread.
csot.control.recompute(t)
nsot.control.recompute(t)
from numpy import array, linalg
......@@ -146,7 +148,9 @@ class Supervisor(object):
print("Running pre action", transitionName,
"\n", sot.display())
t = self.sotrobot.device.control.time
sot.control.recompute(t-1)
# This is not safe since it would be run concurrently with the
# real time thread.
# sot.control.recompute(t-1)
plug(sot.control, self.sotrobot.device.control)
return
print ("No pre action", transitionName)
......@@ -159,7 +163,9 @@ class Supervisor(object):
print( "Running post action", self.currentSot, targetStateName,
"\n", sot.display())
t = self.sotrobot.device.control.time
sot.control.recompute(t-1)
# This is not safe since it would be run concurrently with the
# real time thread.
# sot.control.recompute(t-1)
plug(sot.control, self.sotrobot.device.control)
return
print ("No post action", self.currentSot, targetStateName)
......
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