def attractCustomers(emotions):
"""
Randomize between:
Two Achoo - https://freesound.org/people/Reitanna/sounds/343921/
Scoot a bit back with each achoo, then roll slowly forward
Roll eyes all the way around with each achoo
Show purple light on achoo
Random chirping - https://freesound.org/people/radarflora/sounds/350690/
Roll around a bit
Look around a bit
Rainbow lights
"""
#TODO
reaction = random.random() * 100
if reaction < 10:
mir_calls.add_to_mission_queue("f747a369-509c-11e9-9b99-94c691a3a93e")
emotions.mod_emotion(2, 2)
eyes.rollEyes()
if reaction >= 10 and reaction < 20:
eyes.lookRight()
time.sleep(2)
eyes.lookUp()
time.sleep(5)
eyes.lookDown
if reaction >= 20 and reaction < 50:
eyes.lookLeft()
time.sleep(1)
eyes.lookRight()
time.sleep(1)
eyes.lookDown()
if reaction >= 50:
eyes.lookRight()
time.sleep(3)
eyes.lookDown()
print("attracting customers")
def main():
#set counter to 0
counter = 0
# is this a category-only mission
catmission = False
#create stack for status histories
statushistory = deque([], 50)
#create emotion table
emotions = Emotion(9)
emotions.create_area("angry", 0, 0, 2, 2)
emotions.create_area("frustrated", 0, 3, 2, 5)
emotions.create_area("sad", 0, 6, 2, 8)
emotions.create_area("bored", 3, 0, 5, 8)
emotions.create_area("excited", 6, 0, 8, 2)
emotions.create_area("happy", 6, 3, 8, 5)
emotions.create_area("ok", 6, 6, 8, 8)
# primary status, possibilities are: idle = waiting for customers, mission = on a mission, advising = telling where the book is, feedback = waiting for or reacting to feedback
robot_status = "idle"
print("ROBOT STATUS: " + robot_status)
while True:
#get robot status
status = mir_calls.get_mir_status()
if (counter % 1 == 0):
statushistory.append(status)
print("counter: " + str(counter) + " status: " + status)
counter = counter + 1
print("debug: checking if we are on a mission")
### ON A MISSION? if yes, call the related logic in travel.py, and skip cycle
if robot_status == 'shelfmission':
mir_status = travel.move()
print("debug: shelf mission in progress, mir state: " + mir_status)
if mir_status == 'Ready':
print("debug: shelf-mission has been accomplished")
print("debug: wait for 5 seconds")
if catmission == True:
print("DEBUG: catmission true, cat " + category)
if category == '79000':
switch_flask_view('r')
if category == '46900':
switch_flask_view('r')
if category == '69110':
switch_flask_view('lr')
if category == '85000':
switch_flask_view('r')
if category == '99000':
switch_flask_view('l')
if category == '90000':
switch_flask_view('l')
time.sleep(10)
mir_calls.add_to_mission_queue(
"beb5b742-341b-11e9-a33f-94c691a3a93e")
robot_status = 'homing'
time.sleep(2)
#eyes.lookDown()
catmission = False
sierra.update_target_time()
continue
# FLASK: display arrow to left or right
side = find_side_by_category(category, "column")
switch_flask_view(side)
print("debug: the book could be on the " + side + " side")
# if side == 'r':
#eyes.lookLeft()
#if side == 'l':
#eyes.lookRight()
time.sleep(5)
# the category should be mapped to a physical oodi position recognised by the mir robot
print("debug: move to the correct column")
positionguid = str(
find_position_by_category(category, "column"))
print(
"debug: position guid for category column from database is "
+ positionguid)
# if we have a position, we can create a mission
mir_calls.modify_mir_mission(positionguid)
# add the modified travel mission to the queue
mir_calls.add_to_mission_queue(
"2e066786-3424-11e9-954b-94c691a3a93e")
# set the robot status to be on a mission
robot_status = 'columnmission'
switch_flask_view("blank")
# give the MiR a few seconds to react so we enter the correct state (mission executing)
time.sleep(2)
time.sleep(1)
continue
if robot_status == 'columnmission':
mir_status = travel.move()
print("debug: column mission in progress, mir state: " +
mir_status)
if mir_status == 'Ready':
print("debug: column-mission has been accomplished")
print("debug: wait for 5 seconds")
# FLASK: display arrow to left or right
side = find_side_by_category(category, "column")
switch_flask_view(side)
sierra.update_target_time()
print("debug: the book could be on the " + side + " side")
time.sleep(10)
#switch_flask_view("blank")
# move forward one meter to make room for the customer
#mir_calls.add_to_mission_queue("3ac4fc26-3f3f-11e9-9822-94c691a3a93e")
#time.sleep(10)
# TODO ask for feedback! maybe not?
mir_calls.add_to_mission_queue(
"beb5b742-341b-11e9-a33f-94c691a3a93e")
robot_status = 'homing'
#eyes.lookDown()
time.sleep(5)
time.sleep(1)
continue
if robot_status == 'homing':
mir_status = travel.move()
print("debug: homing in progress, mir state: " + mir_status)
switch_flask_view("home")
if mir_status == 'Ready':
print("debug: homing has been accomplished")
print("debug: enter idle loop")
switch_flask_view("home2")
robot_status = 'idle'
#eyes.lookLeft()
#eyes.lookRight()
#eyes.lookDown()
sierra.update_home_time()
time.sleep(1)
continue
print("debug: checking if we have a new mission")
### NEW MISSION AVAILABLE? if there's a category entry in missions table with status new, we have a new mission
category = check_for_new_mission()
if category is not None:
# a quick hack to allow for the category missions
if category == '79000':
positionguid = 'aac480fd-44d5-11e9-b653-94c691a3a93e'
catmission = True
if category == '46900':
positionguid = '48e76bd3-44d4-11e9-b653-94c691a3a93e'
catmission = True
if category == '69110':
positionguid = '78795881-44d5-11e9-b653-94c691a3a93e'
catmission = True
if category == '85000':
positionguid = 'b955c6f0-4bb0-11e9-98e7-94c691a3a93e'
catmission = True
if category == '99000':
positionguid = 'd8585103-4bb0-11e9-98e7-94c691a3a93e'
catmission = True
if category == '90000':
positionguid = 'eb62e8a2-4bb0-11e9-98e7-94c691a3a93e'
catmission = True
if catmission == True:
print("DEBUG: catmission is true!")
change_mission_status()
# the category should be mapped to a physical oodi position recognised by the mir robot
if catmission == False:
print("debug: received target category is " + category)
change_mission_status()
positionguid = str(find_position_by_category(
category, "shelf"))
print(
"debug: position guid for category shelf from database is "
+ positionguid)
# if we have a position, we can create a mission
mir_calls.modify_mir_mission(positionguid)
# finally add the modified shelf/column mission to the queue
mir_calls.add_to_mission_queue(
"2e066786-3424-11e9-954b-94c691a3a93e")
# set the robot status to be on a mission
robot_status = 'shelfmission'
# give the MiR a few seconds to react so we enter the correct state (mission executing)
time.sleep(3)
# eye movement :D
#eyes.topRoll()
continue
### NO MISSIONS? let's call the related logic in idle.py to attract customers
if robot_status == 'idle':
idle.idle(statushistory, emotions)
time.sleep(1)
continue
if robot_status == "advising":
advise.advise(emotions, "atColumn", "right")
time.sleep(1)
continue
if robot_status == "feedback":
feedback.feedback(emotions, 1, "good")
### NO STATUS, NO NEW MISSION? let's send the robot back to the homebase
print("debug: no status, return to home")
mir_calls.add_to_mission_queue("beb5b742-341b-11e9-a33f-94c691a3a93e")
robot_status = 'homing'
time.sleep(2)
continue
def chirping():
mir_calls.add_to_mission_queue("17f74b3b-5b99-11e9-90b2-94c691a3a93e")
def emotionAngry():
mir_calls.add_to_mission_queue("9cf49b99-5b9b-11e9-90b2-94c691a3a93e")
time.sleep(0.2)
eyes.lookRight()
eyes.lookLeft()
eyes.lookDown()
def achoo():
mir_calls.add_to_mission_queue("f747a369-509c-11e9-9b99-94c691a3a93e")
eyes.rollEyesAchoo()