def old_query(self, spec, choices, timeout=10):
'''
Convert old queryies to a HMI query
'''
rospy.loginfo('spec: %s', _truncate(spec))
_print_example(spec, choices)
self._send_query('', spec, choices)
try:
answer = self._wait_for_result_and_get(timeout=timeout)
except TimeoutException:
return GetSpeechResponse(result="")
except:
return None
else:
# so we've got an answer
self.last_talker_id = answer.talker_id # Keep track of the last talker_id
_print_answer(answer)
# convert it to the old message
choices = resultFromROS(answer)
result = GetSpeechResponse(result=answer.raw_result)
result.choices = choices
return result
def query(self, description, spec, choices, timeout=10):
'''
Perform a HMI query, returns a dict of {choicename: value}
'''
rospy.loginfo('Question: %s, spec: %s', description, _truncate(spec))
_print_example(spec, choices)
self._send_query(description, spec, choices)
answer = self._wait_for_result_and_get(timeout=timeout)
self.last_talker_id = answer.talker_id # Keep track of the last talker_id
_print_answer(answer)
return resultFromROS(answer)
def _print_answer(answer):
rospy.loginfo("Robot heard \x1b[1;42m'{}'\x1b[0m {}".format(answer.raw_result, resultFromROS(answer)))
