def __execute(self):
audience = self.audience
# Pick a person to gaze at initially
if isinstance(audience, Entity):
person = audience
with self.lock:
if not self.preempt_requested:
self.gaze_ah = self.robot.gaze(person.head)
else:
if isinstance(audience, list):
audience = Query(audience)
results = audience.sort_increasing(lambda p: p.distance_to(self.robot)).execute()
if len(results) > 0:
person = results[0]
self.current_gazee = person
with self.lock:
if not self.preempt_requested:
self.gaze_ah = self.robot.gaze(person.head)
if self.gaze_ah is not None:
self.robot.wait(self.gaze_ah)
with self.lock:
if not self.preempt_requested:
self.say_ah = self.robot.say(self.sentence)
def __execute(self):
audience = self.audience
# Pick a person to gaze at initially
if isinstance(audience, Entity):
person = audience
with self.lock:
if not self.preempt_requested:
self.gaze_ah = self.robot.gaze(person.head)
else:
if isinstance(audience, list):
audience = Query(audience)
results = audience.sort_increasing(lambda p: p.distance_to(self.robot)).execute()
if len(results) > 0:
person = results[0]
self.current_gazee = person
with self.lock:
if not self.preempt_requested:
self.gaze_ah = self.robot.gaze(person.head)
if self.gaze_ah is not None:
self.robot.wait(self.gaze_ah)
with self.lock:
if not self.preempt_requested:
self.say_ah = self.robot.say(self.sentence)
