def decision_making(self, withUpdate=True):
# The robot first recognizes the informer
informer = self.robot.face_recognition()
if self.simulation:
self.relocate_sticker()
self.robot.say(
"Can you suggest me the location of the sticker? Left or right?")
hint = self.robot.listen_for_side(self.informant_vocabulary)
# Decision making based on the belief network for that particular informant
choice = self.robot.beliefs[informer].decision_making(hint)
if self.simulation:
print "Robot decides to look at position: " + str(choice)
else:
self.robot.say(
"I'm thinking at where to look based on your suggestion...")
self.robot.animation_service.runTag("think")
self.robot.set_led_color("white")
found = self.robot.look_for_landmark(choice)
if self.mature:
# Mature ToM
if hint == choice and found:
self.robot.say(
"I trusted you and your suggestion was correct. Thank you!"
)
if not self.simulation:
self.robot.animation_service.runTag("friendly")
elif hint == choice and not found:
self.robot.say("I trusted you, but you tricked me.")
if not self.simulation:
self.robot.animation_service.runTag("frustrated")
elif hint != choice and found:
self.robot.say("I was right not to trust you.")
if not self.simulation:
self.robot.animation_service.runTag("indicate")
elif hint != choice and not found:
self.robot.say("I didn't trust you, but I was wrong. Sorry.")
if not self.simulation:
self.robot.animation_service.runTag("ashamed")
else:
# Immature ToM
if found:
self.robot.say("Oh, here it is!")
else:
self.robot.say("The sticker is not here.")
# If required, update the belief network to consider this last episode
if withUpdate:
new_data = []
if self.mature:
# Mature ToM
if choice == "A" and found:
new_data = [1, 1, 1, 1]
elif choice == "B" and found:
new_data = [0, 0, 0, 0]
elif choice == "A" and not found:
new_data = [0, 0, 0, 1]
elif choice == "B" and not found:
new_data = [1, 1, 1, 0]
else:
# Immature ToM
if choice == "A":
new_data = [1, 1, 1, 1]
else:
new_data = [0, 0, 0, 0]
new_episode = Episode(new_data, self.robot.get_and_inc_time())
self.robot.beliefs[informer].update_belief(new_episode)
# Add the symmetric espisode too (with the same time value)
self.robot.beliefs[informer].update_belief(
new_episode.generate_symmetric())
# Finally, resets the eye color just in case an animation modified it
if not self.simulation:
self.robot.set_led_color("white")
