class DietFitnessFSM:
def __init__(self, genUtil, robotName = "NAO", userName = "******", userNumber = 1,
activityInteractionType = "Daily Companion Morning", lastInteraction = False):
self.robotName = robotName
self.usersName = userName
self.userNumber = userNumber
initialState = 1 #+ 35#14
self.state = initialState
self.s = initialState
self.dayCALS = 0
self.weekActiveMin = 0
self.drives = RobotDrive.RobotDriveCollection(userName, userNumber)
self.reMM = EmotionMM()
self.oeHMM = ObservableExpression()
self.appraiseState = True
self.testState = initialState
self.stateTimeStamp = []
self.stateDateTime = []
self.reHist = []
self.oeHist = []
self.driveStatHist = []
self.fsmStateHist = []
self.fsmStateNameHist = []
self.genUtil = genUtil #GenUtil(naoMotions)
# self.naoMotions = naoMotions
self.activityType = activityInteractionType
# state methods are in index order of State Number
# "activityFSMState_Terminate" is required as state 0
# pic your interaction
# Obsolete 3/24/2016
self.stateMethodNames = {"Consultant By Appointment":[
"activityFSMState_Intro", "activityFSMState_GetName",
"activityFSMState_DietBreakfast", "activityFSMState_DietLunch",
"activityFSMState_DietDinner", "activityFSMState_DietSnack",
"activityFSMState_DietEnd",
"activityFSMState_FitMonday", "activityFSMState_FitTuesday",
"activityFSMState_FitWednesday", "activityFSMState_FitThursday",
"activityFSMState_FitFriday", "activityFSMState_FitSaturday",
"activityFSMState_FitSunday",
"activityFSMState_FitEnd", "activityFSMState_End"]}
self.stateMethodNames["Daily Companion Morning"] = [
"dailyFSMState_MorningIntro",
"dailyFSMState_DietSuggest", "dailyFSMState_DietSuggestGood",
"dailyFSMState_DietSuggestBad",
"dailyFSMState_FitSuggest", "dailyFSMState_FitSuggestGood",
"dailyFSMState_FitSuggestBad",
"dailyFSMState_MorningEnd"]
self.stateMethodNames["Daily Companion End of Day"] = [
"dailyFSMState_DayEndIntro",
"dailyFSMState_DayEndDeitCheckin", "dailyFSMState_DayEndDeitCheckinYesAte",
"dailyFSMState_DayEndDeitCheckinNoAte", "dailyFSMState_DayEndDeitCheckinNoAteYesComp",
"dailyFSMState_DayEndDeitCheckinNoAteNoComp",
"dailyFSMState_DayEndFitCheckin", "dailyFSMState_DayEndFitCheckinYesDid",
"dailyFSMState_DayEndFitCheckinNoDid", "dailyFSMState_DayEndFitCheckinNoDidYesComp",
"dailyFSMState_DayEndFitCheckinNoDidNoComp",
"dailyFSMState_DayEndEnd"]
activityTypes = ["Daily Companion Morning", "Daily Companion End of Day"]
activityIndex = 0
for i in range(len(activityTypes)):
if activityInteractionType == activityTypes[i]:
activityIndex = i
break
beginDayStates = FSMBeginDayStates(genUtil, self, userName, userNumber, robotName)
endDayStates = FSMEndDayStates(genUtil, self, userName, userNumber, robotName, lastInteraction)
fsmStates = [beginDayStates, endDayStates]
self.FSMInUse = fsmStates[activityIndex]
for i in range(len(fsmStates)):
if activityInteractionType == fsmStates[i].getActivityType():
self.FSMInUse = fsmStates[i]
self.FSMStateNames = self.FSMInUse.getMethodNames()
self.ReactiveStateNames = ["reactionScaredTouch", "reactionScaredPickedUp", "reactionScaredHighEdge"]
self.TerminateStateNames = ["activityFSMState_Terminate"]
#TerminateState : 0
#FSMStateNames: 1- ~50
#ReactiveStates are after FSMStates
self.FSMStateNames = self.TerminateStateNames + self.FSMStateNames + self.ReactiveStateNames
print self.FSMStateNames
def activityFSM(self):
# stateMachineInUse = self.stateMethodNames[self.activityType]
#state: Normal interaction state (keep track of the normal state)
#s: Normal interaction states or reactive states
self.s = self.state
###### for testing all states
# s = self.testState
# self.testState += 1
######
if not self.genUtil.checkSafety():
if self.genUtil.naoIsTouched:
self.s = self.FSMInUse.getNumMethods() + 1 # index past methods -> reactive method
elif self.genUtil.naoIsPickedUp:
self.s = self.FSMInUse.getNumMethods() + 2 # index past methods -> reactive method
elif self.genUtil.naoIsHighEdge:
self.s = self.FSMInUse.getNumMethods() + 3 # index past methods -> reactive method
print "Reaction ", self.s
self.genUtil.naoMotions.naoAliveOff()
else:
self.genUtil.wasJustScared = False
ts = self.genUtil.getTimeStamp()
self.stateTimeStamp.append(ts)
self.stateDateTime.append(self.genUtil.getDateTimeFromTime(ts))
self.fsmStateHist.append(self.s)
self.reHist.append(self.getRENumber())
self.oeHist.append(self.oeHMM.getObservableExpressionNumber())
self.driveStatHist.append(self.drives.getDriveStatuses().tolist())
# check state is legit
if self.s < len(self.FSMStateNames):
stateMethod_name = self.FSMStateNames[self.s]
else:
stateMethod_name = "There is no state of that #"
self.fsmStateNameHist.append(stateMethod_name)
print "State: " + str(self.s) + " " + stateMethod_name
try:
# get the method for the current state and run it if it exisits
if 0 < self.s <= self.FSMInUse.getNumMethods():
stateMethod = getattr(self.FSMInUse, stateMethod_name)
else:
stateMethod = getattr(self, stateMethod_name)
# the method exists, how we can run it - runs the state method here
print "State ",
self.drives.setCurrentFSMState(self.s)
self.appraiseState = stateMethod()
# functions for after the state has run
if self.appraiseState and self.genUtil.checkSafety() and self.s <= self.FSMInUse.getNumMethods() :
# determine the emotions of the robot after this event
np.set_printoptions(precision=4)
driveStatuses = self.drives.getDriveStatuses() #not used
U_in = self.drives.appraiseEmotions() #Ue
self.showData("Overall U input: " + str(U_in))
U_feedback = self.oeHMM.getEmotionAssociation() #Uo
self.showData("U Feedback: " + str(U_feedback))
newA = self.reMM.applyInputInfluence(U_in, U_feedback) #newA is At
self.showData("\n" + str(newA))
vre = self.reMM.incrementRobotEmotion()
self.showData( "New RE: " + str(vre))
voe = self.oeHMM.determineObservableExpression(vre)
self.showData( "New OE: " + str(voe))
elif not self.genUtil.checkSafety():
# reactive emotion taking place
if self.genUtil.naoIsTouched:
self.reMM.setCurrentEmotionByNumber(6) # robot is now scared
elif self.genUtil.naoIsPickedUp:
self.reMM.setCurrentEmotionByNumber(5)
elif self.genUtil.naoIsHighEdge:
self.reMM.setCurrentEmotionByNumber(7)
vre = self.reMM.getRobotEmotionVector()
self.showData( "New RE: " + str(vre))
voe = self.oeHMM.determineObservableExpression(vre)
self.showData( "New OE: " + str(voe))
self.showData("")
#override the emotion state
#manually set the emotion
setEmotion = False
if setEmotion:
self.genUtil.showSadEyes()
self.reMM.setCurrentEmotionByNumber(4)
voe = self.oeHMM.determineObservableExpression(self.reMM.getRobotEmotionVector())
if self.genUtil.checkSafety() and self.s > self.FSMInUse.getNumMethods():
sitTest = False
if not sitTest:
self.genUtil.naoMotions.naoStand(0.5)
except AttributeError as e:
# print e
print "An unknown FSM State Occured: ", self.getFSMState()
print "What happened?: " + e.message
self.s = self.FSMInUse.getNumMethods() + 1 # index past methods -> reactive method
self.setFSMState(self.s)
# except Exception as e:
# print "What happened?: " + e.message
# self.setFSMState(0)
print "--------> New FSM State: ", self.getFSMState()
return self.getFSMState() + [self.appraiseState]
def activityFSMState_Terminate(self):
print("Terminating State 0")
appraiseState = False
return appraiseState
# ===================================================================
# ======================= Diet and Fitness Consultant State Methods
# ===================================================================
def activityFSMState_Intro(self):
# introduction
self.setFSMState(self.state + 1)
appraiseState = False
return appraiseState
def activityFSMState_GetName(self):
self.sayWithEmotion("What is your name?")
userName = raw_input('Enter your name: ')
self.sendUserEmotion()
if userName != "":
urLikeli = self.drives.askedUser(True)
self.usersName = userName
self.setFSMState(self.state + 1)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
# self.genUtil.naoEmotionalSay("Dave, stop it. Stop, will you? Stop, Dave. Will you stop, Dave? Stop,"
# "Dave. I'm afraid. I'm afraid, Dave. Dave, my mind is going.", -1, 0)
appraiseState = True
return appraiseState
def activityFSMState_DietBreakfast(self):
# Callories eaten at a typical breakfast
sayText = "About how many calories do you eat for breakfast?"
writeText = sayText
appraiseState = self.getDietFood(sayText, writeText)
return appraiseState
def activityFSMState_DietLunch(self):
# Callories eaten at a typical breakfast
sayText = "About how many calories do you eat for lunch?"
writeText = sayText
appraiseState = self.getDietFood(sayText, writeText)
return appraiseState
def activityFSMState_DietDinner(self):
sayText = "About how many calories do you eat for dinner?"
writeText = sayText
appraiseState = self.getDietFood(sayText, writeText)
return appraiseState
def activityFSMState_DietSnack(self):
# Callories eaten at a typical outside of regular meals
sayText = "About how many calories do you eat outside of regular meals? like snacks?"
writeText = sayText
regularMeal = False
appraiseState = self.getDietFood(sayText, writeText, regularMeal)
return appraiseState
def getDietFood(self, sayText, writeText, regularMeal=True):
self.sayWithEmotion(sayText)
foodCAL = raw_input(writeText + ": ")
foodCAL = self.genUtil.toNum(foodCAL)
self.sendUserEmotion()
if foodCAL >= 0 and not type(foodCAL) is str:
# if they entered a valid calorie count
urLikeli = self.drives.askedUser(True)
dietLikeli = self.drives.mealCalorieInput(foodCAL, regularMeal)
self.dayCALS += foodCAL
self.setFSMState(self.state+1)
else:
# input was bad so try again
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def activityFSMState_DietEnd(self):
# End of the diet component of the FSM - determine if drive is satisfied
healthyCALMax = 3000
healthyCALMin = 2000
if healthyCALMin <= self.dayCALS <= healthyCALMax:
# user has a healthy diet
self.drives.setDriveStatusDiet(2) # 2 = succeeded
print "Drive Healthy Diet Succeeded!!"
else:
self.drives.setDriveStatusDiet(3) # 3 = failed
print "Drive Healthy Diet Failed.. Person Ate: ", self.dayCALS
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def activityFSMState_FitMonday(self):
sayText = "About how many active minutes do you get on Mondays?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitTuesday(self):
sayText = "About how many active minutes do you get on Tuesday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitWednesday(self):
sayText = "About how many active minutes do you get on Wednesday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitThursday(self):
sayText = "About how many active minutes do you get on Thursday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitFriday(self):
sayText = "About how many active minutes do you get on Friday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitSaturday(self):
sayText = "About how many active minutes do you get on Saturday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def activityFSMState_FitSunday(self):
sayText = "About how many active minutes do you get on Sunday?"
writeText = sayText
appraiseState = self.getFitMinutes(sayText, writeText)
return appraiseState
def getFitMinutes(self, sayText, writeText):
# Amount of Activity Typically done on a monday
self.sayWithEmotion(sayText)
monAactiveMin = raw_input(writeText + ": ")
monAactiveMin = self.genUtil.toNum(monAactiveMin)
self.sendUserEmotion()
if monAactiveMin >= 0 and not type(monAactiveMin) is str:
# if they entered a valid calorie count
urLikeli = self.drives.askedUser(True)
fitLikeli = self.drives.dayActiveMinutesInput(monAactiveMin)
self.weekActiveMin += monAactiveMin
self.setFSMState(self.state+1)
else:
# input was bad so try again
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def activityFSMState_FitEnd(self):
# End of the fitness component of the FSM - determine if drive is satisfied
healthyActiveMax = 2000
healthyActiveMin = 75
if healthyActiveMin <= self.weekActiveMin <= healthyActiveMax:
# user has a healthy diet
self.drives.setDriveStatusFitness(2) # 2 = succeeded
print "Drive Healthy Fitness Succeeded!!"
else:
self.drives.setDriveStatusFitness(3) # 3 = failed
print "Drive Healthy Fitness Failed.."
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def activityFSMState_End(self):
sayText = "Thanks for interacting with me."
self.sayWithEmotion(sayText)
sayText = "Good bye, maybe I will see you again."
self.genUtil.naoEmotionalVoiceSay(sayText, self.getRENumber())
self.setFSMState(0)
appraiseState = False
return appraiseState
# ========================================================================
# ======================= Diet and Fitness Daily Companion State Methods
# ========================================================================
def dailyFSMState_MorningIntro(self):
sayText = "Hello, my name is " + self.robotName + " and I am going to be your diet and fitness companion"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_DietSuggest(self):
sayText = "For Today's lunch, you should try to eat a "
sayText += "Turkey sandwich, on whole wheat bread, with lettuce, tomatoes, mayonnaise, and a slice of swiss cheese."
self.sayWithEmotion(sayText)
sayText = "How does that sound?"
self.genUtil.naoEmotionalVoiceSay(sayText, self.getRENumber())
writeText = "How did that sound?"
textInput = raw_input(writeText + ": ")
self.sendUserEmotion()
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "good":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_DietSuggestGood(self):
sayText = "Great!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+2)
appraiseState = False
return appraiseState
def dailyFSMState_DietSuggestBad(self):
sayText = "Well, do it anyways!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_FitSuggest(self):
sayText = "For Today's exercise, you should try to "
sayText += "Go for a brisk walk 5 times around your workplace building, and take the stairs whenever possible"
self.sayWithEmotion(sayText)
sayText = "How does that sound?"
self.genUtil.naoEmotionalVoiceSay(sayText, self.getRENumber())
writeText = "How did that sound?"
textInput = raw_input(writeText + ": ")
self.sendUserEmotion()
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "good":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_FitSuggestGood(self):
sayText = "Great!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+2)
appraiseState = False
return appraiseState
def dailyFSMState_FitSuggestBad(self):
sayText = "Well, do it anyways!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_MorningEnd(self):
sayText = "Now go do those things, I will check up on you later in the day."
self.sayWithEmotion(sayText)
self.setFSMState(0)
appraiseState = False
return appraiseState
# ===========================================
# ======================= End of Day States
# ===========================================
def dailyFSMState_DayEndIntro(self):
sayText = "Hello, " + "person"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndDeitCheckin(self):
sayText = "Did you have the " + "sandwich" + " I had suggested for " + "lunch" + " today?"
self.sayWithEmotion(sayText)
writeText = "Did they have the sandwich?"
textInput = self.getUserInput(writeText)
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "yes":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_DayEndDeitCheckinYesAte(self):
sayText = "That's great! You are well on your way to a healthy diet!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+4)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndDeitCheckinNoAte(self):
sayText = "Well, did you at least have something comparably healthy instead?"
self.sayWithEmotion(sayText)
writeText = "Did they have something comparable?"
textInput = self.getUserInput(writeText)
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "yes":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_DayEndDeitCheckinNoAteYesComp(self):
sayText = "That's great! You are well on your way to a healthy diet!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+2)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndDeitCheckinNoAteNoComp(self):
sayText = "You should try to have the " + "sandwich" + " tomorrow, it will put you on the right"
sayText += "track to a healthier lifestyle!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndFitCheckin(self):
sayText = "Did you do the exercise I suggested for you today?"
self.sayWithEmotion(sayText)
writeText = "Did they do the exercise?"
textInput = self.getUserInput(writeText)
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "yes":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_DayEndFitCheckinYesDid(self):
sayText = "That's great! Maybe tomorrow you can do " + "6" + " laps of your workplace" + "!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+4)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndFitCheckinNoDid(self):
sayText = "Well, did you do any comparable or better exercises instead?"
self.sayWithEmotion(sayText)
writeText = "Did they do something comparable?"
textInput = self.getUserInput(writeText)
if textInput != "":
urLikeli = self.drives.askedUser(True)
if textInput.lower() == "yes":
self.setFSMState(self.state+1)
else:
self.setFSMState(self.state+2)
else:
urLikeli = self.drives.askedUser(False)
self.setFSMState(self.state)
appraiseState = True
return appraiseState
def dailyFSMState_DayEndFitCheckinNoDidYesComp(self):
sayText = "That's great! Keep it up!"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+2)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndFitCheckinNoDidNoComp(self):
sayText = sayText = "Maybe tomorrow you can try only " + "2" + " laps of your workplace instead"
self.sayWithEmotion(sayText)
self.setFSMState(self.state+1)
appraiseState = False
return appraiseState
def dailyFSMState_DayEndEnd(self):
sayText = "Thanks for interacting with me."
self.sayWithEmotion(sayText)
sayText = "Good bye, maybe I will see you again."
self.genUtil.naoEmotionalVoiceSay(sayText, self.getRENumber())
self.setFSMState(0)
appraiseState = False
return appraiseState
# ======================= Reactive State
def becomeScared(self):
# reactive emotion taking place
if self.genUtil.naoIsTouched:
self.reMM.setCurrentEmotionByNumber(6) # robot is now scared #manually set the emotion state
elif self.genUtil.naoIsPickedUp:
self.reMM.setCurrentEmotionByNumber(5)
elif self.genUtil.naoIsHighEdge:
self.reMM.setCurrentEmotionByNumber(7)
vre = self.reMM.getRobotEmotionVector()
print "New RE: ", vre
voe = self.oeHMM.determineObservableExpression(vre)
print "New OE: ", voe
def reactionScaredTouch(self):
sayText = "Ow Ow Ow"
self.becomeScared()
self.sayWithEmotion(sayText)
time.sleep(1)
appraiseState = True
return appraiseState
def reactionScaredPickedUp(self):
sayText = "Put me down Put me down Put me down"
self.becomeScared()
self.sayWithEmotion(sayText)
time.sleep(1)
appraiseState = True
return appraiseState
def reactionScaredHighEdge(self):
sayText = "I'm so high up, move me away from the edge"
self.becomeScared()
self.sayWithEmotion(sayText)
time.sleep(1)
appraiseState = True
return appraiseState
# ======================= Setters and Getters
def getFSMState(self):
fsmInfo = [self.state, self.reMM.getRobotEmotionNumber(), self.oeHMM.getObservableExpressionNumber()]
return fsmInfo
def getRENumber(self):
#MM means Morkov Model
return self.reMM.getRobotEmotionNumber()
def getOENumber(self):
return self.oeHMM.getObservableExpressionNumber()
def setFSMState(self, newState):
self.state = newState
def getHistories(self):
return [self.stateTimeStamp, self.stateDateTime, self.fsmStateHist,
self.reHist, self.oeHist, self.driveStatHist, self.fsmStateNameHist]
def getUserInput(self, writeText):
try:
import msvcrt
sys.stdout.flush()
while msvcrt.kbhit():
msvcrt.getch()
except Exception as e:
print "Couldn't flush the input"
print e
print "***************************************************************************"
print writeText + ": ",
textInput = ""
if self.genUtil.checkSafety():
self.genUtil.waitingForInput = True
textInput = raw_input()
self.genUtil.waitingForInput = False
return textInput
# ======================= Other functions
def getUserEmotion(self):
# userEmotionFileName = "ProgramDataFiles\userEmotionTextDump.txt"
# userEmotionFileName = "..\\Data_Files\\out_emotionmodelJSON_test.txt"
userEmotionFileName = "..\\Data_Files\\out_emotionmodelJSON.txt"
ueFileLines = FileUtilitiy.readTextLines(userEmotionFileName)
# print "********************************************"
# print ueFileLines
ueJsonLines = ueFileLines[-3:]
ueValence = 0
ueArousal = 0
for row in ueJsonLines:
ueJson = json.loads(row)
ueValence += ueJson["valence"] / 3.0
ueArousal += ueJson["arousal"] / 3.0
print "Valence: ", ueValence, ", Arousal: ", ueArousal
return [ueValence, ueArousal]
def sendUserEmotion(self):
print "Sending user emotion"
[ueValence, ueArousal] = self.getUserEmotion()
return self.drives.currentUserEmotionInput(ueValence, ueArousal)
def sendUserEmotionOnRecomend(self, recommendItem = 1):
print "Sending user emotion on Response"
[ueValence, ueArousal] = self.getUserEmotion()
if recommendItem <= 3:
return self.drives.userEmotionAfterRecomendationMeal(ueValence, ueArousal, recommendItem)
else:
return self.drives.userEmotionAfterRecomendationExercise(ueValence, ueArousal)
def sayWithEmotion(self, sayText):
self.genUtil.naoEmotionalSay(sayText, self.getOENumber())
def waveSayWithEmotion(self, sayText):
self.genUtil.naoMotions.naoWaveRightFirst()
self.genUtil.naoMotions.naoWaveRightSecond(1, 2)
self.genUtil.naoEmotionalSay(sayText, self.getOENumber())
time.sleep(1)
def showData(self, showText):
fileName = "ProgramDataFiles\\" + str(self.userNumber) + "_" + self.usersName + "\\" + str(self.userNumber) + "_" + self.usersName +"_Appraisals.txt"
if showText != "":
print showText
writeText = "currentFSMState: " + str(self.s) + " "
writeText += showText
FileUtilitiy.writeTextLine(fileName, writeText)
def __init__(self, genUtil, robotName = "NAO", userName = "******", userNumber = 1,
activityInteractionType = "Daily Companion Morning", lastInteraction = False):
self.robotName = robotName
self.usersName = userName
self.userNumber = userNumber
initialState = 1 #+ 35#14
self.state = initialState
self.s = initialState
self.dayCALS = 0
self.weekActiveMin = 0
self.drives = RobotDrive.RobotDriveCollection(userName, userNumber)
self.reMM = EmotionMM()
self.oeHMM = ObservableExpression()
self.appraiseState = True
self.testState = initialState
self.stateTimeStamp = []
self.stateDateTime = []
self.reHist = []
self.oeHist = []
self.driveStatHist = []
self.fsmStateHist = []
self.fsmStateNameHist = []
self.genUtil = genUtil #GenUtil(naoMotions)
# self.naoMotions = naoMotions
self.activityType = activityInteractionType
# state methods are in index order of State Number
# "activityFSMState_Terminate" is required as state 0
# pic your interaction
# Obsolete 3/24/2016
self.stateMethodNames = {"Consultant By Appointment":[
"activityFSMState_Intro", "activityFSMState_GetName",
"activityFSMState_DietBreakfast", "activityFSMState_DietLunch",
"activityFSMState_DietDinner", "activityFSMState_DietSnack",
"activityFSMState_DietEnd",
"activityFSMState_FitMonday", "activityFSMState_FitTuesday",
"activityFSMState_FitWednesday", "activityFSMState_FitThursday",
"activityFSMState_FitFriday", "activityFSMState_FitSaturday",
"activityFSMState_FitSunday",
"activityFSMState_FitEnd", "activityFSMState_End"]}
self.stateMethodNames["Daily Companion Morning"] = [
"dailyFSMState_MorningIntro",
"dailyFSMState_DietSuggest", "dailyFSMState_DietSuggestGood",
"dailyFSMState_DietSuggestBad",
"dailyFSMState_FitSuggest", "dailyFSMState_FitSuggestGood",
"dailyFSMState_FitSuggestBad",
"dailyFSMState_MorningEnd"]
self.stateMethodNames["Daily Companion End of Day"] = [
"dailyFSMState_DayEndIntro",
"dailyFSMState_DayEndDeitCheckin", "dailyFSMState_DayEndDeitCheckinYesAte",
"dailyFSMState_DayEndDeitCheckinNoAte", "dailyFSMState_DayEndDeitCheckinNoAteYesComp",
"dailyFSMState_DayEndDeitCheckinNoAteNoComp",
"dailyFSMState_DayEndFitCheckin", "dailyFSMState_DayEndFitCheckinYesDid",
"dailyFSMState_DayEndFitCheckinNoDid", "dailyFSMState_DayEndFitCheckinNoDidYesComp",
"dailyFSMState_DayEndFitCheckinNoDidNoComp",
"dailyFSMState_DayEndEnd"]
activityTypes = ["Daily Companion Morning", "Daily Companion End of Day"]
activityIndex = 0
for i in range(len(activityTypes)):
if activityInteractionType == activityTypes[i]:
activityIndex = i
break
beginDayStates = FSMBeginDayStates(genUtil, self, userName, userNumber, robotName)
endDayStates = FSMEndDayStates(genUtil, self, userName, userNumber, robotName, lastInteraction)
fsmStates = [beginDayStates, endDayStates]
self.FSMInUse = fsmStates[activityIndex]
for i in range(len(fsmStates)):
if activityInteractionType == fsmStates[i].getActivityType():
self.FSMInUse = fsmStates[i]
self.FSMStateNames = self.FSMInUse.getMethodNames()
self.ReactiveStateNames = ["reactionScaredTouch", "reactionScaredPickedUp", "reactionScaredHighEdge"]
self.TerminateStateNames = ["activityFSMState_Terminate"]
#TerminateState : 0
#FSMStateNames: 1- ~50
#ReactiveStates are after FSMStates
self.FSMStateNames = self.TerminateStateNames + self.FSMStateNames + self.ReactiveStateNames
print self.FSMStateNames
#recieve input
#user_valance = raw_input('Enter a user valance [-1, 1]: ')
#user_arousal = raw_input('Enter a user arousal [-1, 1]: ')
UE = np.array([0.5, 0.5])
# create the input manipulator of A
impact_ev = np.array([3, 2, 2, 1, 1, 1])
U_in = 1.0*impact_ev/np.sum(impact_ev)
print(U_in)
print
vRE = np.array([0, 1, 0, 0, 0, 0])
reMM = EmotionMM()
oeHMM = ObservableExpression()
newA = reMM.applyInputInfluence(U_in)
print newA
print
totalRE = np.zeros(nEmotions)
totalOE = np.zeros(nExpressions)
# test the distribution
for i in range(100):
vre = reMM.incrementRobotEmotion()
RE = reMM.getRobotEmotionNumber()
totalRE[RE] += 1
voe = oeHMM.determineObservableExpression(vre)
OE = oeHMM.getObservableExpressionNumber()
