def __init__(self, dialog_filename, ip_address='localhost', port=9559, feedback_level=10, use_getch=True):
"""
SMDialog class constructor
"""
print '*** SMDialog: Entering constructor *** ' + dialog_filename
##
## # Create a SMACH state machine
## # self._state_machine = smach.StateMachine(
self.outcomes=['top_yes',
'top_no',
'top_aborted']
self.userdata= {'reply':'','type':''}
self.output_keys=self.userdata.keys()
## # Open the container
## with self._state_machine:
## # Add states to the container
## smach.StateMachine.add(
## 'START', Start(dialog_filename, ip_address, port, feedback_level),
## transitions={'start_question': 'DO_QUESTION',
## 'start_message': 'MESSAGE',
## 'start_yes': 'top_yes',
## 'start_no': 'top_no',
## 'start_aborted': 'top_aborted'})
##
## smach.StateMachine.add('DO_QUESTION', DoQuestion(feedback_level),
## transitions={'do_succeeded': 'GET_ANSWER',
## 'do_failed': 'top_aborted'})
##
## smach.StateMachine.add('GET_ANSWER', GetAnswer(feedback_level, use_getch),
## transitions={'get_succeeded': 'START',
## 'get_failed': 'top_aborted'})
##
## smach.StateMachine.add('MESSAGE', DoQuestion(feedback_level),
## transitions={'do_succeeded': 'START',
## 'do_failed': 'top_aborted'})
self.start_node=Start(dialog_filename, ip_address, port, feedback_level)
self.doquestion_node=DoQuestion(feedback_level)
self.getanswer_node =GetAnswer(feedback_level, use_getch)
class SMDialog():
"""
Description:
The class SMDialog implements a SMACH state machine for ROS that lets a Nao robot have dialogs with a person.
The speech can be accompanied with gestures and eye LED patterns. At initialization it requires a file
containing the dialog from david/lib/dialogs/ and the ip address of the robot.
Usage:
From the command line (assuming the hardcoded ip address "nao.local":
$> ./DialogStateMachine.py
or
$> rosrun smach_tutorials sm_dialog_class.py
As a module:
from sm_dialog_class import SMDialog
mysm=SMDialog(mydialogfile, mynaoip, mynaoport).sm_top
mysm.execute()
Output:
The outputs are the output keys of the top-level state machine sm_top. They are:
top_yes, top_no, top_abort
"""
def __init__(self, dialog_filename, ip_address='localhost', port=9559, feedback_level=10, use_getch=True):
"""
SMDialog class constructor
"""
print '*** SMDialog: Entering constructor *** ' + dialog_filename
##
## # Create a SMACH state machine
## # self._state_machine = smach.StateMachine(
self.outcomes=['top_yes',
'top_no',
'top_aborted']
self.userdata= {'reply':'','type':''}
self.output_keys=self.userdata.keys()
## # Open the container
## with self._state_machine:
## # Add states to the container
## smach.StateMachine.add(
## 'START', Start(dialog_filename, ip_address, port, feedback_level),
## transitions={'start_question': 'DO_QUESTION',
## 'start_message': 'MESSAGE',
## 'start_yes': 'top_yes',
## 'start_no': 'top_no',
## 'start_aborted': 'top_aborted'})
##
## smach.StateMachine.add('DO_QUESTION', DoQuestion(feedback_level),
## transitions={'do_succeeded': 'GET_ANSWER',
## 'do_failed': 'top_aborted'})
##
## smach.StateMachine.add('GET_ANSWER', GetAnswer(feedback_level, use_getch),
## transitions={'get_succeeded': 'START',
## 'get_failed': 'top_aborted'})
##
## smach.StateMachine.add('MESSAGE', DoQuestion(feedback_level),
## transitions={'do_succeeded': 'START',
## 'do_failed': 'top_aborted'})
self.start_node=Start(dialog_filename, ip_address, port, feedback_level)
self.doquestion_node=DoQuestion(feedback_level)
self.getanswer_node =GetAnswer(feedback_level, use_getch)
def Run(self):
## self._state_machine.execute()
done=False
while not done:
result, self.userdata=self.start_node.execute(self.userdata)
if result=='start_question':
result, self.userdata=self.doquestion_node.execute(self.userdata)
if result=='do_succeeded':
result, self.userdata=self.getanswer_node.execute(self.userdata)
if result=='get_succeeded':
pass
elif result=='get_failed':
return 'top_aborted'
elif result=='do_failed':
return 'top_aborted'
elif result=='start_message':
result, self.userdata=self.doquestion_node.execute(self.userdata)
if result=='do_succeeded':
pass
elif result=='do_failed':
return 'top_aborted'
elif result=='start_yes':
return 'top_yes'
elif result=='start_no':
return 'top_no'
elif result=='start_aborted':
return 'top_aborted'
@property
def sm_top(self):
return self.start_node
