def gesture(self, gesture, target=None, duration=None):
if not self.gesture_found:
self.wait_for_action_servers(self.gesture_client)
self.gesture_found = True
ParamFormatting.assert_types(self.gesture, gesture, IGesture)
goal = GestureGoal()
goal.gesture = gesture.name
if target is None:
goal.target = ''
else:
World().add_to_world(target)
ParamFormatting.assert_types(self.gesture, target, Entity)
goal.target = target.get_id()
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.gesture_client.send_goal(goal, done_cb=self.gesture_done)
ah = MultiGoalActionHandle(self.gesture_client, gh)
self.add_action_handle(ah)
return ah
def gesture(self, gesture, target=None, duration=None):
if not self.gesture_found:
self.wait_for_action_servers(self.gesture_client)
self.gesture_found = True
ParamFormatting.assert_types(self.gesture, gesture, IGesture)
goal = GestureGoal()
goal.gesture = gesture.name
if target is None:
goal.target = ""
else:
World().add_to_world(target)
ParamFormatting.assert_types(self.gesture, target, Entity)
goal.target = target.get_id()
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.gesture_client.send_goal(goal, done_cb=self.gesture_done)
ah = MultiGoalActionHandle(self.gesture_client, gh)
self.add_action_handle(ah)
return ah
def test_parse_say_to(self):
valid_gestures = ['wave', 'point']
goal_actual = SayToParser.parse_say_to("Hello I am a robot", 1, valid_gestures, tts_duration_srv)
goal_expected = SayToGoal()
goal_expected.text = "Hello I am a robot"
goal_expected.gestures = []
goal_expected.gesture_indicies = []
goal_expected.audience_id = 1
self.assertEqual(goal_actual, goal_expected)
goal_actual_1 = SayToParser.parse_say_to("<wave>Hello I am a robot</wave>", 1, valid_gestures, tts_duration_srv)
goal_expected_1 = SayToGoal()
goal_expected_1.text = "Hello I am a robot"
wave = GestureGoal()
wave.type = 'wave'
wave.duration = 1.0
goal_expected_1.gestures = [wave]
goal_expected_1.gesture_indicies = [0]
goal_expected_1.audience_id = 1
self.assertEqual(goal_actual_1, goal_expected_1)
self.assertRaises(GestureDoesNotExistError, SayToParser.parse_say_to, "<nod>Hello I am a robot</nod>", 1, valid_gestures, tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to, "<nod>Hello I am a robot</nod>", 'hello', valid_gestures, tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to, "<nod>Hello I am a robot</nod>", 1, 1, tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to, "<nod>Hello I am a robot</nod>", 1, valid_gestures, '1')
def test_parse_say_to(self):
valid_gestures = ['wave', 'point']
goal_actual = SayToParser.parse_say_to("Hello I am a robot", 1,
valid_gestures,
tts_duration_srv)
goal_expected = SayToGoal()
goal_expected.text = "Hello I am a robot"
goal_expected.gestures = []
goal_expected.gesture_indicies = []
goal_expected.audience_id = 1
self.assertEqual(goal_actual, goal_expected)
goal_actual_1 = SayToParser.parse_say_to(
"<wave>Hello I am a robot</wave>", 1, valid_gestures,
tts_duration_srv)
goal_expected_1 = SayToGoal()
goal_expected_1.text = "Hello I am a robot"
wave = GestureGoal()
wave.type = 'wave'
wave.duration = 1.0
goal_expected_1.gestures = [wave]
goal_expected_1.gesture_indicies = [0]
goal_expected_1.audience_id = 1
self.assertEqual(goal_actual_1, goal_expected_1)
self.assertRaises(GestureDoesNotExistError, SayToParser.parse_say_to,
"<nod>Hello I am a robot</nod>", 1, valid_gestures,
tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to,
"<nod>Hello I am a robot</nod>", 'hello',
valid_gestures, tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to,
"<nod>Hello I am a robot</nod>", 1, 1,
tts_duration_srv)
self.assertRaises(TypeError, SayToParser.parse_say_to,
"<nod>Hello I am a robot</nod>", 1, valid_gestures,
'1')
