def execute(self, userdata):
rospy.loginfo("Executing state ProcessInput")
# Give some feedback.
while not self.feedback_given:
userdata.listen_feedback.status_initialization = "completed"
userdata.listen_feedback.status_wait_for_user_input = "completed"
userdata.listen_feedback.status_process_input = "in_progress"
userdata.listen_feedback.error_detected = False
self.feedback_given = True
return 'processing'
sm = SpeechMatching()
matching_result = sm.match_sentence(userdata.accoustic_input)
result = ListenResult()
if matching_result[1][1] != 0:
rospy.loginfo("This is what I think you meant: %s",
matching_result[1][0])
result.success = True
else:
rospy.loginfo("I'm sorry, I don't know what you said. ")
return 'input_not_understood'
result.message = matching_result[1][0]
result.message_type = matching_result[0]
userdata.listen_result = result
return 'succeeded'
def execute(self, userdata):
rospy.loginfo("Executing state InputError")
# Give some feedback.
while not self.feedback_given:
userdata.listen_feedback.status_initialization = "completed"
userdata.listen_feedback.status_wait_for_user_input = "completed"
userdata.listen_feedback.status_process_input = "aborted"
userdata.listen_feedback.error_detected = True
self.feedback_given = True
return 'processing'
result = ListenResult()
result.success = False
result.message = "None"
result.message_type = "None"
userdata.listen_result = result
return 'error_detected'
def execute(self, userdata):
rospy.loginfo("Executing state ProcessInput")
rospy.loginfo("This was the input %s: ", userdata.accoustic_input)
# give some feedback
while not self.feedback_given:
userdata.listen_feedback.status_initialization = "completed"
userdata.listen_feedback.status_wait_for_user_input = "completed"
userdata.listen_feedback.status_process_input = "in_progress"
userdata.listen_feedback.error_detected = False
self.feedback_given = True
return 'processing'
pub = rospy.Publisher('talker', String, queue_size=10)
pub.publish(userdata.accoustic_input)
result = ListenResult()
result.success = True
result.message = userdata.accoustic_input
result.message_type = "String"
userdata.listen_result = result
return 'succeeded'
def set_result(self, success, message):
result = ListenResult()
result.success = success
result.message = message
return result