def choosenTasks(name, allert=""):
message = "%s , how can i help you? \n" % (name)
message += '{:s}'.format('\u0332'.join(allert))
event, rips = WindowTask(title=robot_gui_title,
message=message,
list=[
'Bring to me keys',
'Bring to me food delivered', 'On/Off Tv',
'Cook me something', 'Open/Close Garage'
],
key="Tk")
ModifyDatabaseStorage(name)
Settings.ModifyName(name)
if event == 'Ok':
if (rips['Tk'] != []):
SetAllActionsAvailableFromDB()
SetAllActionsFromDB()
if (rips['Tk'][0] == 'Bring to me keys'):
MainTaskKeys(name, task=rips['Tk'][0])
elif (rips['Tk'][0] == 'Bring to me food delivered'):
MainTaskFood(name, task=rips['Tk'][0])
elif (rips['Tk'][0] == 'On/Off Tv'):
MainTaskOnOffTV(name, task=rips['Tk'][0])
elif (rips['Tk'][0] == 'Open/Close Garage'):
MainTaskOpenCloseGarage(name, task=rips['Tk'][0])
elif (rips['Tk'][0] == 'Cook me something'):
MainTaskCook(name, task=rips['Tk'][0])
else:
choosenTasks(name, allert='Please, choose Task')
if event == 'Reset Db':
ClearDatabaseStorage()
ClearDatabaseActions()
Settings.ClearActualSolution()
ProgressWinodw(robot_gui_title, 'Reset of Database ...', 100, 10)
subprocess.run('python MainRonRobot.py')
if (event == 'View Home'):
event, result = ViewMapPopup(robot_gui_title)
if (event == 'Back'):
choosenTasks(name)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
def MainTaskOnOffTV(name, task):
if (Settings.PositionRon == [] and Settings.PositionController == []):
Settings.ModifyName(name[0])
event, onTv = Window(robot_gui_title,
'%s , I have to on or off the TV?' % (name),
'OTV', ['OnTv', 'OffTv'])
if event == 'Ok':
Settings.OnTv = onTv['OTV'][0]
OnOrOffTv = Settings.OnTv
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor'
]
event, position_start = Window(
robot_gui_title, 'Hi %s , in which room i am ?' % (name), 'LB',
list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasController == []):
solution, goal_position, where_controller, has_controller = RonTaskOnOffTv(
Settings.PositionRon[0], OnOrOffTv)
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_tv(
robot_position=Settings.PositionRon[0],
position_object=where_controller,
position_tv=Settings.PositionTv[0])
plan_mess = planning_message_tv(
has_controller=has_controller, planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_controller,
goal_position,
has_controller,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-OnTv / OffTv\n-PickupController. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(
Settings.AllActions)
MainTaskOnOffTV(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
OnOrOffTv = Settings.OnTv
solution, goal_position, where_controller, has_controller = RonTaskOnOffTv(
Settings.PositionRon[0], OnOrOffTv)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasController[0] == 'no'):
Has_controller = False
else:
Has_controller = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_tv(
robot_position=Settings.PositionRon[0],
position_object=where_controller,
position_tv=Settings.PositionTv[0])
plan_mess = planning_message_tv(has_controller=Has_controller,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_controller,
goal_position,
Has_controller,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-OnTv / OffTv\n-PickupController\nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskOnOffTV(name, task)
else:
PopupCancel(robot_gui_aborted)
def MainTaskOpenCloseGarage(name, task):
if (Settings.PositionRon == []):
Settings.ModifyName(name[0])
event, taskOpenClose = Window(
robot_gui_title,
'%s , I have to open or close the Garage?' % (name), 'OCG',
['OpenGarage', 'CloseGarage'])
Settings.SetOpenGarage(taskOpenClose['OCG'][0])
if event == 'Ok':
taskOpenClose = taskOpenClose['OCG'][0]
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor', 'Door'
]
event, position_start = Window(
robot_gui_title, 'Hi %s , in which room i am ?' % (name), 'LB',
list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasKeys == [] and Settings.PositionKeys == []):
solution, goal_position, where_key, has_keys = RonTaskOpenCloseGarage(
Settings.PositionRon[0],
taskOpenCloseOff=taskOpenClose)
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_open_close_garage(
robot_position=Settings.PositionRon[0],
position_object=Settings.PositionKeys[0],
person_position=Settings.PositionGarage[0])
plan_mess = planning_message_open_close_garage(
has_keys=has_keys, planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_key,
goal_position,
has_keys,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupKeys\n-OpenGarage / CloseGarage\n.\nYou can choose one of these actions\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(
Settings.AllActions)
MainTaskOpenCloseGarage(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
else:
taskOpenClose = Settings.OpenGarage[0]
solution, goal_position, where_key, has_keys = RonTaskOpenCloseGarage(
Settings.PositionRon[0], taskOpenCloseOff=taskOpenClose)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasKeys[0] == 'no'):
Has_key = False
else:
Has_key = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_open_close_garage(
robot_position=Settings.PositionRon[0],
position_object=Settings.PositionKeys[0],
person_position=Settings.PositionGarage[0])
plan_mess = planning_message_open_close_garage(has_keys=Has_key,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
Settings.PositionKeys[0],
Settings.PositionGarage[0],
Has_key,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupKeys\n-OpenGarage / CloseGarage.\nYou can choose one of these actions\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction(sol['ADD_DEL_ACT'][0].name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskOpenCloseGarage(name, task)
else:
PopupCancel(robot_gui_aborted)
Settings.ClearActualSolution()
def MainTaskFood(name, task):
if (Settings.PositionRon == []):
Settings.ModifyName(name[0])
list_rooms = [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom',
'Floor', 'Door'
]
event, position_start = Window(robot_gui_title,
'Hi %s , in which room i am ?' % (name),
'LB', list_rooms, True)
if event == 'Ok' or event == 'Read From Sensor':
if (event != 'Read From Sensor'):
Settings.SetPositionRon(position_start['LB'][0])
else:
Settings.SetPositionRon(random.choice(list_rooms))
if (Settings.HasKeys == [] and Settings.PositionPerson == []):
solution, goal_position, where_food, has_food = RonTaskFood(
Settings.PositionRon[0], Settings.PositionFood[0])
actions = define_actions_robot(solution)
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
start_pos_mess = start_position_message_food(
robot_position=Settings.PositionRon[0],
position_object=where_food,
person_position=Settings.PositionPerson[0])
plan_mess = planning_message_food(has_food=has_food,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions,
Settings.PositionRon[0],
where_food,
goal_position,
has_food,
targ=task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupFood\n-DropFood. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskFood(name, task)
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
solution, goal_position, where_food, has_keys = RonTaskFood(
Settings.PositionRon[0], Settings.PositionFood[0])
Settings.SetActualSolution(solution)
if (Settings.ActualSolution != [[]]):
if (Settings.HasFood[0] == 'no'):
Has_food = False
else:
Has_food = True
actions = define_actions_robot(Settings.ActualSolution[0])
start_pos_mess = start_position_message_food(
robot_position=Settings.PositionRon[0],
position_object=where_food,
person_position=Settings.PositionPerson[0])
plan_mess = planning_message_food(has_food=Has_food,
planning=actions)
Popup('Start Position : ', start_pos_mess)
Popup('Solution : ', plan_mess)
robot_environment(actions, Settings.PositionRon[0], where_food,
goal_position, Has_food, task)
else:
event, sol = Window(
robot_gui_title,
'the problem is not feasible.\nIt is necessary to add in Database Of Actions of Ron:\n-PickupFood\n-DropFood. \nYou can choose one of these actions :\nP.s You can Add also an action\nthat will be useful after for other task.',
list=Settings.AllActions,
key="ADD_DEL_ACT")
if event == 'Ok':
Settings.AddAction(sol['ADD_DEL_ACT'][0])
Settings.DropAction((sol['ADD_DEL_ACT'][0]).name)
ModifyDatabaseActions(Settings.ActualActions)
ModifyDatabaseAllActionsAvailable(Settings.AllActions)
MainTaskFood(name, task)
else:
PopupCancel(robot_gui_aborted)
PopupCancel(robot_gui_aborted)
# The main function
if __name__ == "__main__":
sg.theme('DarkAmber')
Settings.init()
name_db = ReadDatabaseStorage()
if (name_db != ''):
result = name_db.index(' 1')
choosenTasks(name_db[:result])
else:
event, name = sg.Window(robot_gui_title, [
[sg.Image(r'Image\robot.png')],
[
sg.Text(
'Hi, im Ron, The Robot that aims to performs many task on your Home!'
)
], [sg.Text('Can i know your Name?'),
sg.InputText()],
[sg.Text('When you are ready, Click OK to Start! ')],
[sg.Button('Ok'), sg.Button('Off Ron')]
]).read(close=True)
if event == 'Ok':
choosenTasks(name[1])
else:
PopupCancel(robot_gui_aborted)
def RonTaskCookFood(position_start):
solution = []
Settings.ClearActualSolution()
where_food = Settings.PositionFoodCooking[0]
if (Settings.TypeFood == [] and Settings.PositionPerson == []):
event, goal_position = Window(robot_gui_title, 'Where are you now? ',
'LC', [
'Personalroom', 'Kitchen', 'Bedroom',
'Bathroom', 'Livingroom', 'Floor'
])
if event == 'Ok':
goal_position = goal_position["LC"][0]
event, type_food = Window(robot_gui_title,
'What type of food do you prefer?', 'FF',
['Pasta', 'Sandwich', 'Hamburger'])
if event == 'Ok':
type_food = type_food["FF"][0]
Settings.SetTypeFood(type_food)
Settings.SetPositionPerson(goal_position)
try:
solution.append(
RonTaskCookFoodPosStart(
initial_position=position_start.strip(),
process_task='go_cook',
where_food=where_food.strip(),
goal_position=where_food.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(
initial_position=where_food.strip(),
process_task="take",
where_food=where_food.strip(),
goal_position=where_food.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(
initial_position=goal_position.strip(),
process_task="bring_to",
where_food=where_food.strip(),
goal_position=goal_position.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(
initial_position=goal_position.strip(),
process_task="drop",
where_food=goal_position.strip(),
goal_position=goal_position.strip(),
type_food=type_food))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
else:
PopupCancel(robot_gui_aborted)
else:
where_food = Settings.PositionFoodCooking[0]
goal_position = Settings.PositionPerson[0]
type_food = Settings.TypeFood[0]
try:
solution.append(
RonTaskCookFoodPosStart(
initial_position=position_start.strip(),
process_task='go_cook',
where_food=where_food.strip(),
goal_position=where_food.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(initial_position=where_food.strip(),
process_task="take",
where_food=where_food.strip(),
goal_position=where_food.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(initial_position=goal_position.strip(),
process_task="bring_to",
where_food=where_food.strip(),
goal_position=goal_position.strip(),
type_food=type_food))
solution.append(
RonTaskCookFoodPosStart(initial_position=goal_position.strip(),
process_task="drop",
where_food=goal_position.strip(),
goal_position=goal_position.strip(),
type_food=type_food))
ProgressWinodw('Load Solution ...', 'Solution AI from aima ...',
100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
return solution, goal_position, where_food, type_food
def RonTaskOnOffTv(position_start, OnOrOffTv):
solution = []
Settings.ClearActualSolution()
goal_position = Settings.PositionTv[0]
if (Settings.PositionController == [] and Settings.HasController == []):
event, controller_tv = Window(
robot_gui_title,
'I already have the Controller of Tv you need (no or yes) ', 'LF',
['no', 'yes'])
if event == 'Ok':
controller_tv_ = controller_tv["LF"][0]
if (controller_tv_.strip() == "no"):
has_controller = False
Settings.SetPositionHasController(controller_tv_)
event, where_controller = Window(
robot_gui_title, 'Where are the Controller? ', 'LR', [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom',
'Livingroom', 'Floor'
])
where_controller = where_controller["LR"][0]
Settings.SetPositionController(where_controller)
if event == 'Ok':
try:
solution.append(
RonTaskOnOffTvPosStart(
initial_position=position_start.strip(),
has_controller=controller_tv_.strip(),
where_controller=where_controller.strip(),
goal_position=where_controller.strip(),
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(
initial_position=where_controller.strip(),
has_controller="go_with_controller",
where_controller=where_controller.strip(),
goal_position=goal_position.strip(),
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(
initial_position=goal_position.strip(),
has_controller="bo",
where_controller=goal_position.strip(),
goal_position=goal_position.strip(),
taskOnOff=OnOrOffTv))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
#ClearDatabaseActions()
else:
has_controller = True
where_controller = position_start
Settings.SetPositionHasController(controller_tv)
try:
solution.append(
RonTaskOnOffTvPosStart(
initial_position=position_start,
has_controller="go_with_controller",
where_controller=where_controller,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(initial_position=goal_position,
has_controller="bo",
where_controller=goal_position,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
#ClearDatabaseActions()
else:
if (Settings.HasController[0] == 'no'):
has_controller = False
where_controller = Settings.PositionController[0]
else:
has_controller = True
where_controller = Settings.PositionRon[0]
if (Settings.HasController[0] == 'no'):
try:
solution.append(
RonTaskOnOffTvPosStart(
initial_position=position_start.strip(),
has_controller=Settings.HasController[0],
where_controller=where_controller,
goal_position=where_controller,
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(initial_position=where_controller,
has_controller="go_with_controller",
where_controller=where_controller,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(initial_position=goal_position,
has_controller="bo",
where_controller=goal_position,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
try:
solution.append(
RonTaskOnOffTvPosStart(
initial_position=position_start.strip(),
has_controller="go_with_controller",
where_controller=where_controller,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
solution.append(
RonTaskOnOffTvPosStart(initial_position=goal_position,
has_controller="bo",
where_controller=goal_position,
goal_position=goal_position,
taskOnOff=OnOrOffTv))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
return solution, goal_position, where_controller, has_controller
def RonTaskFood(position_start, where_food):
solution = []
Settings.ClearActualSolution()
if (Settings.HasFood == [] and Settings.PositionPerson == []):
event, goal_position = Window(robot_gui_title, 'Where are you now? ',
'LC', [
'Personalroom', 'Kitchen', 'Bedroom',
'Bathroom', 'Livingroom', 'Floor'
])
if event == 'Ok':
goal_position = goal_position["LC"][0]
event, food = Window(
robot_gui_title,
'I already have the Food you need (no or yes) ', 'LF',
['no', 'yes'])
if event == 'Ok':
food = food["LF"][0]
if (food.strip() == "no"):
has_food = False
#event, where_keys = Window(robot_gui_title, 'Where are the keys? ', 'LR',['Personalroom', 'Kitchen', 'Bedroom', 'Bathroom', 'Livingroom', 'Floor'])
#if event == 'Ok':
Settings.SetPositionHasFood(food)
Settings.SetPositionPerson(goal_position)
# settings.SetPositionFood(where_food);
try:
solution.append(
RonTaskFoodPosStart(
initial_position=position_start.strip(),
has_food=food.strip(),
where_food=where_food.strip(),
goal_position=where_food.strip()))
solution.append(
RonTaskFoodPosStart(
initial_position=where_food.strip(),
has_food="go_with_food",
where_food=where_food.strip(),
goal_position=goal_position.strip()))
solution.append(
RonTaskFoodPosStart(
initial_position=goal_position.strip(),
has_food="bo",
where_food=goal_position.strip(),
goal_position=goal_position.strip()))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
has_food = True
where_food = position_start
Settings.SetPositionHasFood(food.strip())
Settings.SetPositionPerson(goal_position.strip())
Settings.SetPositionFood(where_food.strip())
try:
solution.append(
RonTaskFoodPosStart(
initial_position=position_start,
has_food="go_with_food",
where_food=where_food,
goal_position=goal_position))
solution.append(
RonTaskFoodPosStart(initial_position=goal_position,
has_food="bo",
where_food=goal_position,
goal_position=goal_position))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
#ClearDatabaseActions()
else:
PopupCancel(robot_gui_aborted)
#ClearDatabaseActions()
else:
if (Settings.HasFood[0] == 'no'):
has_food = False
where_food = Settings.PositionFood[0]
else:
has_food = True
where_food = Settings.PositionRon[0]
goal_position = Settings.PositionPerson[0]
if (Settings.HasFood[0] == 'no'):
try:
solution.append(
RonTaskFoodPosStart(
initial_position=position_start.strip(),
has_food=Settings.HasFood[0],
where_food=where_food,
goal_position=where_food))
solution.append(
RonTaskFoodPosStart(
initial_position=where_food,
has_food="go_with_food",
where_food=where_food,
goal_position=Settings.PositionPerson[0]))
solution.append(
RonTaskFoodPosStart(
initial_position=Settings.PositionPerson[0],
has_food="bo",
where_food=Settings.PositionPerson[0],
goal_position=Settings.PositionPerson[0]))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
try:
solution.append(
RonTaskFoodPosStart(
initial_position=position_start.strip(),
has_food="go_with_food",
where_food=where_food,
goal_position=Settings.PositionPerson[0]))
solution.append(
RonTaskFoodPosStart(
initial_position=Settings.PositionPerson[0],
has_food="bo",
where_food=Settings.PositionPerson[0],
goal_position=Settings.PositionPerson[0]))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
return solution, goal_position, where_food, has_food
def RonTaskOpenCloseGarage(position_start, taskOpenCloseOff):
solution = []
Settings.ClearActualSolution()
if (Settings.HasKeys == [] and Settings.PositionKeys == []):
goal_position = Settings.PositionGarage[0]
event, keys = Window(robot_gui_title,
'I already have the keys you need (no or yes) ',
'LF', ['no', 'yes'])
if event == 'Ok':
keys = keys["LF"][0]
if (keys.strip() == "no"):
has_keys = False
event, where_keys = Window(
robot_gui_title, 'Where are the keys? ', 'LR', [
'Personalroom', 'Kitchen', 'Bedroom', 'Bathroom',
'Livingroom', 'Floor'
])
if event == 'Ok':
where_keys = where_keys["LR"][0]
Settings.SetPositionHasKey(keys)
Settings.SetPositionKeys(where_keys)
try:
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=position_start.strip(),
has_keys=keys.strip(),
where_keys=where_keys.strip(),
goal_position=where_keys.strip(),
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=where_keys.strip(),
has_keys="go_with_keys",
where_keys=where_keys.strip(),
goal_position=goal_position.strip(),
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=goal_position.strip(),
has_keys="OpenCloseGarage",
where_keys=goal_position.strip(),
goal_position=goal_position.strip(),
taskOpenCloseOff=taskOpenCloseOff))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
else:
has_keys = True
where_keys = position_start
Settings.SetPositionHasKey(keys.strip())
Settings.SetPositionPerson(goal_position.strip())
Settings.SetPositionKeys(where_keys.strip())
try:
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=position_start,
has_keys="go_with_keys",
where_keys=position_start,
goal_position=goal_position,
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=goal_position,
has_keys="OpenCloseGarage",
where_keys=goal_position,
goal_position=goal_position,
taskOpenCloseOff=taskOpenCloseOff))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
PopupCancel(robot_gui_aborted)
else:
if (Settings.HasKeys[0] == 'no'):
has_keys = False
else:
has_keys = True
where_keys = Settings.PositionKeys[0]
goal_position = Settings.PositionGarage[0]
if (Settings.HasKeys[0] == 'no'):
try:
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=position_start.strip(),
has_keys=Settings.HasKeys[0],
where_keys=Settings.PositionKeys[0],
goal_position=Settings.PositionKeys[0],
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=Settings.PositionKeys[0],
has_keys="go_with_keys",
where_keys=Settings.PositionKeys[0],
goal_position=Settings.PositionGarage[0],
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=Settings.PositionGarage[0],
has_keys="OpenCloseGarage",
where_keys=Settings.PositionGarage[0],
goal_position=Settings.PositionGarage[0],
taskOpenCloseOff=taskOpenCloseOff))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
else:
try:
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=position_start.strip(),
has_keys="go_with_keys",
where_keys=position_start.strip(),
goal_position=Settings.PositionGarage[0],
taskOpenCloseOff=taskOpenCloseOff))
solution.append(
RonTaskOpenCloseGaragePosStart(
initial_position=Settings.PositionGarage[0],
has_keys="OpenCloseGarage",
where_keys=Settings.PositionGarage[0],
goal_position=Settings.PositionGarage[0],
taskOpenCloseOff=taskOpenCloseOff))
ProgressWinodw('Load Solution ...',
'Solution AI from aima ...', 100, 10)
solution = [x for x in solution if x != []]
Settings.SetActualSolution(solution)
except:
Settings.ClearActualSolution()
solution = []
return solution, goal_position, where_keys, has_keys