def testNaoConnection(NAOip, NAOport):
worked = False
try:
print NAOip, NAOport
# naoBehavior = connectToProxy(NAOip, NAOport, "ALBehaviorManager")
# names = naoBehavior.getInstalledBehaviors()
# print "Names: ", names
naoMotions = BasicMotions(NAOip, NAOport)
print "Made Basic Motions"
naoMotions.naoSay("Connected!")
# naoMotions.naoSit()
# naoMotions.naoShadeHeadSay("Hello, the connection worked!")
testExpressions = False
if testExpressions:
genUtil = GenUtil(naoMotions)
genUtil.testExpressions()
worked = True
except Exception as e:
print "Connection Failed, maybe wrong IP and/or Port"
print e
print "Connection Test Finished"
return worked
def main(NAOip, NAOport, name):
print "***************************************************************************"
print "***************************************************************************"
print "Have You updated the _FSM_INPUT File for this interaction? (1) yes, (2) no: ",
textInput = str(raw_input()).lower()
print "***************************************************************************"
if textInput == "1":
naoMotions = BasicMotions(NAOip, NAOport)
robotName = name
genUtil = GenUtil(naoMotions)
genUtil.showFoodDB()
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAOip, NAOport)
global naoReactionChecker
naoReactionChecker = NAOReactionChecker.NAOReactionChecker(genUtil, NAOip, NAOport)
thread1 = ThreadedChecker(1, "Main Checker #1", genUtil)
thread2 = UserAffectGenerator(2, "User Affect Generator #1", 3, genUtil)
dateTime = genUtil.getDateTime()
[userName, userNumber, activityInteractionType, lastInteraction] = getFSMInputVars()
userInfo = initiateUserInfo(userName, userNumber, activityInteractionType, dateTime)
# runSomeTest(genUtil)
genUtil.showHappyEyes()
# naoMotions.naoSit()
print "NAO is currently: ", naoMotions.getPostureFamily()
speed = 0.2
if naoMotions.getPostureFamily() == "Sitting":
speed = 0.7
global sitTest
sitTest = False
if not sitTest:
naoMotions.naoStand(speed)
# naoMotions.naoWaveBoth()
naoMotions.naoAliveON()
# ============================================================= Start Functionality
print("State Machine Started")
print
print
thread1.start()
# thread2.start()
dietFitnessFSM = DietFitnessFSM(genUtil, robotName, userName, userNumber, activityInteractionType, lastInteraction)
[currentState, robotEmotionNum, obserExpresNum] = dietFitnessFSM.getFSMState()
appraiseState = False
user_input = "Start"
while currentState != 0:
print("=========================================================================================")
print "FSM Info: ", [currentState, robotEmotionNum, obserExpresNum]
if appraiseState:
genUtil.expressEmotion(obserExpresNum)
[currentState, robotEmotionNum, obserExpresNum, appraiseState] = dietFitnessFSM.activityFSM()
thread1.quit()
# thread2.quit()
genUtil.naoTurnOffEyes()
# naoMotions.naoSit()
NAOReactionChecker.ActuallyUnsubscribeAllEvents()
myBroker.shutdown()
naoMotions.naoAliveOff()
print
[stateTimeStamp, stateDateTime, fsmStateHist,
reHist, oeHist, driveStatHist, fsmStateNameHist] = dietFitnessFSM.getHistories()
print "History of TimeStamps: ", stateTimeStamp
print "History of DateTimes: ", stateDateTime
print "History of FSM States: ", fsmStateHist
print "History of FSM State Names: ", fsmStateNameHist
print "History of Robot Emotions: ", reHist
print "History of Observable Expressions: ", oeHist
print "History of Drive Statuses: ", driveStatHist
writeUserHistories(userName, userNumber, userInfo, dateTime,
stateTimeStamp, stateDateTime, fsmStateHist, reHist, oeHist, driveStatHist, fsmStateNameHist)
else:
print "Go updated the input file for this interaction"
print "It can be found at: ProgramDataFiles\_FSM_INPUT.json"
print
print("State Machine Finished")
