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Set active speaker in bring goods tasker #6

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Set active speaker in bring goods tasker #6

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23 changes: 15 additions & 8 deletions src/rcprg_smach/bring_goods_new_tasker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@

pub_context = rospy.Publisher('/context/push', HistoryEvent, queue_size=10)

def set_active_speaker(actor_name):
rospy.loginfo("Changed active speaker to '{}'.".format(actor_name))
rospy.set_param("human_tf", actor_name)

class SayAskKeeperForGoods(TaskER.BlockingState):
def __init__(self, sim_mode, conversation_interface, input_keys):
Expand All @@ -49,12 +52,14 @@ def __init__(self, sim_mode, conversation_interface, input_keys):
def transition_function(self, userdata):
rospy.loginfo('{}: Executing state: {}'.format(
rospy.get_name(), self.__class__.__name__))

if not self.asked:
pub_context.publish(HistoryEvent('Rico', 'come to', 'keeper', ''))
pub_context.publish(HistoryEvent('Keeper', 'see', 'Rico', ''))
pub_context.publish(HistoryEvent('Keeper', 'say', 'Hi Rico, what you need?', ''))

set_active_speaker("keeper")

rospy.sleep(1.0)

initiate_conv_based_on_ctx = rospy.ServiceProxy('initiate_conv_based_on_ctx', InitiateConvBasedOnCtx)
Expand Down Expand Up @@ -144,7 +149,7 @@ def transition_function(self, userdata):

clone_scenario_with_new_intent(
int(userdata.scenario_id), new_intent_name, [new_param])

print 'cloned'

self.conversation_interface.removeExpected('unexpected_question')
Expand Down Expand Up @@ -207,6 +212,8 @@ def transition_function(self, userdata):
pub_context.publish(HistoryEvent('Senior', 'see', 'Rico', ''))
pub_context.publish(HistoryEvent('Senior', 'say', 'What\'s up with my request?', ''))

set_active_speaker("senior")

rospy.sleep(1.0)

initiate_conv_based_on_ctx = rospy.ServiceProxy('initiate_conv_based_on_ctx', InitiateConvBasedOnCtx)
Expand Down Expand Up @@ -316,7 +323,7 @@ def transition_function(self, userdata):
rospy.sleep(0.1)

raise Exception('Unreachable code')


class KillTask(TaskER.BlockingState):
def __init__(self, sim_mode, conversation_interface):
Expand Down Expand Up @@ -385,7 +392,7 @@ def __init__(self, sim_mode, conversation_interface, kb_places, task_parameters)
for idx in range(0, len(task_parameters), 2):
param_name = task_parameters[idx]
param_value = task_parameters[idx+1]

input_keys.append(param_name)


Expand All @@ -397,14 +404,14 @@ def __init__(self, sim_mode, conversation_interface, kb_places, task_parameters)
outcomes=['PREEMPTED',
'FAILED',
'FINISHED', 'shutdown'])


for idx in range(0, len(task_parameters), 2):
param_name = task_parameters[idx]
param_value = task_parameters[idx+1]

setattr(self.userdata, param_name, param_value)

print 'Item from userdata: ', self.userdata.item

self.userdata.max_lin_vel = 0.2
Expand Down Expand Up @@ -454,7 +461,7 @@ def __init__(self, sim_mode, conversation_interface, kb_places, task_parameters)
transitions={'FINISHED': 'TellInfoFromKeeper', 'PREEMPTED': 'PREEMPTED', 'FAILED': 'FAILED',
'shutdown': 'shutdown'},
remapping={'goal': 'initial_pose'})

smach_rcprg.StateMachine.add('MoveBackAfterUnexpectedQuestion', navigation.MoveToComplexBlocking(sim_mode, conversation_interface, kb_places),
transitions={'FINISHED': 'KillTask', 'PREEMPTED': 'PREEMPTED', 'FAILED': 'FAILED',
'shutdown': 'shutdown'},
Expand Down