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 __init__(self, goal=PoseStamped()):
publish_state_update(YEETBotState.TRAVELLING)
user_interface.reset()
self.current_goal = goal
self.new_goal = goal
nav_interface.goto_pos(self.current_goal)
self.state = navigation_interface.ACTIVE
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):
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)