def listenGoToResultCB(self, result):
name = result.data
for desire in self.curDesireSet.desires:
if desire.type == "AddLandmark":
paramsDict = safe_load(desire.params)
if paramsDict["name"] == name:
print "Landmark we wanted was added"
event = Event()
event.desire = desire.id
event.desire_type = desire.type
event.type = Event.ACC_ON
self.eventPublisher.publish(event)
def listenFaceDetectionCB(self, success):
if success.data == True:
for desire in self.curDesireSet.desires:
if desire.type == "face_detection":
paramsDict = safe_load(desire.params)
event = Event()
event.desire = desire.id
event.desire_type = desire.type
event.type = Event.ACC_ON
self.eventPublisher.publish(event)
rospy.loginfo("ok face detection")
else:
# here things to do if we have a false too often
pass
def listenGoToResultCB(self, result):
succes = result.result
if result.result == True:
for desire in self.curDesireSet.desires:
if desire.type == "GoToLandmark":
print "looking at a GoToLandmark"
paramsDict = safe_load(desire.params)
if result.landmark == paramsDict["name"]:
print "Attained Landmark found in gotoLandmark desires"
event = Event()
event.desire = desire.id
event.desire_type = desire.type
event.type = Event.ACC_ON
self.eventPublisher.publish(event)
else:
print "name did not match"
else:
# What do we do when GoTo fails?
pass
def desire_event_change(self, Event_type):
"""
This method send an event depening from which it's type depend of the argument
Arguments
---------
Event_type: Event.type
The type of event given by the caller representing the states of the desire
"""
# S'il y a beaucoup de desirs du meme type... il me semble que ca ne fonctionnera pas
event = Event()
rospy.loginfo(self.curDesireSet.desires)
for desire in self.curDesireSet.desires:
if desire.type == "Listening":
event.desire = desire.id
event.desire_type = desire.type
event.type = Event_type
self.event_publisher.publish(event)
#reset
self.timer.cancel()
self.actual_context = ""
def listenGoToResultCB(self, result):
succes = result.result
if result.result == True:
for desire in self.curDesireSet.desires:
if desire.type == "GoTo":
paramsDict = safe_load(desire.params)
if equalWithinTolerance(result.x, paramsDict["x"],
0.1) and equalWithinTolerance(
result.y, paramsDict["y"],
0.1) and equalWithinTolerance(
result.t, paramsDict["t"],
0.1):
print "Position found within tolerance of a goal position"
event = Event()
event.desire = desire.id
event.desire_type = desire.type
event.type = Event.ACC_ON
self.eventPublisher.publish(event)
else:
print "Position found outside tolerance of a goal position"
else:
# What do we do when GoTo fails?
pass
def desire_event_change(self, detection):
"""
This method is the callback of the output of the module it observes. it sends an event depending on the result
get from the topic.
Arguments
---------
SpeechText: Bool
The result of the output of the module it observes. In this case it is the detection of the keyword
"""
# S'il y a beaucoup de desirs du meme type... il me semble que ca ne fonctionnera pas
event = Event()
for desire in self.curDesireSet.desires:
if desire.type == "Keyword_detection":
event.desire = desire.id
event.desire_type = desire.type
if self.accomplish_criterion(detection):
event.type = Event.ACC_ON
self.event_publisher.publish(event)
elif self.cancel_criterion():
#Probleme actuel est que si le desir n'est pas active il peut tout de meme changer d'etat!
event.type = Event.IMP_ON
self.event_publisher.publish(event)
def desire_event_change(self, talkingDone):
"""
This method is the callback of the output of the module it observes, it then send an event depending the result
get from the topic.
Arguments
---------
talkingDone: Bool
The result of the output of the module it is connected to. In this case it is a confirmation the robot talked
"""
# S'il y a beaucoup de desirs du meme type... il me semble que ca ne fonctionnera pas
event = Event()
for desire in self.curDesireSet.desires:
if desire.type == "Talking":
event.desire = desire.id
event.desire_type = desire.type
if self.accomplish_criterion(talkingDone):
event.type = Event.ACC_ON
self.event_publisher.publish(event)
elif self.cancel_criterion():
#Probleme actuel est que si le desir n'est pas active il peut tout de meme changer d'etat!
event.type = Event.IMP_ON
self.event_publisher.publish(event)