def startInteraction(infoFromPrevState):
global nextSideToLookAt
global changeActivityReceived
if infoFromPrevState['state_cameFrom'] != "STARTING_INTERACTION":
#print('------------------------------------------ WAITING_FOR_WORD')
rospy.loginfo("STATE: STARTING_INTERACTION")
if changeActivityReceived == 'joke_nao':
if naoSpeaking:
if (alternateSidesLookingAt):
lookAndAskForFeedback(introJokePhrase, nextSideToLookAt,
naoWriting, naoSpeaking, textToSpeech,
motionProxy, armJoints_standInit,
effector)
else:
lookAndAskForFeedback(introJokePhrase, personSide, naoWriting,
naoSpeaking, textToSpeech, motionProxy,
armJoints_standInit, effector)
nextState = "TELL_JOKE"
infoForNextState = {'state_cameFrom': "STARTING_INTERACTION"}
else:
nextState = "STARTING_INTERACTION"
infoForNextState = {'state_cameFrom': "STARTING_INTERACTION"}
if stopRequestReceived:
nextState = "STOPPING"
return nextState, infoForNextState
def pauseInteraction(infoFromPrevState):
global changeActivityReceived
if changeActivityReceived == 'drawing_nao':
if naoSpeaking:
if(alternateSidesLookingAt):
rospy.sleep(2)
lookAndAskForFeedback(againDrawingPhrase, nextSideToLookAt, naoWriting, naoSpeaking, textToSpeech, motionProxy, armJoints_standInit, effector)
else:
rospy.sleep(2)
lookAndAskForFeedback(againDrawingPhrase, nextSideToLookAt, naoWriting, naoSpeaking, textToSpeech, motionProxy, armJoints_standInit, effector)
nextState = "DRAWING"
infoForNextState = {'state_cameFrom': "PAUSE_INTERACTION"}
else:
nextState = "PAUSE_INTERACTION"
infoForNextState = {'state_cameFrom': "PAUSE_INTERACTION"}
if stopRequestReceived:
nextState = "STOPPING"
return nextState, infoForNextState
def startInteraction(infoFromPrevState):
global nextSideToLookAt
#print('------------------------------------------ STARTING_INTERACTION')
rospy.loginfo("STATE: STARTING_INTERACTION")
if naoSpeaking:
if (alternateSidesLookingAt):
lookAndAskForFeedback(introPhrase, nextSideToLookAt, naoWriting,
naoSpeaking, textToSpeech, motionProxy,
armJoints_standInit, effector)
pub_activity.publish("learning_words_nao")
rospy.sleep(1)
else:
lookAndAskForFeedback(introPhrase, personSide, naoWriting,
naoSpeaking, textToSpeech, motionProxy,
armJoints_standInit, effector)
rospy.sleep(1)
pub_activity.publish("learning_words_nao")
nextState = "ACTIVITY"
infoForNextState = {'state_cameFrom': "STARTING_INTERACTION"}
if stopRequestReceived:
nextState = "STOPPING"
return nextState, infoForNextState