def MainTaskFood(name, task):
if (Settings.PositionRon == []):
Settings.ModifyName(name[0])
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor', 'Door'
]
event, position_start = Window(robot_gui_title,
'Hi %s , in which room i am ?' % (name),
'LB', list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasKeys == [] and Settings.PositionPerson == []):
solution, goal_position, where_food, has_food = RonTaskFood(
Settings.PositionRon[0], Settings.PositionFood[0])
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_food(
robot_position=Settings.PositionRon[0],
position_object=where_food,
person_position=Settings.PositionPerson[0])
plan_mess = planning_message_food(has_food=has_food,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_food,
goal_position,
has_food,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupFood\n-DropFood. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskFood(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
solution, goal_position, where_food, has_keys = RonTaskFood(
Settings.PositionRon[0], Settings.PositionFood[0])
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasFood[0] == 'no'):
Has_food = False
else:
Has_food = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_food(
robot_position=Settings.PositionRon[0],
position_object=where_food,
person_position=Settings.PositionPerson[0])
plan_mess = planning_message_food(has_food=Has_food,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions, Settings.PositionRon[0], where_food,
goal_position, Has_food, task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupFood\n-DropFood. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskFood(name, task)
else:
PopupCancel(robot_gui_aborted)
def MainTaskOnOffTV(name, task):
if (Settings.PositionRon == [] and Settings.PositionController == []):
Settings.ModifyName(name[0])
event, onTv = Window(robot_gui_title,
'%s , I have to on or off the TV?' % (name),
'OTV', ['OnTv', 'OffTv'])
if event == 'Ok':
Settings.OnTv = onTv['OTV'][0]
OnOrOffTv = Settings.OnTv
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor'
]
event, position_start = Window(
robot_gui_title, 'Hi %s , in which room i am ?' % (name), 'LB',
list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasController == []):
solution, goal_position, where_controller, has_controller = RonTaskOnOffTv(
Settings.PositionRon[0], OnOrOffTv)
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_tv(
robot_position=Settings.PositionRon[0],
position_object=where_controller,
position_tv=Settings.PositionTv[0])
plan_mess = planning_message_tv(
has_controller=has_controller, planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_controller,
goal_position,
has_controller,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-OnTv / OffTv\n-PickupController. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(
Settings.AllActions)
MainTaskOnOffTV(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
OnOrOffTv = Settings.OnTv
solution, goal_position, where_controller, has_controller = RonTaskOnOffTv(
Settings.PositionRon[0], OnOrOffTv)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasController[0] == 'no'):
Has_controller = False
else:
Has_controller = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_tv(
robot_position=Settings.PositionRon[0],
position_object=where_controller,
position_tv=Settings.PositionTv[0])
plan_mess = planning_message_tv(has_controller=Has_controller,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_controller,
goal_position,
Has_controller,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-OnTv / OffTv\n-PickupController\nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskOnOffTV(name, task)
else:
PopupCancel(robot_gui_aborted)
def MainTaskOpenCloseGarage(name, task):
if (Settings.PositionRon == []):
Settings.ModifyName(name[0])
event, taskOpenClose = Window(
robot_gui_title,
'%s , I have to open or close the Garage?' % (name), 'OCG',
['OpenGarage', 'CloseGarage'])
Settings.SetOpenGarage(taskOpenClose['OCG'][0])
if event == 'Ok':
taskOpenClose = taskOpenClose['OCG'][0]
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor', 'Door'
]
event, position_start = Window(
robot_gui_title, 'Hi %s , in which room i am ?' % (name), 'LB',
list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasKeys == [] and Settings.PositionKeys == []):
solution, goal_position, where_key, has_keys = RonTaskOpenCloseGarage(
Settings.PositionRon[0],
taskOpenCloseOff=taskOpenClose)
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_open_close_garage(
robot_position=Settings.PositionRon[0],
position_object=Settings.PositionKeys[0],
person_position=Settings.PositionGarage[0])
plan_mess = planning_message_open_close_garage(
has_keys=has_keys, planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_key,
goal_position,
has_keys,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupKeys\n-OpenGarage / CloseGarage\n.\nYou can choose one of these actions\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(
Settings.AllActions)
MainTaskOpenCloseGarage(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
else:
taskOpenClose = Settings.OpenGarage[0]
solution, goal_position, where_key, has_keys = RonTaskOpenCloseGarage(
Settings.PositionRon[0], taskOpenCloseOff=taskOpenClose)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasKeys[0] == 'no'):
Has_key = False
else:
Has_key = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_open_close_garage(
robot_position=Settings.PositionRon[0],
position_object=Settings.PositionKeys[0],
person_position=Settings.PositionGarage[0])
plan_mess = planning_message_open_close_garage(has_keys=Has_key,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
Settings.PositionKeys[0],
Settings.PositionGarage[0],
Has_key,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupKeys\n-OpenGarage / CloseGarage.\nYou can choose one of these actions\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction(sol['ADD_DEL_ACT'][0].name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskOpenCloseGarage(name, task)
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
