def main():
#print "Enter the IP of the robot: "
#robotIP = raw_input()
#print "Enter the PORT of the robot: "
#robotPORT = int(raw_input())
global searchTime
searchTime = time.clock()
global memoryProxy
global postureProxy
global motionProxy
global speechProxy
global ballSub
global faceSub
goal.Goal.target = "Nothing"
print goal.Goal.target
a = actions.actionsInit()
a.init()
a.toggleAutoLife()
r = actions.rest()
r.rest()
action = actionsList.actionsList()
action.init()
memoryProxy = ALProxy("ALMemory")
postureProxy = ALProxy("ALRobotPosture")
motionProxy = ALProxy("ALMotion")
speechProxy = ALProxy("ALAnimatedSpeech")
global ballEvent
ballEvent = ballEventListener("ballEvent")
global faceEvent
faceEvent = faceEventListener("faceEvent")
actions.actionsInit.goalAchieved = True
try:
while True:
aStarPlanner()
time.sleep(1)
except KeyboardInterrupt:
ballEvent.unsub()
faceEvent.unsub()
actions.stopTracking()
quit()
def main():
#print "Enter the IP of the robot: "
#robotIP = raw_input()
#print "Enter the PORT of the robot: "
#robotPORT = int(raw_input())
global searchTime
searchTime = time.clock()
global memoryProxy
global postureProxy
global motionProxy
global speechProxy
global ballSub
global faceSub
goal.Goal.target = "Nothing"
print goal.Goal.target
a = actions.actionsInit()
a.init()
a.toggleAutoLife()
r = actions.rest()
r.rest()
action = actionsList.actionsList()
action.init()
memoryProxy = ALProxy("ALMemory")
postureProxy = ALProxy("ALRobotPosture")
motionProxy = ALProxy("ALMotion")
speechProxy = ALProxy("ALAnimatedSpeech")
global ballEvent
ballEvent = ballEventListener("ballEvent")
global faceEvent
faceEvent = faceEventListener("faceEvent")
actions.actionsInit.goalAchieved = True
try:
while True:
aStarPlanner()
time.sleep(1)
except KeyboardInterrupt:
ballEvent.unsub()
faceEvent.unsub()
actions.stopTracking()
quit()
def finiteStateMachine():
if actions.actionsInit.goalAchieved == True:
actions.stopTracking()
return
global step
global listOfActions
a = actionsList.actionsList()
goal.Goal.target = "Nothing"
print "The precondition is: " + str(
a.checkEffect(a.findPrecondition(listOfActions[0])))
if a.checkEffect(a.findPrecondition(
listOfActions[0])) == True and step > 1:
perform(listOfActions[0])
del listOfActions[0]
step -= 1
elif a.checkEffect(a.findPrecondition(
listOfActions[0])) == True and step == 1:
perform(listOfActions[0])
del listOfActions[0]
step -= 1
print "Goalachieved is: " + str(actions.actionsInit.goalAchieved)
if actions.actionsInit.goalAchieved == True:
for index in range(len(listOfActions)):
del listOfActions[0]
print "returning"
return
print listOfActions
if step == 0:
actions.actionsInit.goalAchieved = True
else:
actions.actionsInit.goalAchieved = False
def finiteStateMachine():
if actions.actionsInit.goalAchieved == True:
actions.stopTracking()
return
global step
global listOfActions
a = actionsList.actionsList()
goal.Goal.target = "Nothing"
print "The precondition is: " + str(a.checkEffect(a.findPrecondition(listOfActions[0])))
if a.checkEffect(a.findPrecondition(listOfActions[0])) == True and step > 1:
perform(listOfActions[0])
del listOfActions[0]
step-=1
elif a.checkEffect(a.findPrecondition(listOfActions[0])) == True and step == 1:
perform(listOfActions[0])
del listOfActions[0]
step-=1
print "Goalachieved is: " + str(actions.actionsInit.goalAchieved)
if actions.actionsInit.goalAchieved == True:
for index in range(len(listOfActions)):
del listOfActions[0]
print "returning"
return
print listOfActions
if step == 0:
actions.actionsInit.goalAchieved = True
else:
actions.actionsInit.goalAchieved = False
