Mensaje#

Introducción #

Se pueden conectar dos robots de codificación VEX AIM para que se comuniquen durante un proyecto. Los métodos de mensajería permiten que un robot envíe un mensaje al otro. Un mensaje puede incluir texto solo o texto con hasta tres números.

Los mensajes recibidos se almacenan en una cola de tipo primero en entrar, primero en salir (FIFO). Esto significa que el primer mensaje recibido será el primero en leerse.

Use is_message_available to check whether a message is ready to read. Then use get_message to read the next text message. If the message also includes numbers, use get_message_and_data to read the text and numbers together.

Nota: Para que se envíen y reciban mensajes, ambos robots deben estar vinculados y ambos robots deben estar ejecutando proyectos que utilicen métodos de Mensajes.

A continuación se muestra una lista de todos los métodos:

Acción: Enviar mensajes entre robots.

send_message — Sends text and up to three numbers to the linked robot.

Obtenedores: Leen mensajes o comprueban el estado de la conexión.

get_message — Returns the next received text message.
get_message_and_data — Returns the next received text message and numbers.
is_connected — Returns whether the robot is linked with another robot.
is_message_available — Returns whether a message is available to read.
get_name — Returns the name of the linked robot.

Funciones de devolución de llamada: ejecutan funciones cuando se producen eventos de mensaje.

handle_message — Runs a function when a specific message is received.
connected — Runs a function when the robot is linked with another robot.
disconnected — Runs a function when the robot is no longer linked with another robot.

Acción #

send_message #

send_message sends text and up to three numbers to the linked robot. Use this method on one robot when the other robot needs to receive a command, signal, or short piece of information. Send text by itself when the message is enough on its own. Add numbers when the message needs related values, such as sending “heading” with the robot’s current heading value.

On the receiving robot, use is_message_available to check that a message has arrived. Then use get_message for a text-only message, or get_message_and_data for a message that includes numbers.

Usage:
robot.link.send_message(message, arg1, arg2, arg3)

Parámetro	Descripción
`message`	El texto que se enviará al robot vinculado.
`arg1`	Opcional. Un número para enviar con el mensaje.
`arg2`	Opcional. Un segundo número para enviar con el mensaje.
`arg3`	Opcional. Un tercer número para enviar con el mensaje.

Ejemplo

Código para Robot 1

# Press the screen to tell Robot 2 which way to turn
robot.screen.print("Robot 1")

while not robot.screen.pressing():
    wait(5, MSEC)

robot.link.send_message("right")

Código para Robot 2

# Turn in the direction that Robot 1 sends
robot.screen.print("Robot 2")

while not robot.link.is_message_available():
    wait(5, MSEC)

direction = robot.link.get_message()

if direction == "left":
    robot.turn_for(LEFT, 90)
elif direction == "right":
    robot.turn_for(RIGHT, 90)

# Robot 1: continuously send the current heading to Robot 2
robot.screen.print("Robot 1")

while True:
    robot.link.send_message("heading", robot.inertial.get_heading())
    wait(50, MSEC)

# Robot 2: turn to match Robot 1's heading
robot.screen.print("Robot 2")

while True:
    if robot.link.is_message_available():
        message, heading = robot.link.get_message_and_data()
        robot.turn_to(heading)

    wait(50, MSEC)

Captadores #

get_message #

get_message returns the next received text message from the message queue. Use this method on the receiving robot when the linked robot sent a text-only message. A common order is to use is_message_available to check that a message has arrived, then use get_message before displaying, comparing, or using the returned text in another method.

Use send_message on the other robot to send a text-only message.

Usage:
robot.link.get_message(timeout)

Parámetro	Descripción
`timeout`	Optional. The maximum time, in milliseconds, to wait for a message before continuing. The default is `1000`.

Ejemplo

Código para Robot 1

# Press the screen to send a message to Robot 2
robot.screen.print("Robot 1")

while not robot.screen.pressing():
    wait(5, MSEC)

robot.link.send_message("Hello, Robot 2!")

Código para Robot 2

# Display the message sent by Robot 1
robot.screen.print("Robot 2")
robot.screen.next_row()

while not robot.link.is_message_available():
    wait(5, MSEC)

message = robot.link.get_message()
robot.screen.print(message)

get_message_and_data #

get_message_and_data returns the next received text message and numbers from the message queue as a tuple. Use this method on the receiving robot when the linked robot sent text with one or more numbers. A common order is to use is_message_available to check that a message has arrived, then use get_message_and_data before using the returned text and numbers.

Use send_message on the other robot to send the text and numbers together.

Usage:
robot.link.get_message_and_data(timeout)

Parámetro	Descripción
`timeout`	Optional. The maximum time, in milliseconds, to wait for a message before continuing. The default is `1000`.

Ejemplo

Código para Robot 1

# Continuously send the current heading to Robot 2
robot.screen.print("Robot 1")

while True:
    robot.link.send_message("heading", robot.inertial.get_heading())
    wait(50, MSEC)

Código para Robot 2

# Turn to match Robot 1's heading
robot.screen.print("Robot 2")

while True:
    if robot.link.is_message_available():
        message, heading = robot.link.get_message_and_data()
        robot.turn_to(heading)

    wait(50, MSEC)

is_connected #

is_connected returns whether the robot is linked with another robot. Use this method before sending or waiting for messages if the project needs to check that the robot-to-robot connection is ready.

True — The robot is linked with another robot.
False — The robot is not linked with another robot.

Usage:
robot.link.is_connected()

Parámetros	Descripción
	Este método no tiene parámetros.

# Display whether the robot is connected
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)
    robot.screen.print(robot.link.is_connected())
    wait(50, MSEC)

is_message_available #

is_message_available returns whether a message is waiting in the message queue. Use this method before get_message or get_message_and_data so the receiving robot only tries to read a message after one has arrived.

True — There is a message available to be read.
False — There are no messages available to be read.

Usage:
robot.link.is_message_available()

Parámetros	Descripción
	Este método no tiene parámetros.

Ejemplo

Código para Robot 1

# Press the screen to send a message to Robot 2
robot.screen.print("Robot 1")

while not robot.screen.pressing():
    wait(5, MSEC)

robot.link.send_message("Hello, Robot 2!")

Código para Robot 2

# Wait until a message is available, then display it
robot.screen.print("Robot 2")
robot.screen.next_row()

while not robot.link.is_message_available():
    wait(5, MSEC)

message = robot.link.get_message()
robot.screen.print(message)

get_name #

get_name returns the name of the linked robot. Use this method to show which robot is connected before sending or receiving messages. If no robot is linked, this method returns None.

Usage:
robot.link.get_name()

Parámetros	Descripción
	Este método no tiene parámetros.

# Display the name of the linked robot
robot.screen.print(robot.link.get_name())

Devoluciones de llamadas #

handle_message #

handle_message registers a function that runs when the robot receives a specific text message. Use this method when the robot should respond automatically to a known message instead of checking the message queue in a loop. Define the callback function first, then register it with handle_message and the message text to watch for.

Usage:
robot.link.handle_message(callback, message)

Parámetro	Descripción
`callback`	A previously defined function that runs when the received message matches `message`.
`message`	El texto con el que se compararán los mensajes entrantes.

Ejemplo

Código para Robot 1

# Press the screen to send "smile" to Robot 2
robot.screen.print("Robot 1")

while not robot.screen.pressing():
    wait(5, MSEC)

robot.link.send_message("smile")

Código para Robot 2

# Show a happy emoji when Robot 1 sends "smile"
def robot_smile():
    robot.screen.show_emoji(HAPPY)

robot.link.handle_message(robot_smile, "smile")

while True:
    wait(50, MSEC)

connected #

connected registers a function that runs when the robot is linked with another robot. Use this method when the project should respond as soon as the robot-to-robot connection is made. Define the callback function first, then register it with connected.

Usage:
robot.link.connected(callback, args)

Parámetro	Descripción
`callback`	Una función definida previamente que se ejecuta cuando el robot está conectado con otro robot.
`args`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

# Show a happy emoji when connected
def robot_smile():
    robot.screen.show_emoji(HAPPY)

robot.link.connected(robot_smile)

disconnected #

disconnected registers a function that runs when the robot is no longer linked with another robot. Use this method when the project should respond as soon as the robot-to-robot connection is lost. Define the callback function first, then register it with disconnected.

Usage:
robot.link.disconnected(callback, args)

Parámetro	Descripción
`callback`	Una función definida previamente que se ejecuta cuando el robot ya no está vinculado a otro robot.
`args`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

# Show a sad emoji when disconnected
def robot_sad():
    robot.screen.show_emoji(SAD)

robot.link.disconnected(robot_sad)