Пример #1
0
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()
Пример #2
0
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()
Пример #3
0
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
Пример #4
0
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