def __init__(self, testing_mode=False, beat_harmonic=1.0):
smach.State.__init__(self,
outcomes=[succeeded, 'ended', preempted, aborted],
input_keys=['in_bpm_to_use', 'in_movement_to_modifie', 'in_actual_pos'],
output_keys=['modified_movement_name_path_out'])
print "#########################INIT HAndleDancingMovementFiles##############"
self.movHandler = MovFilesHandler()
#self.ledManager = LedManager()
#self.SafetyManager = SafetyManager()
self._testing_mode = testing_mode
self._beat_harmonic = beat_harmonic
self.previousState = 'UNKNOWN'
class HandleDancingMovementFiles(smach.State):
'''
This State, gives the temporal file PATH where the desired movement was copied with the
modified speed corresponing to the bpm given.
input_keys :
in_bpm_to_use --> BPM of the song that Reem is dancing.
in_movement_to_modifie --> The movement that we want to modify the speed.
in_actual_pos --> The position in which Reem is now and database_dancing_directory
where we can find the in_movement_to_modifie
output_keys :
modified_movement_name_path_out --> Path of the temporal file that we have to use in
order to make Reem perform the movement at the correct speed.
'''
def __init__(self, testing_mode=False, beat_harmonic=1.0):
smach.State.__init__(self,
outcomes=[succeeded, 'ended', preempted, aborted],
input_keys=['in_bpm_to_use', 'in_movement_to_modifie', 'in_actual_pos'],
output_keys=['modified_movement_name_path_out'])
print "#########################INIT HAndleDancingMovementFiles##############"
self.movHandler = MovFilesHandler()
#self.ledManager = LedManager()
#self.SafetyManager = SafetyManager()
self._testing_mode = testing_mode
self._beat_harmonic = beat_harmonic
self.previousState = 'UNKNOWN'
def execute(self, userdata):
pressed_key = ''
if self._testing_mode:
# We stop just for testing.
rospy.loginfo("BPM THAT WE WANT TO INSERT ==> %s", str(userdata.in_bpm_to_use))
pressed_key = raw_input("##### Press 'a' key to abort execution,'c' key to continue, press 'e' to end: #####")
while pressed_key != 'a' and pressed_key != 'c' and pressed_key != 'e':
print pressed_key
pressed_key = raw_input('##### Wrong key, please try again (^__^). Remmember, a to abort, c to continue: #####')
if pressed_key == 'a':
return aborted
# TODO
# calls leds based on The Beat of the music.
#self.ledManager.callLedsForDancing(BpmToFreq(userdata.in_bpm_to_use))
# We obtain the period corresponding to the BPM
time_length_movement = BpmToPeriod(userdata.in_bpm_to_use, self._beat_harmonic)
# selects the movement to execute based on state
userdata.modified_movement_name_path_out = self.movHandler.selectDancingMovementFile(userdata.in_movement_to_modifie,
userdata.in_actual_pos,
time_length_movement)
if pressed_key == 'e':
return 'ended'
return succeeded
