class ai(subsystem):
"""Main statemachine ai process"""
def __init__(self, default_state_subs=[], loop_time=0.5):
self.state_subs = default_state_subs
self.loop_time = loop_time
self.last_face_number = 0
super().__init__("ai", "id_only")
def _run(self):
self.robot = StateMachine()
t1 = time()
self.status = "Idle()"
self.last_state = "Idle()"
while True:
slp = self.loop_time - (time() - t1)
if slp > 0:
sleep(slp)
t1 = time()
self.check_messages()
self.robot.event()
new_state = self.robot.state
if self.last_state != new_state:
#print("state update:", new_state)
self.last_state = new_state
self.send_state_update(new_state)
def check_messages(self):
#Update flags:
#Receive most recent number of faces in frame.
num_faces = self.get_messages(ref="num_faces")
num_faces = num_faces[0] if len(num_faces) else []
if num_faces and self.last_face_number != num_faces.message:
#print("Number of faces:", num_faces.message)
self.last_face_number = num_faces.message
self.robot.flags.person = bool(num_faces)
#Add processing for the rest of the flags here...
#Handle remaining messages
messages = self.get_messages()
#Subscriber updates
for m in messages:
if m.ref == "state_update_subscribe":
self.state_subs.append(m.sender_id)
if m.ref == "state_update_unsubscribe" and m.sender_id in self.state_subs:
self.state_subs.remove(m.sender_id)
def send_state_update(self, state):
self.status = state
for s in self.state_subs:
self.send_message(s, "ai_state_update", state)
s(log[cycle + 6]),
"\n name = ",
flag.name,
"\n question = ",
flag.question,
end="")
cuteRobot = StateMachine()
# Keep track of states
log = [" ", " ", " ", " ", " ", " ", " "]
for i in range(3000):
cuteRobot.event("")
t_end = time.time() + 2
while time.time() < t_end:
if keyboard.is_pressed('1'):
flag.person = not flag.person
if keyboard.is_pressed('2'):
flag.listening = not flag.listening
if keyboard.is_pressed('3'):
flag.processing = not flag.processing
if keyboard.is_pressed('4'):
flag.talking = not flag.talking
log.append(flag.currentState)
from states import flag
from stateMachine import StateMachine
import os
robot = StateMachine()
prompt = "\n> "
while True:
os.system('clear')
print("")
robot.event("")
print("\nCurrent State:", robot.state)
flag.printFlags()
x = input(prompt)
if x == "person appears":
flag.person = True
prompt = "\n> person "
elif x == "disappears" or x == "(person disappears)":
flag.person = False
prompt = "\n> "
elif x == "asks question":
flag.processing = True
prompt = "\n> their question is "
elif x == "invalid":
flag.processing = False
flag.question = -1
