vcTask

Simulation time can be consumed by using 'vcTasks' with 'await', but only within an 'async' function.

See in: Overview

Module: vcCore

Parent: -

Children -

Referenced by: vcCore.allTasks(), vcCore.anyTask(), vcCore.condition(), vcCore.delay(), ... (see more)

vcCore.allTasks()
vcCore.anyTask()
vcCore.condition()
vcCore.delay()
vcServoController.move()
vcServoController.moveJoint()

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
done	Boolean	R	Indicates whether the vcTask has completed its execution.
timeout	Real	R	Specifies the target timeout value for the vcTask.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
cancel	None	None	Cancels the vcTask execution and marks it as completed.
cancelled	None	Boolean	Indicates whether the vcTask has been cancelled.

Example: Examples

"A collection of different ways to create a vcTask."

import vcCore as vc

comp = vc.getComponent()

async def OnRun():
   
  # wait delay
  await vc.delay(2) # returns vcTask
  print ("delay passed")

  # wait servo motion
  servo = comp.findBehavior('Servo Controller')
  servo.setJointTarget(0,100)
  await servo.move() # returns vcTask
  print ("servo motion passed")

  # wait signal value. Signal needs to be connected to the script
  signal = comp.findBehavior('BooleanSignal')
  await signal.waitFor(True) # returns vcTask
  print ("signal value received")

  # wait any event, e.g. vcNode.OnNodeTransform 
  # gets triggered when link moved with e.g. Interact tool or by servo
  link = comp.findNode("Link_1")
  await link.OnNodeTransform.wait() # returns vcTask
  print ("OnNodeTransform event arrived")

Example: Wait Signals as Tasks

""" The script shows how to wait for change events from a pool of events.
The events are first converted as vcTasks. """

import vcCore as vc

async def OnRun():
  comp = vc.getComponent()
  signal_1 = comp.findBehavior("BooleanSignal_1")
  signal_2 = comp.findBehavior("BooleanSignal_2")
  signal_3 = comp.findBehavior("BooleanSignal_3")
  e1_signal = comp.findBehavior("EmergencySignal_1")
  e1_time = 60 # seconds
  process_time = 10 # seconds

  while True:
    # recreate the awaitable tasks for the signals before the anyTask call
    t1 = signal_1.OnSignal.wait() # Converts OnSignal event to an awaitable task
    t2 = signal_2.OnSignal.wait()
    t3 = signal_3.OnSignal.wait()
    e1 = e1_signal.OnSignal.wait()
    
    await vc.anyTask([t1,t2,t3,e1]) # wait for any of the awaitable tasks to complete

    if e1_signal.Value:
      # emergency routine
      vc.delay(e1_time)
    if signal_1.Value == True and signal_2.Value and signal_3.Value:                               
      # start process
      vc.delay(process_time)
      

Example: Async Advanced Example

"""
An example of two asynchronously driven joint routines
"""

import vcCore as vc

comp = vc.getComponent()
servo_blue = comp.findBehavior('ServoController2')
servo_red = comp.findBehavior('ServoController1')


def get_next_blue_task(blue_i):
  if blue_i == 0:
    return servo_blue.moveJoint(0, 100)
  elif blue_i == 1:
    return vc.delay(1)
  elif blue_i == 2:
    return servo_blue.moveJoint(0, 0)
  else:
    print ("blue done")
    return None


def get_next_red_task(red_i):
  if red_i == 0: 
    return servo_red.moveJoint(0, 500)
  elif red_i == 1:
    return vc.delay(1)
  elif red_i == 2:
    return servo_red.moveJoint(0, 0)
  else:
    print ("red done")
    return None


async def OnRun():
  tasks = []
  red_i = 0
  blue_i = 0
  red_t = get_next_red_task(red_i)
  blue_t = get_next_blue_task(blue_i)
  tasks = [red_t, blue_t]
  
  while True:
    await vc.anyTask(tasks, autoCancel=False)
    if red_t and red_t.done():
      red_i += 1
      red_t = get_next_red_task(red_i)
    if blue_t and blue_t.done():
      blue_i += 1
      blue_t = get_next_blue_task(blue_i)
      
    tasks = []
    if red_t:
      tasks.append(red_t)
    if blue_t:
      tasks.append(blue_t)
      
    if len(tasks) == 0:
      return