class StateMachine:
def __init__(self):
rospy.init_node('state_machine')
rospy.loginfo('state machine')
self.rate = rospy.Rate(60) # set rate to 60 hz
# publishers
#rospy.init_node('automaton')
self.sub = rospy.Subscriber('/tricks', Temperature, self.trickCallback)
self.nod_trick = Nod()
self.shake_trick = Shake()
self.dab_trick = Shake()
def trickCallback(self, msg):
rospy.loginfo('trickCallback')
message = msg.average_temperature
if message > 0.68 and message < 0.70:
rospy.loginfo('callback if statement')
self.nod_trick.nod()
if message > 0.58 and message < 0.60:
rospy.loginfo('callback if statement')
self.shake_trick.shake()
if message > 0.48 and message < 0.50:
rospy.loginfo('callback if statement')
self.dab_trick.dab()
def adaugareSpate(self, x):
if self.inceput is None:
self.inceput = Nod(x, None)
else:
aux = self.inceput
while aux.urm is not None:
aux = aux.urm
newNode = Nod(x, None)
aux.urm = newNode
def adaugareFata(self, x):
if self.inceput is None:
ref = Nod(x, None, None)
self.inceput = ref
self.sfarsit = ref
else:
ref = Nod(x, None, None)
ref.urm = self.inceput
self.inceput.prec = ref
self.inceput = ref
def adaugareSpate(self, x):
if self.inceput is None:
ref = Nod(x, None, None)
self.inceput = ref
self.sfarsit = ref
else:
ref = Nod(x, None, None)
ref.prec = self.sfarsit
self.sfarsit.urm = ref
self.sfarsit = ref
def __init__(self):
rospy.init_node('state_machine')
rospy.loginfo('state machine')
self.rate = rospy.Rate(60) # set rate to 60 hz
# publishers
#rospy.init_node('automaton')
self.sub = rospy.Subscriber('/tricks', Temperature, self.trickCallback)
self.nod_trick = Nod()
self.shake_trick = Shake()
self.dab_trick = Shake()
def Task(self):
comments = [
"You are a good teacher",
"You look nice today",
"I like bananas",
"My name is Gemini"]
time.sleep(self.wait_time_)
ActionProcess('', LookCenter()).Run()
time.sleep(self.wait_time_)
ActionProcess('', Nod()).Run()
random_comment = random.randint(0,len(comments) - 1)
ActionProcess('', Speak(150, 50, comments[random_comment])).Run()
time.sleep(self.wait_time_)
ActionProcess('', Nod()).Run()
def adaugareDupaElement(self, x, y):
aux = self.inceput
while aux is not None and aux.info != x:
aux = aux.urm
if aux is not None:
nodNou = Nod(y, aux.urm)
aux.urm = nodNou
else:
print 'Nu exista nodul'
def adaugareFata(self, x):
if self.inceput is None:
self.inceput = Nod(x, None)
else:
newNode = Nod(x, self.inceput)
self.inceput = newNode
def inserareInainte(self, adr, x):
ref = Nod(x, None, None)
ref.urm = adr
ref.prec = adr.prec
adr.prec = ref
ref.prec.urm = ref
def inserareDupa(self, adr, x):
ref = Nod(x, None, None)
ref.urm = adr.urm
ref.prec = adr
adr.urm = ref
ref.urm.prec = ref