class Example:
"""Example that shows how to use the BasicSICConnector. For more information go to
https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/616398873/Python+Examples#Basic-SIC-Connector"""
def __init__(self, server_ip, robot):
self.sic = BasicSICConnector(server_ip, robot)
self.awake_lock = threading.Event()
def run(self):
# active Social Interaction Cloud connection
self.sic.start()
# set language to English
self.sic.set_language('en-US')
# stand up and wait until this action is done (whenever the callback function self.awake is called)
self.sic.wake_up(self.awake)
self.awake_lock.wait(
) # see https://docs.python.org/3/library/threading.html#event-objects
self.sic.say_animated('You can tickle me by touching my head.')
# Execute that_tickles call each time the middle tactile is touched
self.sic.subscribe_touch_listener('MiddleTactilTouched',
self.that_tickles)
# You have 10 seconds to tickle the robot
sleep(10)
# Unsubscribe the listener if you don't need it anymore.
self.sic.unsubscribe_touch_listener('MiddleTactilTouched')
# Go to rest mode
self.sic.rest()
# close the Social Interaction Cloud connection
self.sic.stop()
def awake(self):
"""Callback function for wake_up action. Called only once.
It lifts the lock, making the program continue from self.awake_lock.wait()"""
self.awake_lock.set()
def that_tickles(self):
"""Callback function for touch listener. Every time the MiddleTactilTouched event is generated, this
callback function is called, making the robot say 'That tickles!'"""
self.sic.say_animated('That tickles!')
class Example:
"""Example that shows how to use the Action, ActionFactory, and ActionRunner classes. For more information go to
https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/616398873/Python+Examples#Action,-ActionFactory,-and-ActionRunner"""
def __init__(self, server_ip, robot):
self.sic = BasicSICConnector(server_ip, robot)
self.hello_action_lock = threading.Event()
def run(self):
self.sic.start()
self.sic.set_language('en-US')
#################
# Action #
#################
# Create an action that can be executed when needed and reused
hello_action = Action(self.sic.say, 'Hello, Action!', callback=self.hello_action_callback,
lock=self.hello_action_lock)
hello_action.perform().wait() # perform() returns the lock, so you can immediately call wait() on it.
hello_action.perform().wait() # you can reuse an action.
#################
# Action Factory#
#################
# Use the ActionFactory to build actions. You can build actions with a lock build inside of them by
# using build_waiting_action(). It saves you from keeping track of your locks.
# build_action() and build_waiting_action() use the name of SIC method instead of an explicit reference to it
# as input. For example build_action('say', ...) instead of build_action(self.sic.say, ...).
action_factory = ActionFactory(self.sic)
hello_action_factory = action_factory.build_waiting_action('say', 'Hello, Action Factory!',
additional_callback=self.hello_action_factory_callback)
hello_action_factory.perform().wait()
#################
# Action Runner #
#################
# With an ActionRunner you can run regular and waiting actions right away or load them to run them in parallel.
# When running the loaded actions, it will wait automatically for all loaded waiting actions to finish.
action_runner = ActionRunner(self.sic)
action_runner.run_waiting_action('say', 'Hello, Action Runner!',
additional_callback=self.hello_action_runner_callback)
# run_waiting_action('say', ...) waits to finish talking before continuing
# The following actions will run in parallel.
#action_runner.load_waiting_action('wake_up')
action_runner.load_waiting_action('set_eye_color', 'green')
action_runner.load_waiting_action('say', 'I am standing up now')
action_runner.run_loaded_actions() # If you want to keep an action sequence for reuse, add False as input.
# run_loaded_actions() will wait automatically before all loaded waiting actions (not regular actions) to finish
# before continuing
action_runner.run_action('say', 'I will start sitting down as I say this. Because I am not a waiting action')
action_runner.run_action('set_eye_color', 'white')
action_runner.run_waiting_action('rest')
self.sic.stop()
def hello_action_callback(self):
print('Hello Action Done')
self.hello_action_lock.set()
self.hello_action_lock.clear() # necessary for reuse
def hello_action_factory_callback(self):
print('Hello Action Factory Done')
def hello_action_runner_callback(self):
print('Hello Action Runner Done')