def main():
rospy.init_node('learn_face_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# it preper the name for learning
smach.StateMachine.add(
'learn_face',
new_database_and_learn(learning_time=5, minConfidence=80, name_face="pepito", name_database='"following'),
transitions={'succeeded': 'succeeded','aborted' : 'aborted_info'})
# it prints the standard error
smach.StateMachine.add(
'aborted_info',
learn_Face_error(),
transitions={'succeeded': 'succeeded', 'aborted':'aborted'})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer(
'learn_face_introspection', sm, '/LFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
def main():
rospy.init_node('learn_face_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# it preper the name for learning
smach.StateMachine.add('learn_face',
new_database_and_learn(
learning_time=5,
minConfidence=80,
name_face="pepito",
name_database='"following'),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted_info'
})
# it prints the standard error
smach.StateMachine.add('aborted_info',
learn_Face_error(),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted'
})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer('learn_face_introspection', sm,
'/LFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
def __init__(self,learn_face=False):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'],
output_keys=['standard_error','in_learn_person'])
self.learn_face = learn_face
self.follow_pub = rospy.Publisher('/follow_me/id', Int32, latch=True)
with self:
self.userdata.tts_wait_before_speaking=0
self.userdata.tts_text=None
self.userdata.tts_lang=None
self.userdata.standard_error='OK'
smach.StateMachine.add('INIT_VAR',
init_var(),
transitions={'succeeded': 'READ_TRACKER_TOPIC',
'aborted': 'SAY_LIFTIME'})
smach.StateMachine.add('SAY_LIFTIME',
text_to_say(SAY_GO_MIDLE),
transitions={'succeeded': 'CONTROL_TIME',
'aborted': 'SAY_LIFTIME'})
smach.StateMachine.add('CONTROL_TIME',
control_time(),
transitions={'succeeded': 'READ_TRACKER_TOPIC',
'lif_time': 'SAY_LIFTIME'})
#TODO:: aborted->CONTROL_TIME
smach.StateMachine.add('READ_TRACKER_TOPIC',
topic_reader(topic_name='/pipol_tracker_node/peopleSet',
topic_type=personArray,topic_time_out=60),
transitions={'succeeded':'SELECT_ID',
'aborted':'READ_TRACKER_TOPIC',
'preempted':'preempted'},
remapping={'topic_output_msg': 'tracking_msg'})
# it learns the person that we have to follow
smach.StateMachine.add('SELECT_ID',
select_ID(self.learn_face, self.follow_pub),
transitions={'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME','learn_face':'FACE_SAY'})
smach.StateMachine.add('FACE_SAY',
text_to_say(SAY_LEARN),
transitions={'succeeded': 'LEARN_FACE','aborted':'LEARN_FACE'})
# it learns the person that we have to follow
smach.StateMachine.add('LEARN_FACE',
new_database_and_learn(learning_time=2, minConfidence=80,
name_face="following", name_database="follow"),
transitions={'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME'})
smach.StateMachine.add('STOP_LEARNING',
text_to_say(SAY_FINISH),
transitions={'succeeded': 'succeeded','aborted':'STOP_LEARNING'})
def __init__(self,time_enroll=10):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=['name_face','delete_database'],
output_keys=['name_face'])
with self:
self.userdata.name_face = ''
self.userdata.asr_userSaid = ''
self.userdata.grammar_name = ''
# Ask for name
smach.StateMachine.add(
'listen_name',
AskQuestionSM("Hi, what's your name?", GRAMMAR_NAME),
transitions={'succeeded': 'prepare_name', 'aborted': 'ask_name_again',
'preempted': 'preempted'})
# We prepare the name for face_detection
smach.StateMachine.add(
"prepare_name",
prepare_name(),
transitions={'succeeded': 'say_start', 'aborted': 'ask_name_again',
'preempted': 'preempted'})
# Ask for name again
smach.StateMachine.add(
'ask_name_again',
AskQuestionSM("Sorry, I don't understand you. Can you repeat your name, please?", GRAMMAR_NAME),
transitions={'succeeded': 'prepare_name', 'aborted': 'aborted',
'preempted': 'preempted'})
smach.StateMachine.add(
'say_start',
text_to_say("OK, now i am going to enroll your face, don't move"),
transitions={'succeeded': 'learn_face', 'aborted': 'aborted',
'preempted': 'preempted'})
# Start learning
smach.StateMachine.add(
'learn_face',
new_database_and_learn(time_enroll),
transitions={'succeeded': 'prepare_say_name', 'aborted': 'aborted',
'preempted': 'preempted'})
# Say learn name
smach.StateMachine.add(
'prepare_say_name',
prepare_say_name(),
transitions={'succeeded': 'say_name', 'aborted': 'aborted',
'preempted': 'preempted'})
smach.StateMachine.add(
'say_name',
text_to_say(),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted',
'preempted': 'preempted'})
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'])
#rospy.init_node("SM_GPSR_ORDERS")
with self:
smach.StateMachine.add(
'Stand_Still',
text_to_say(text="Please don't move for a moment",wait_before_speaking=0),
transitions={'succeeded': 'DataBase_and_Learn'})
smach.StateMachine.add(
'DataBase_and_Learn',
new_database_and_learn(name_face='referee', name_database='Soar'),
transitions={'succeeded': 'succeeded'})
def __init__(self):
smach.StateMachine.__init__(self,
['succeeded', 'preempted', 'aborted'])
#rospy.init_node("SM_GPSR_ORDERS")
with self:
smach.StateMachine.add(
'Stand_Still',
text_to_say(text="Please don't move for a moment",
wait_before_speaking=0),
transitions={'succeeded': 'DataBase_and_Learn'})
smach.StateMachine.add('DataBase_and_Learn',
new_database_and_learn(
name_face='referee',
name_database='Soar'),
transitions={'succeeded': 'succeeded'})
def __init__(self, learn_face=False):
smach.StateMachine.__init__(
self, ['succeeded', 'preempted', 'aborted'],
output_keys=['standard_error', 'in_learn_person'])
self.learn_face = learn_face
self.follow_pub = rospy.Publisher('/follow_me/id', Int32, latch=True)
with self:
self.userdata.tts_wait_before_speaking = 0
self.userdata.tts_text = None
self.userdata.tts_lang = None
self.userdata.standard_error = 'OK'
smach.StateMachine.add('INIT_VAR',
init_var(),
transitions={
'succeeded': 'READ_TRACKER_TOPIC',
'aborted': 'SAY_LIFTIME'
})
smach.StateMachine.add('SAY_LIFTIME',
text_to_say(SAY_GO_MIDLE),
transitions={
'succeeded': 'CONTROL_TIME',
'aborted': 'SAY_LIFTIME'
})
smach.StateMachine.add('CONTROL_TIME',
control_time(),
transitions={
'succeeded': 'READ_TRACKER_TOPIC',
'lif_time': 'SAY_LIFTIME'
})
#TODO:: aborted->CONTROL_TIME
smach.StateMachine.add(
'READ_TRACKER_TOPIC',
topic_reader(topic_name='/pipol_tracker_node/peopleSet',
topic_type=personArray,
topic_time_out=60),
transitions={
'succeeded': 'SELECT_ID',
'aborted': 'READ_TRACKER_TOPIC',
'preempted': 'preempted'
},
remapping={'topic_output_msg': 'tracking_msg'})
# it learns the person that we have to follow
smach.StateMachine.add('SELECT_ID',
select_ID(self.learn_face, self.follow_pub),
transitions={
'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME',
'learn_face': 'FACE_SAY'
})
smach.StateMachine.add('FACE_SAY',
text_to_say(SAY_LEARN),
transitions={
'succeeded': 'LEARN_FACE',
'aborted': 'LEARN_FACE'
})
# it learns the person that we have to follow
smach.StateMachine.add('LEARN_FACE',
new_database_and_learn(
learning_time=2,
minConfidence=80,
name_face="following",
name_database="follow"),
transitions={
'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME'
})
smach.StateMachine.add('STOP_LEARNING',
text_to_say(SAY_FINISH),
transitions={
'succeeded': 'succeeded',
'aborted': 'STOP_LEARNING'
})
def __init__(self, time_enroll=10):
smach.StateMachine.__init__(
self,
outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=['name_face', 'delete_database'],
output_keys=['name_face'])
with self:
self.userdata.name_face = ''
self.userdata.asr_userSaid = ''
self.userdata.grammar_name = ''
# Ask for name
smach.StateMachine.add('listen_name',
AskQuestionSM("Hi, what's your name?",
GRAMMAR_NAME),
transitions={
'succeeded': 'prepare_name',
'aborted': 'ask_name_again',
'preempted': 'preempted'
})
# We prepare the name for face_detection
smach.StateMachine.add("prepare_name",
prepare_name(),
transitions={
'succeeded': 'say_start',
'aborted': 'ask_name_again',
'preempted': 'preempted'
})
# Ask for name again
smach.StateMachine.add(
'ask_name_again',
AskQuestionSM(
"Sorry, I don't understand you. Can you repeat your name, please?",
GRAMMAR_NAME),
transitions={
'succeeded': 'prepare_name',
'aborted': 'aborted',
'preempted': 'preempted'
})
smach.StateMachine.add(
'say_start',
text_to_say(
"OK, now i am going to enroll your face, don't move"),
transitions={
'succeeded': 'learn_face',
'aborted': 'aborted',
'preempted': 'preempted'
})
# Start learning
smach.StateMachine.add('learn_face',
new_database_and_learn(time_enroll),
transitions={
'succeeded': 'prepare_say_name',
'aborted': 'aborted',
'preempted': 'preempted'
})
# Say learn name
smach.StateMachine.add('prepare_say_name',
prepare_say_name(),
transitions={
'succeeded': 'say_name',
'aborted': 'aborted',
'preempted': 'preempted'
})
smach.StateMachine.add('say_name',
text_to_say(),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted',
'preempted': 'preempted'
})
