from ravestate import registry
from ravestate.property import PropertyBase
registry.register(name="rawio",
props=(PropertyBase(name="in", default=""),
PropertyBase(name="out", default="")))
import rclpy
from ravestate import registry
from ravestate.state import state
from ravestate.receptor import receptor
from ravestate.property import PropertyBase
from std_msgs.msg import String
rclpy.init()
node = rclpy.create_node("vision_node")
@state(triggers=":startup")
def facerec_run(ctx):
@receptor(ctx_wrap=ctx, write="facerec:face")
def face_recognition_callback(ctx, msg):
ctx["facerec:face"] = msg
node.create_subscription(String, "/roboy/vision/recognized_faces",
face_recognition_callback)
rclpy.spin(node)
@state(triggers=":shutdown")
def facerec_shutdown():
node.destroy_node()
rclpy.shutdown()
registry.register(name="facerec",
props=PropertyBase(name="face", default=""),
states=(facerec_run, facerec_shutdown))
from ravestate.state import state
from ravestate.receptor import receptor
import ravestate_rawio
@state(read="rawio:in")
def console_shutdown(ctx):
rawin = ctx["rawio:in"]
if "bye" in rawin:
ctx.shutdown()
@state(triggers=":startup")
def console_input(ctx):
@receptor(ctx_wrap=ctx, write="rawio:in")
def write_console_input(ctx_input, value: str):
ctx_input["rawio:in"] = value
while not ctx.shutting_down():
input_value = input("> ")
write_console_input(input_value)
@state(read="rawio:out")
def console_output(ctx):
print(ctx["rawio:out"])
registry.register(name="consoleio",
states=(console_shutdown, console_input, console_output))
from ravestate_ui import service
@state(triggers=":startup", write="rawio:out")
def hello_world(ctx):
ctx["rawio:out"] = "Hello f*****g world!"
@state(read="rawio:in", write="rawio:out")
def generic_answer(ctx):
ctx["rawio:out"] = "Your input contains {} characters!".format(
len(ctx["rawio:in"]))
@state(read="facerec:face", write="rawio:out")
def face_recognized(ctx):
if ctx["facerec:face"]:
ctx["rawio:out"] = "I see you, {}!".format(ctx["facerec:face"])
registry.register(name="hi",
states=(hello_world, generic_answer, face_recognized))
ctx = Context()
ctx.add_module("ravestate_conio")
# ctx.add_module("ravestate_tts_watson")
# ctx.add_module("ravestate_facerec")
ctx.add_module("hi")
ctx.run()
service.advertise(ctx=ctx)
ctx.shutdown()
from ravestate import registry from ravestate_tts_watson import states registry.register(name="tts_watson", states=(states.audio_talk, ))