def call_go_to(loc_name):
out = aborted
tries = 0
while(out==aborted and tries<3):
if loc_name == 'exit':
out = call_exit()
else:
print "SM : go_to %s" % (loc_name)
tosay = "I'm going to the "+loc_name
speak = SpeakActionState(text=tosay)
speak.execute(ud=None)
mr = MoveToRoomSM()
mr.userdata._data = {'room_name': loc_name.replace(' ', '_')}
#mr.userdata.room_name = loc_name
out = mr.execute()
tries = tries+1
return succeeded
def call_exit(): #TODO well
out = aborted
tries = 0
while(out==aborted and tries<3):
print "SM : go_to exit"
tosay = "I'm going to the exit"
speak = SpeakActionState(text=tosay)
speak.execute(ud=None)
mr = MoveToRoomSM()
mr.userdata._data = {'room_name': 'pre_exit'} #preguntar gerard
#mr.userdata.room_name = loc_name
out = mr.execute()
# sr = ServiceState('/alive_engine/stop', Empty)
# out = sr.execute(ud=None)
mr.userdata._data = {'room_name': 'exit'}
out = mr.execute()
tries = tries+1
return succeeded
'''time.sleep(3)
