def __init__(self,Time=30,bucle=True,calibrate=False,Time_calibrate=12):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=[],
output_keys=['asr_userSaid', 'standard_error', 'asr_userSaid_tags'])
if calibrate :
print "Calibrate is true"
Time=Time_calibrate
else:
print "Calibrate is FALSE"
with self:
self.userdata.asr_userSaid=None
self.userdata.standard_error="OK"
self.userdata.asr_userSaid_tags=None
# # topic reader state
# smach.StateMachine.add('topicReader',
# topic_reader_state(Time,calibrate),
# transitions={'succeeded': 'Process', 'aborted': 'check_bucle', 'preempted': 'preempted'})
# topic reader state
smach.StateMachine.add('topicReader',
topic_reader(Time,calibrate),
transitions={'succeeded': 'Process', 'aborted': 'check_bucle', 'preempted': 'preempted'})
# Process asr_event -> asr_userSaid state
smach.StateMachine.add('check_bucle',
check_bucle(bucle),
transitions={'succeeded': 'topicReader', 'aborted': 'aborted'})
# Process asr_event -> asr_userSaid state
smach.StateMachine.add('Process',
Extraction_cb(),
transitions={'succeeded': 'succeeded'})
def __init__(self,
Time=30,
bucle=True,
calibrate=False,
Time_calibrate=12):
smach.StateMachine.__init__(
self,
outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=[],
output_keys=[
'asr_userSaid', 'standard_error', 'asr_userSaid_tags'
])
if calibrate:
print "Calibrate is true"
Time = Time_calibrate
else:
print "Calibrate is FALSE"
with self:
self.userdata.asr_userSaid = None
self.userdata.standard_error = "OK"
self.userdata.asr_userSaid_tags = None
# # topic reader state
# smach.StateMachine.add('topicReader',
# topic_reader_state(Time,calibrate),
# transitions={'succeeded': 'Process', 'aborted': 'check_bucle', 'preempted': 'preempted'})
# topic reader state
smach.StateMachine.add('topicReader',
topic_reader(Time, calibrate),
transitions={
'succeeded': 'Process',
'aborted': 'check_bucle',
'preempted': 'preempted'
})
# Process asr_event -> asr_userSaid state
smach.StateMachine.add('check_bucle',
check_bucle(bucle),
transitions={
'succeeded': 'topicReader',
'aborted': 'aborted'
})
# Process asr_event -> asr_userSaid state
smach.StateMachine.add('Process',
Extraction_cb(),
transitions={'succeeded': 'succeeded'})
def main():
rospy.init_node('asr_topic_reader_testing')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
topic_time_out = 30
smach.StateMachine.add(
'dummy_state',
topic_reader(topic_time_out),
transitions={'succeeded': 'Printing','preempted':'preempted', 'aborted':'aborted'})
smach.StateMachine.add(
'Printing',
PrintUserdataPose(),
transitions={'succeeded': 'succeeded','preempted':'preempted', 'aborted':'aborted'})
sm.execute()
rospy.spin()
def main():
rospy.init_node('asr_topic_reader_testing')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
topic_time_out = 30
smach.StateMachine.add('dummy_state',
topic_reader(topic_time_out),
transitions={
'succeeded': 'Printing',
'preempted': 'preempted',
'aborted': 'aborted'
})
smach.StateMachine.add('Printing',
PrintUserdataPose(),
transitions={
'succeeded': 'succeeded',
'preempted': 'preempted',
'aborted': 'aborted'
})
sm.execute()
rospy.spin()
