def __init__(self):
# TODO: Check whether the tool is early or on time
rand = random.choice([0, 1, 2])
if rand == 0:
publish_state_update(YEETBotState.RECEIVING_TOOL_EARLY)
else:
publish_state_update(YEETBotState.RECEIVING_TOOL_ON_TIME)
user_interface.reset()
tool = user_interface.tool_requested
if (tool != 'pliers' and tool != 'screw_driver'
and tool != 'wire_strippers' and tool != 'vernier_calipers'):
raise RuntimeError("Unknown tool {}".format(tool))
speech_msg = String()
if item_database.is_tool_missing(tool):
speech_msg.data = "Please return the {} to the drawer that I am opening for you.".format(
tool.replace('_', ' '))
item_database.change_drawer_state(tool, True)
self.false_request = False
else:
speech_msg.data = "I'm not missing any of those!"
self.false_request = True
text_msg_pub.publish(speech_msg)
self.tool = tool
user_interface.tool_requested = ''
user_interface.user_requested_borrow = False
self.time_started = rospy.Time.now()
def __init__(self):
publish_state_update(YEETBotState.GIVING_TOOL)
user_interface.reset()
tool = user_interface.tool_requested
if (tool != 'pliers' and tool != 'screw_driver'
and tool != 'wire_strippers' and tool != 'vernier_calipers'):
raise RuntimeError("Unknown tool {}".format(tool))
speech_msg = String()
if item_database.contains_tool(tool):
speech_msg.data = "Please take the {} from the drawer that I am opening for you.".format(
tool.replace('_', ' '))
item_database.change_drawer_state(tool, True)
self.false_request = False
else:
speech_msg.data = "I'm sorry, I don't have that tool in stock. Perhaps you could return it to me?"
self.false_request = True
text_msg_pub.publish(speech_msg)
self.tool = tool
user_interface.tool_requested = ''
user_interface.user_requested_borrow = False
self.time_started = rospy.Time.now()
def next(self, input_array):
if input_array['request_verified'] == 1:
if self.request_type == 'lend':
# Reset the flag
user_interface.user_requested_borrow = False
return LendTool()
elif self.request_type == 'return':
# Reset the flag
user_interface.user_requested_return = False
return ReturnTool()
else:
print "Request is verified but we don't know which type of request we are? {}".format(
self.request_type)
raise NotImplementedError
if self.request_type != 'lend' and self.request_type != 'return':
speech_msg = String()
if input_array['request'] == 'lend':
self.request_type = 'lend'
speech_msg.data = "Which tool would you like to borrow?"
user_interface.borrow_choices()
elif input_array['request'] == 'return':
self.request_type = 'return'
speech_msg.data = "Which tool would you like to return?"
user_interface.return_choices()
text_msg_pub.publish(speech_msg)
return self
def __init__(self):
(target, self.id) = self.calculate_target_pose()
rospy.logerr(target)
super(TravelToRequest, self).__init__(goal=target)
speech_msg = String()
speech_msg.data = "I'm on my way to help you! Please don't move too much or I might get lost..."
text_msg_pub.publish(speech_msg)
def run(self):
super(ForceReturn, self).run()
if self.state == navigation_interface.ARRIVED:
speech_msg = String()
speech_msg.data = "I am looking for my " + self.tool + ". Please return it to me."
text_msg_pub.publish(speech_msg)
return "ForceReturn"
def __init__(self):
publish_state_update(YEETBotState.IDLE)
speech_msg = String()
speech_msg.data = "Hello, I am yeetbot3000!\n\nTo get my attention, just wave and say \"Snow Boi\".\n\nHow can I help you today?"
text_msg_pub.publish(speech_msg)
user_interface.idle_screen_choices()
self.start_time = rospy.Time.now()
def __init__(self):
home = PoseStamped()
home.header.stamp = rospy.Time.now()
home.header.frame_id = 'map'
home.pose.position.x = HOME_X
home.pose.position.y = HOME_Y
home.pose.orientation.w = cos(HOME_YAW / 2)
home.pose.orientation.z = sin(HOME_YAW / 2)
super(ReturnHome, self).__init__(goal=home)
speech_msg = String()
speech_msg.data = "I am currently returning home. Please mind out of my way!"
text_msg_pub.publish(speech_msg)
def __init__(self):
pose = PoseStamped()
pose.pose.position.x = 5.89
pose.pose.position.y = 2.15
pose.pose.orientation.w = 1
pose.header.frame_id = 'map'
pose.header.stamp = rospy.Time.now()
super(ForceReturn, self).__init__(goal=pose)
publish_state_update(YEETBotState.RECEIVING_TOOL_LATE)
self.tool = item_database.get_timed_out_tool_named()
speech_msg = String()
speech_msg.data = "I am looking for my " + self.tool + ". Please return it to me."
user_interface.return_choices()
text_msg_pub.publish(speech_msg)
def __init__(self, request_type):
publish_state_update(YEETBotState.RECEIVING_REQUEST)
self.request_type = request_type
speech_msg = String()
if request_type == 'lend':
speech_msg.data = "Which tool would you like to borrow?"
user_interface.borrow_choices()
elif request_type == 'return':
speech_msg.data = "Which tool would you like to return?"
user_interface.return_choices()
else:
speech_msg.data = "How may I help you?"
user_interface.idle_screen_choices()
text_msg_pub.publish(speech_msg)
def response_cb(self, response_msg):
if response_msg.id != self.choice_id:
print "User response ID did not match expected ID"
return
if response_msg.invalid_choice:
self.reset()
msg = String()
msg.data = "I'm sorry, I didn't understand that. Could you try again?"
text_msg_pub.publish(msg)
self.choices_pub.publish(self.choices)
return
try:
resp = self.choices.user_options[response_msg.choice]
except IndexError:
print "IndexError"
return
if resp == BORROW:
self.user_requested_borrow = True
elif resp == RETURN:
self.user_requested_return = True
elif resp == BORROW_PLIERS:
self.tool_requested = 'pliers'
elif resp == BORROW_SCREW_DRIVER:
self.tool_requested = 'screw_driver'
elif resp == BORROW_WIRE_STRIPPERS:
self.tool_requested = 'wire_strippers'
elif resp == BORROW_VERNIER_CALIPERS:
self.tool_requested = 'vernier_calipers'
elif resp == RETURN_PLIERS:
self.tool_requested = 'pliers'
elif resp == RETURN_SCREW_DRIVER:
self.tool_requested = 'screw_driver'
elif resp == RETURN_WIRE_STRIPPERS:
self.tool_requested = 'wire_strippers'
elif resp == RETURN_VERNIER_CALIPERS:
self.tool_requested = 'vernier_calipers'
def __init__(self):
super(LowVoltage, self).__init__()
speech_msg = String()
speech_msg.data = "I am low on battery! Please help me charge myself!"
text_msg_pub.publish(speech_msg)
