def gui_command_cb(self, command):
'''Callback for when a GUI command is received'''
if (not self.arms.is_executing()):
if (self.session.n_actions() > 0):
if (command.command == GuiCommand.SWITCH_TO_ACTION):
action_no = command.param
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(Interaction.empty_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
response.respond()
elif (command.command == GuiCommand.SELECT_ACTION_STEP):
step_no = command.param
self.session.select_action_step(step_no)
rospy.loginfo('Selected action step ' + str(step_no))
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
else:
response = Response(Interaction.empty_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('Ignoring GUI command during execution: ' +
command.command)
def speech_command_cb(self, command):
'''Callback for when a speech command is received'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing() and not self._is_busy):
response.respond()
else:
if command.command == Command.STOP_EXECUTION:
response.respond()
else:
rospy.logwarn('Ignoring speech command during execution or busy: '
+ command.command)
else:
switch_command = 'SWITCH_TO_ACTION'
if (switch_command in command.command):
action_no = command.command[
len(switch_command):len(command.command)]
action_no = int(action_no)
if (self.session.n_actions() > 0):
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(self.default_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
else:
response = Response(self.default_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
def speech_command_cb(self, command):
'''Callback for when a speech command is receieved'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing()):
if (self._undo_function != None):
response.respond()
self._undo_function = None
else:
response.respond()
else:
if command.command == Command.STOP_EXECUTION:
response.respond()
else:
rospy.logwarn('Ignoring speech command during execution: '
+ command.command)
else:
switch_command = 'SWITCH_TO_ACTION'
if (switch_command in command.command):
action_no = command.command[
len(switch_command):len(command.command)]
action_no = int(action_no)
if (self.session.n_actions() > 0):
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(Interaction.empty_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
else:
response = Response(Interaction.empty_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
