def send_motion_message(motion):
""" Publish JiboAction do motion message """
#print 'sending motion message: %s' % motion
print 'sending motion message'
msg = JiboAction()
msg.do_motion = True
msg.motion = motion
pub_re.publish(msg)
def send_speech_message(speech):
""" Publish JiboAction playback audio message """
#print '\nsending speech message: %s' % speech
print '\nsending speech message'
msg = JiboAction()
msg.do_sound_playback = True
msg.wav_filename = speech
pub_re.publish(msg)
def send_lookat_message(lookat):
""" Publish JiboAction lookat message """
#print 'sending lookat message: %s' % lookat
print 'sending lookat message'
msg = JiboAction()
msg.do_look_at = True
msg.look_at = lookat
pub_re.publish(msg)
rospy.loginfo(msg)
def send_tts_message(): #not working
""" Publish JiboAction tts message """
#print '\nsending speech message: %s' % speech
print '\nsending tts message'
msg = JiboAction()
msg.do_text_to_speech = True
msg.tts_text = "hello"
pub_re.publish(msg)
rospy.loginfo(msg)
def send_robot_anim_transition_cmd(tran):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_anim_transition = True
msg.anim_transition = tran
robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_anim_transition_cmd(self, tran):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_anim_transition = True
msg.anim_transition = tran
self.robot_commander.publish(msg)
rospy.loginfo(msg)
# def main():
# new_rule = "TopRule = $* (love candy){%slotAction='world'%} | (love choco){%slotAction='mars'%} $*;"
# mySender = RobotSender()
# mySender.start_robot_publisher()
# mySender.send_robot_motion_cmd('reset.keys')
# # Animation transition mode testing
# mySender.send_robot_anim_transition_cmd(JiboAction.ANIMTRANS_KEEP_LASTFRAME)
# mySender.send_robot_motion_cmd("spider.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# time.sleep(5)
# mySender.send_robot_anim_transition_cmd(JiboAction.ANIMTRANS_RESET)
# # Send TTS
# time.sleep(5)
# mySender.send_robot_tts_cmd('Tell me something')
# # Start listening
# mySender.send_robot_asr_cmd(JiboAsrCommand.START, False, True, new_rule)
# time.sleep(10)
# # Play audio
# mySender.send_robot_audio_cmd(JiboAction.RING_IN_SOUND)
# time.sleep(20)
# # Stop listening
# mySender.send_robot_asr_cmd(JiboAsrCommand.STOP)
# # Motion and Audio command
# mySender.send_robot_audio_motion_cmd("instruments/Blocks.mp3", "heart-beat.keys")
# # LED color
# mySender.send_robot_led_cmd(0,1,0)
# rospy.spin()
# if __name__ == '__main__':
# main()
def send_robot_volume_cmd(self, v):
"""
send LED ring color Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_volume = True
msg.volume = v
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_led_cmd(self, r, g, b):
"""
send LED ring color Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_led = True
color = JiboVec3(r, g, b)
msg.led_color = color
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_speech_motion_message(speech, motion):
""" Publish JiboAction playback audio message """
print '\nsending speech and motion message'
msg = JiboAction()
msg.do_sound_playback = True
msg.wav_filename = speech
msg.do_motion = True
msg.motion = motion
pub_re.publish(msg)
def send_robot_motion_cmd(command):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = command
jibo_publisher.publish(msg)
def send_robot_tts_cmd(text):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = text
jibo_publisher.publish(msg)
def send_robot_audio_cmd(self, audio_command):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = audio_command
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_motion_cmd(command):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = command
jibo_publisher.publish(msg)
def send_robot_tts_cmd(text):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = text
jibo_publisher.publish(msg)
def send_robot_tts_cmd(self, text, *args):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = text
self.robot_commander.publish(msg)
def send_robot_audio_motion_cmd(self, a, m):
"""
send LED ring color Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_sound_playback = True
msg.do_motion = True
msg.audio_filename = a
msg.motion = m
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_motion_cmd(self, command):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = command
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_audio_cmd(self, audio_command):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = audio_command
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_tts_cmd(self, text):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = text
self.robot_commander.publish(msg)
rospy.loginfo(msg)
print("\nSent TTS message: ", text)
def send_robot_lookat_cmd(self, x, y, z):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = True
position = JiboVec3(x, y, z)
msg.look_at = position
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_motion_cmd(command):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = command
robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_lookat_cmd(self, x, y, z):
"""
send a Motion Command to Jibo
"""
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = True
position = JiboVec3(x, y, z)
msg.look_at = position
self.robot_commander.publish(msg)
rospy.loginfo(msg)
def get_msg_from_behavior(command, *args): #pylint: disable=too-many-branches, too-many-statements
msg = JiboAction()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
if command == RobotBehaviors.LOOK_AT_TABLET:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.LOOK_DOWN
elif command == RobotBehaviors.LOOK_CENTER:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.DEFAULT
elif command == RobotBehaviors.SAY_HI:
msg.do_sound_playback = True
msg.audio_filename = "SSA_hello.wav"
elif command == RobotBehaviors.RING_ANSWER_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.RING_IN_ANIM
elif command == RobotBehaviors.LATE_RING:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.RING_IN_ANIM
elif command == RobotBehaviors.PRONOUNCE_CORRECT:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = args[0][0]
print(args[0][0])
elif command == RobotBehaviors.PRONOUNCE_WRONG_SOUND:
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
num = randint(0, 2)
if num == 0:
msg.audio_filename = "SSA_disappointed.m4a"
elif num == 1:
msg.audio_filename = "SSA_wrong.m4a"
elif num == 2:
msg.audio_filename = "SSA_wompwomp.m4a"
elif command == RobotBehaviors.PRONOUNCE_WRONG_SPEECH:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.do_sound_playback = False
num = randint(0, 3)
if num == 0:
msg.tts_text = "gee I don't know"
elif num == 1:
msg.tts_text = "wow I'm not sure about this one"
elif num == 2:
msg.tts_text = "I don't know this one"
elif num == 3:
msg.tts_text = "I don't know this one"
elif command == RobotBehaviors.REACT_ROBOT_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
num = randint(0, 1)
if num == 0:
msg.motion = "Misc/Eye_to_Happy_01.keys"
elif num == 1:
msg.motion = "Misc/Eye_to_Happy_02.keys"
elif command == RobotBehaviors.REACT_ROBOT_WRONG:
msg.do_sound_playback = False
msg.do_tts = False
msg.do_lookat = False
msg.do_motion = True
num = randint(0, 2)
if num == 0:
msg.motion = "Misc/Eye_Sad_03_01.keys"
elif num == 1:
msg.motion = "Misc/Eye_Sad_03_02.keys"
elif num == 2:
msg.do_motion = True
msg.motion = "Misc/Frustrated_01_04.keys"
elif command == RobotBehaviors.REACT_PLAYER_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
num = randint(0, 1)
if num == 0:
msg.motion = "Misc/Eye_to_Happy_01.keys"
elif num == 1:
msg.motion = "Misc/Eye_to_Happy_02.keys"
elif command == RobotBehaviors.REACT_PLAYER_WRONG:
msg.do_sound_playback = False
msg.do_tts = False
msg.do_lookat = False
msg.do_motion = True
num = randint(0, 2)
if num == 0:
msg.motion = "Misc/Eye_Sad_03_01.keys"
elif num == 1:
msg.motion = "Misc/Eye_Sad_03_02.keys"
elif num == 2:
msg.do_motion = True
msg.motion = "Misc/Frustrated_01_04.keys"
elif command == RobotBehaviors.REACT_TO_BEAT_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = "Misc/Frustrated_01_04.keys"
elif command == RobotBehaviors.REACT_TO_BEAT_WRONG:
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = "SSA_laugh.m4a"
elif command == RobotBehaviors.WIN_MOTION:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = JiboAction.HAPPY_GO_LUCKY_DANCE
elif command == RobotBehaviors.WIN_SPEECH:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = "I win I win I win I win I win"
elif command == RobotBehaviors.LOSE_MOTION:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = "Misc/Sad_03.keys"
elif command == RobotBehaviors.LOSE_SPEECH:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = "You beat me. I'll try to do better next time"
elif command == RobotBehaviors.EYE_FIDGET:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = JiboAction.EYE_FIDGET
elif command == RobotBehaviors.REACT_TO_BEAT:
msg.do_motion = True
msg.do_lookat = False
msg.motion = "Misc/Frustrated_01_04.keys"
elif command == RobotBehaviors.PLAYER_RING_PROMPT:
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = "SSA_prompt.m4a"
return msg
def get_msg_from_behavior(command, *args): #pylint: disable=too-many-branches, too-many-statements
msg = JiboAction()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
if command == RobotBehaviors.LOOK_AT_TABLET:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.LOOK_DOWN
elif command == RobotBehaviors.LOOK_CENTER:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.DEFAULT
elif command == RobotBehaviors.WIN_SPEECH:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = "I win I win I win"
elif command == RobotBehaviors.ROBOT_TURN_SPEECH:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = "It is my turn now"
elif command == RobotBehaviors.RING_ANSWER_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = False
msg.motion = JiboAction.RING_IN_ANIM
# elif command == RobotBehaviors.LATE_RING:
# msg.do_motion = True
# msg.do_tts = False
# msg.do_lookat = False
# msg.do_sound_playback = False
# msg.motion = JiboAction.RING_IN_ANIM
elif command == RobotBehaviors.PRONOUNCE_CORRECT:
msg.do_motion = False
msg.do_tts = True
msg.do_lookat = False
msg.tts_text = args[0][0]
print(args[0][0])
elif command == RobotBehaviors.REACT_CHILD_ANSWER_WRONG:
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = "SSA_disappointed.m4a"
# elif command == RobotBehaviors.PRONOUNCE_WRONG_SPEECH:
# msg.do_motion = False
# msg.do_tts = True
# msg.do_lookat = False
# msg.do_sound_playback = False
# msg.tts_text = "I dont know this one"
elif command == RobotBehaviors.REACT_CHILD_ANSWER_CORRECT:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = "Misc/Eye_to_Happy_01.keys"
# elif command == RobotBehaviors.REACT_ANSWER_WRONG:
# msg.do_motion = False
# msg.do_tts = False
# msg.do_lookat = False
# msg.do_sound_playback = True
# msg.audio_filename = "SSA_disappointed.m4a"
# elif command == RobotBehaviors.REACT_TO_BEAT_CORRECT:
# msg.do_motion = True
# msg.do_tts = False
# msg.do_lookat = False
# msg.do_sound_playback = False
# msg.motion = "Misc/Frustrated_01_04.keys"
elif command == RobotBehaviors.REACT_GAME_START:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = "Misc/Eye_to_Happy_01.keys"
elif command == RobotBehaviors.REACT_GAME_START2:
msg.do_motion = False
msg.do_tts = False
msg.do_lookat = False
msg.do_sound_playback = True
msg.audio_filename = "SSA_laugh.m4a"
elif command == RobotBehaviors.WIN_MOTION:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = JiboAction.HAPPY_GO_LUCKY_DANCE
# elif command == RobotBehaviors.LOSE_MOTION:
# msg.do_motion = True
# msg.do_tts = False
# msg.do_lookat = False
# msg.motion = JiboAction.EMOJI_RAINCLOUD
# elif command == RobotBehaviors.LOSE_SPEECH:
# msg.do_motion = False
# msg.do_tts = True
# msg.do_lookat = False
# msg.tts_text = "I lost. Oh well. I'll beat you next time"
elif command == RobotBehaviors.EYE_FIDGET:
msg.do_motion = True
msg.do_tts = False
msg.do_lookat = False
msg.motion = JiboAction.EYE_FIDGET
# elif command == RobotBehaviors.REACT_TO_BEAT:
# msg.do_motion = True
# msg.do_lookat = False
# msg.motion = "Misc/Frustrated_01_04.keys"
# elif command == RobotBehaviors.PLAYER_RING_PROMPT:
# msg.do_motion = False
# msg.do_tts = False
# msg.do_lookat = False
# msg.do_sound_playback = True
# msg.audio_filename = "SSA_prompt.m4a"
return msg