本文整理汇总了Python中speech_states.say.text_to_say函数的典型用法代码示例。如果您正苦于以下问题：Python text_to_say函数的具体用法？Python text_to_say怎么用？Python text_to_say使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了text_to_say函数的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的Python代码示例。
示例1: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=[],
output_keys=[])
with self:
self.userdata.pressed = False
self.userdata.press = False
self.userdata.tts_time_before_speaking = 0
self.userdata.tts_text = ""
self.userdata.tts_lang = ""
# Check if the button is pressed
smach.StateMachine.add(
'check_button',
emergency_button(),
transitions= {'succeeded':'check_button_pressed', 'aborted':'check_button', 'preempted':'preempted'})
smach.StateMachine.add(
'check_button_pressed',
check_button_pressed(),
transitions= {'pressed':'say_pressed_button', 'unpressed':'say_not_pressed_button',
'succeeded':'check_button', 'preempted':'preempted'})
# Say button pressed
smach.StateMachine.add(
'say_pressed_button',
text_to_say("Oh you pressed my emergency button, feel free to check me around"),
transitions= {'succeeded':'check_button', 'aborted':'check_button', 'preempted':'preempted'})
# Say button is not pressed
smach.StateMachine.add(
'say_not_pressed_button',
text_to_say("Thank you for unpressing my emergency button. I'll recover my status shortly."),
transitions= {'succeeded':'succeeded', 'aborted':'succeeded', 'preempted':'preempted'})
开发者ID:efernandez，项目名称:robocup2014，代码行数:35，代码来源:do_inspection.py
示例2: __init__
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'], output_keys=['standard_error'])
with self:
# We prepare the information to go to the init door
smach.StateMachine.add(
'prepare_Avoid',
prepare_Avoid(),
transitions={'succeeded': 'say_go_to_poi', 'aborted': 'aborted',
'preempted': 'preempted'})
# Announce going to a place
smach.StateMachine.add(
'say_go_to_poi',
text_to_say(text="I'm going to the Avoid That area."),
transitions={'succeeded': 'go_to_poi'})
# Go to the POI
smach.StateMachine.add(
'go_to_poi',
nav_to_poi(),
transitions={'succeeded': 'say_get_to_poi', 'aborted': 'aborted',
'preempted': 'preempted'})
# Announce arriving to a place
smach.StateMachine.add(
'say_get_to_poi',
text_to_say(text="I've arrived to the destination for Avoid That. The test Avoid That has finished successfully. Thank you."),
transitions={'succeeded': 'succeeded'})
开发者ID:lucamarchionni，项目名称:robocup2014，代码行数:29，代码来源:avoid_that_sm.py
示例3: __init__
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'],
output_keys=['standard_error','in_learn_person'])
with self:
self.userdata.tts_wait_before_speaking=0
self.userdata.tts_text=None
self.userdata.tts_lang=None
self.userdata.standard_error='OK'
self.userdata.in_learn_person=1
smach.StateMachine.add('INTRO',
text_to_say(START_FRASE),
transitions={'succeeded': 'Listen','aborted':'aborted'})
smach.StateMachine.add('Listen',
ListenWordSM("follow me"),
transitions={'succeeded': 'START_FOLLOWING_COME_CLOSER',
'aborted': 'Listen'})
smach.StateMachine.add('START_FOLLOWING_COME_CLOSER',
text_to_say(START_FOLLOW_FRASE),
transitions={'succeeded': 'SM_LEARN_PERSON','aborted':'aborted'})
# it learns the person that we have to follow
smach.StateMachine.add('SM_LEARN_PERSON',
LearnPerson(),
transitions={'succeeded': 'SM_STOP_LEARNING',
'aborted': 'aborted'})
smach.StateMachine.add('SM_STOP_LEARNING',
text_to_say(LEARNED_PERSON_FRASE),
transitions={'succeeded': 'succeeded','aborted':'aborted'})
开发者ID:changlongzj，项目名称:robocup2014，代码行数:32，代码来源:follow_me_init.py
示例4: __init__
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'],
output_keys=['person_location', 'person_location_coord'])
with self:
self.userdata.emergency_location = []
# Some dummy TTS stuff
self.userdata.tts_lang = 'en_US'
self.userdata.tts_wait_before_speaking = 0
smach.StateMachine.add(
'Prepare_Say_Searching',
prepare_tts('Where are you? Give me signals, please.'),
transitions={'succeeded':'Say_Search', 'aborted':'Say_Search', 'preempted':'Say_Search'})
smach.StateMachine.add(
'Say_Search',
text_to_say(),
transitions={'succeeded':'Gesture_Recognition', 'aborted':'Gesture_Recognition', 'preempted':'Gesture_Recognition'})
# Search for a Wave Gesture
# Output_keys: gesture_detected: type Gesture
self.userdata.nav_to_coord = [0, 0, 0]
#Look Down
#Move head right/left
smach.StateMachine.add(
'Gesture_Recognition',
WaveDetection(),
transitions={'succeeded':'Say_Search','aborted':'Gesture_Recognition', 'preempted':'Gesture_Recognition'})
smach.StateMachine.add(
'Say_Search',
text_to_say('Oh! I have found you.'),
transitions={'succeeded':'Prepare_Go_To_Wave', 'aborted':'Prepare_Go_To_Wave', 'preempted':'Say_Search'})
smach.StateMachine.add(
'Prepare_Go_To_Wave',
prepare_go_to_wave(),
transitions={'succeeded':'Say_Go_to_Wave', 'aborted':'Say_Go_to_Wave', 'preempted':'Say_Go_to_Wave'})
smach.StateMachine.add(
'Say_Go_to_Wave',
text_to_say("I'm coming!"),
transitions={'succeeded':'Go_to_Wave', 'aborted':'Gesture_Recognition', 'preempted':'Gesture_Recognition'})
smach.StateMachine.add(
'Go_to_Wave',
nav_to_coord('/base_link'),
transitions={'succeeded':'Register_Position', 'aborted':'Go_to_Wave', 'preempted':'Go_to_Wave'})
smach.StateMachine.add(
'Register_Position',
get_current_robot_pose(),
transitions={'succeeded':'TreatPoseForCoord', 'aborted':'Register_Position', 'preempted':'Register_Position'},
remapping={'current_robot_pose':'person_location'})
smach.StateMachine.add(
'TreatPoseForCoord',
PoseToArray(),
transitions={'succeeded':'succeeded', 'aborted':'Register_Position', 'preempted':'Register_Position'})
开发者ID:jordi-pages，项目名称:robocup2014，代码行数:58，代码来源:Search_People_Emergency.py
示例5: __init__
def __init__(self,learn_face=False):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'],
output_keys=['standard_error','in_learn_person'])
self.learn_face = learn_face
self.follow_pub = rospy.Publisher('/follow_me/id', Int32, latch=True)
with self:
self.userdata.tts_wait_before_speaking=0
self.userdata.tts_text=None
self.userdata.tts_lang=None
self.userdata.standard_error='OK'
smach.StateMachine.add('INIT_VAR',
init_var(),
transitions={'succeeded': 'READ_TRACKER_TOPIC',
'aborted': 'SAY_LIFTIME'})
smach.StateMachine.add('SAY_LIFTIME',
text_to_say(SAY_GO_MIDLE),
transitions={'succeeded': 'CONTROL_TIME',
'aborted': 'SAY_LIFTIME'})
smach.StateMachine.add('CONTROL_TIME',
control_time(),
transitions={'succeeded': 'READ_TRACKER_TOPIC',
'lif_time': 'SAY_LIFTIME'})
#TODO:: aborted->CONTROL_TIME
smach.StateMachine.add('READ_TRACKER_TOPIC',
topic_reader(topic_name='/pipol_tracker_node/peopleSet',
topic_type=personArray,topic_time_out=60),
transitions={'succeeded':'SELECT_ID',
'aborted':'READ_TRACKER_TOPIC',
'preempted':'preempted'},
remapping={'topic_output_msg': 'tracking_msg'})
# it learns the person that we have to follow
smach.StateMachine.add('SELECT_ID',
select_ID(self.learn_face, self.follow_pub),
transitions={'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME','learn_face':'FACE_SAY'})
smach.StateMachine.add('FACE_SAY',
text_to_say(SAY_LEARN),
transitions={'succeeded': 'LEARN_FACE','aborted':'LEARN_FACE'})
# it learns the person that we have to follow
smach.StateMachine.add('LEARN_FACE',
new_database_and_learn(learning_time=2, minConfidence=80,
name_face="following", name_database="follow"),
transitions={'succeeded': 'STOP_LEARNING',
'aborted': 'CONTROL_TIME'})
smach.StateMachine.add('STOP_LEARNING',
text_to_say(SAY_FINISH),
transitions={'succeeded': 'succeeded','aborted':'STOP_LEARNING'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:59，代码来源:follow_learn.py
示例6: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'], input_keys=['object_array'])
with self:
# We must initialize the userdata keys if they are going to be accessed or they won't exist and crash!
self.userdata.nav_to_poi_name=None
self.userdata.standard_error='OK'
self.userdata.object_name = ''
self.userdata.object_index = 0
# Process order
smach.StateMachine.add(
'decide_next_object',
decide_next_object(),
transitions={'succeeded': 'go_to_object', 'aborted': 'aborted',
'preempted': 'preempted'})
# Go to poi where the object can stay
smach.StateMachine.add(
'go_to_object',
nav_to_poi(),
remapping={"nav_to_poi_name": "object_loc"},
transitions={'succeeded': 'object_detection', 'aborted': 'aborted'})
# Object Detection
smach.StateMachine.add(
'object_detection',
recognize_object(),
transitions={'succeeded': 'grasp_object', 'aborted': 'aborted'})
# Grasp Object
smach.StateMachine.add(
'grasp_object',
text_to_say("Grasping Object"),
transitions={'succeeded': 'go_to_delivery', 'aborted': 'aborted',
'preempted': 'preempted'})
# Go to the delivery place
smach.StateMachine.add(
'go_to_delivery',
nav_to_poi(),
remapping = {'nav_to_poi_name': 'delivery_loc'},
transitions={'succeeded': 'deliver_object', 'aborted': 'aborted',
'preempted': 'preempted'})
# Deliver object
smach.StateMachine.add(
'deliver_object',
text_to_say("Delivering Object"),
transitions={'succeeded': 'check_loop', 'aborted': 'aborted',
'preempted': 'preempted'})
# End of loop?
smach.StateMachine.add(
'check_loop',
checkLoop(),
transitions={'succeeded': 'decide_next_object', 'aborted': 'aborted',
'preempted': 'preempted', 'end':'succeeded'})
开发者ID:changlongzj，项目名称:robocup2014，代码行数:58，代码来源:restaurant_navigation.py
示例7: __init__
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'])
with self:
# We must initialize the userdata keys if they are going to be accessed or they won't exist and crash!
self.userdata.loop_iterations = 1
self.userdata.try_iterations = 1
self.userdata.gesture_name = ''
self.userdata.object_name = []
self.userdata.manip_time_to_play = 4
self.userdata.did_pick = True
self.userdata.grammar_name = GRAMMAR_NAME
smach.StateMachine.add(
'play_motion_state',
play_motion_sm('home', skip_planning=True),
transitions={'succeeded': 'init_cocktail',
'preempted':'init_cocktail',
'aborted':'play_motion_state'})
smach.StateMachine.add(
'init_cocktail',
text_to_say("Ready for cocktail party"),
transitions={'succeeded': 'Ask_order', 'aborted': 'Ask_order'})
# We wait for open door and go inside
smach.StateMachine.add(
'wait_for_door',
EnterRoomSM("party_room"),
transitions={'succeeded': 'Ask_order', 'aborted': 'aborted', 'preempted': 'preempted'})
# Ask Order -> Wave + Learn Person + Order
smach.StateMachine.add(
'Ask_order',
AskAllOrders(),
transitions={'succeeded':'execute_order', 'aborted':'aborted'})
# # Go to the storage_room
# smach.StateMachine.add(
# 'go_to_storage',
# nav_to_poi("storage_room"),
# transitions={'succeeded': 'execute_order', 'aborted': 'go_to_storage',
# 'preempted': 'preempted'})
# Execute the order
smach.StateMachine.add(
'execute_order',
ExecuteAllOrders(),
transitions={'succeeded': 'say_leaving_arena', 'aborted': 'aborted',
'preempted': 'preempted'})
# Say leaving the arena
smach.StateMachine.add(
'say_leaving_arena',
text_to_say("I finished the cocktail party, I'm leaving the arena", wait=False),
transitions={'succeeded': 'succeeded', 'aborted': 'succeeded',
'preempted': 'preempted'})
开发者ID:efernandez，项目名称:robocup2014，代码行数:58，代码来源:cocktail_party_sm.py
示例8: __init__
def __init__(self,time_enroll=10):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=['name_face','delete_database'],
output_keys=['name_face'])
with self:
self.userdata.name_face = ''
self.userdata.asr_userSaid = ''
self.userdata.grammar_name = ''
# Ask for name
smach.StateMachine.add(
'listen_name',
AskQuestionSM("Hi, what's your name?", GRAMMAR_NAME),
transitions={'succeeded': 'prepare_name', 'aborted': 'ask_name_again',
'preempted': 'preempted'})
# We prepare the name for face_detection
smach.StateMachine.add(
"prepare_name",
prepare_name(),
transitions={'succeeded': 'say_start', 'aborted': 'ask_name_again',
'preempted': 'preempted'})
# Ask for name again
smach.StateMachine.add(
'ask_name_again',
AskQuestionSM("Sorry, I don't understand you. Can you repeat your name, please?", GRAMMAR_NAME),
transitions={'succeeded': 'prepare_name', 'aborted': 'aborted',
'preempted': 'preempted'})
smach.StateMachine.add(
'say_start',
text_to_say("OK, now i am going to enroll your face, don't move"),
transitions={'succeeded': 'learn_face', 'aborted': 'aborted',
'preempted': 'preempted'})
# Start learning
smach.StateMachine.add(
'learn_face',
new_database_and_learn(time_enroll),
transitions={'succeeded': 'prepare_say_name', 'aborted': 'aborted',
'preempted': 'preempted'})
# Say learn name
smach.StateMachine.add(
'prepare_say_name',
prepare_say_name(),
transitions={'succeeded': 'say_name', 'aborted': 'aborted',
'preempted': 'preempted'})
smach.StateMachine.add(
'say_name',
text_to_say(),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted',
'preempted': 'preempted'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:57，代码来源:ask_name_learn_face.py
示例9: __init__
def __init__(self, Type, objectName, GRAMMAR_NAME='robocup/locations', command_key='finn', command_value='xxx'):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'])
self.userdata.dataType = Type
self.userdata.object_name = objectName
self.userdata.location_name = ''
self.userdata.grammar_name = GRAMMAR_NAME
self.userdata.tts_wait_before_speaking = 0
self.userdata.tts_text = ''
self.userdata.tts_lang = ''
with self:
smach.StateMachine.add('ENABLE_GRAMMAR',
ActivateASR(GRAMMAR_NAME),
transitions={'succeeded': 'ASK_LOCATION'})
smach.StateMachine.add('ASK_LOCATION',
text_to_say("I don't know where the " + self.userdata.object_name + ' is. Do you know where could I find it?'),
transitions={'succeeded': 'HEAR_COMMAND', 'aborted': 'aborted'})
smach.StateMachine.add('HEAR_COMMAND',
ReadASR(),
transitions={'aborted': 'HEAR_COMMAND', 'succeeded': 'BRING_LOCATION', 'preempted': 'preempted'},
remapping={'asr_userSaid': 'userSaidData', 'asr_userSaid_tags':'userSaidTags'})
smach.StateMachine.add('BRING_LOCATION',
BringOrderLoc(),
transitions={'aborted': 'HEAR_COMMAND', 'succeeded': 'PREPARATION_CONFIRM_OBJECT', 'preempted': 'preempted'},
remapping={'location_name': 'location_name'})
smach.StateMachine.add('PREPARATION_CONFIRM_OBJECT',
prepare_confirm_info(),
transitions={'succeeded': 'CONFIRM_OBJECT'},
remapping={'tosay':'tts_text'})
smach.StateMachine.add('CONFIRM_OBJECT',
text_to_say(),
transitions={'succeeded': 'DISABLE_GRAMMAR', 'aborted': 'DISABLE_GRAMMAR'})
smach.StateMachine.add('RECOGNIZE_COMMAND',
RecognizeCommand(command_key, command_value),
transitions={'notvalid_command': 'NOT_VALID_COMMAND',
'valid_command': 'VALID_COMMAND', 'preempted': 'preempted', 'aborted': 'aborted'},
remapping={'speechData': 'userSaidData'})
smach.StateMachine.add('VALID_COMMAND',
text_to_say("Ok, understood."),
transitions={'succeeded': 'DISABLE_GRAMMAR'})
smach.StateMachine.add('NOT_VALID_COMMAND',
text_to_say("I couldn't understand what you said. Can you repeat?"),
transitions={'succeeded': 'HEAR_COMMAND'})
smach.StateMachine.add('DISABLE_GRAMMAR',
DeactivateASR(),
transitions={'succeeded': 'succeeded'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:57，代码来源:listen_general_command.py
示例10: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted', 'fail_grasp', 'fail_recognize'],
input_keys=['object_name'],
output_keys=['object_position','object_detected_name'])
with self:
# We must initialize the userdata keys if they are going to be accessed or they won't exist and crash!
self.userdata.nav_to_poi_name=''
self.userdata.tts_lang = ''
self.userdata.tts_wait_before_speak = ''
self.userdata.tts_text = ''
# Say start object recognition
smach.StateMachine.add(
'say_start_obj_recognition',
text_to_say("I'm going to start the Object recognition process.", wait=False),
transitions={'succeeded': 'object_recognition', 'aborted': 'object_recognition'})
# Do object_recognition
smach.StateMachine.add(
'object_recognition',
recognize_object(),
transitions={'succeeded': 'process_object_recognition', 'aborted': 'fail_recognize',
'preempted': 'preempted'})
# Process the objects recognized
smach.StateMachine.add(
'process_object_recognition',
process_pick_location(),
transitions={'succeeded': 'say_grasp_object', 'aborted': 'fail_recognize',
'preempted': 'preempted'})
# Say grasp object
smach.StateMachine.add(
'say_grasp_object',
text_to_say("I'm going to grasp the object", wait=False),
transitions={'succeeded': 'grasp_object', 'aborted': 'aborted'})
# Grasp the object
smach.StateMachine.add(
'grasp_object',
pick_object_sm(),
transitions={'succeeded': 'succeeded', 'aborted': 'home_position',
'preempted': 'preempted'})
# Home position
smach.StateMachine.add(
'home_position',
play_motion_sm('home',skip_planning=True),
transitions={'succeeded': 'fail_grasp', 'aborted': 'home_position',
'preempted': 'preempted'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:51，代码来源:recognize_object_and_pick.py
示例11: __init__
def __init__(self, grammar = None):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=['grammar_name'],
output_keys=['asr_userSaid','asr_userSaid_tags'])
with self:
self.userdata.asr_userSaid = ''
self.userdata.tts_lang = None
asr_userSaid_tags=''
smach.StateMachine.add('PrepareData',
prepareData(grammar),
transitions={'succeeded':'listen_info', 'aborted':'aborted'})
# Listen
smach.StateMachine.add(
'listen_info',
ListenToSM(),
transitions={'succeeded': 'prepare_info', 'aborted': 'aborted',
'preempted': 'preempted'})
# Prepare the information
smach.StateMachine.add(
"prepare_info",
prepare_say(),
transitions={'succeeded': 'say_info', 'aborted': 'aborted',
'preempted': 'preempted'})
# Repeat
smach.StateMachine.add(
'say_info',
text_to_say(),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted',
'preempted': 'preempted'})
开发者ID:azeta，项目名称:robocup2014，代码行数:34，代码来源:listen_and_repeat.py
示例12: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'],
input_keys=['object_to_grasp'],
output_keys=['standard_error'])
with self:
# Preparation of the Ask Process
# Input Data: 'object_to_grasp'
self.userdata.tts_wait_before_speaking = 0
self.userdata.tts_lang = 'en_US'
smach.StateMachine.add('Prepare_Ask_Person_Object',
prepare_ask_person_object(),
transitions={'succeeded':'Ask_Person_Object', 'preempted':'Ask_Person_Object', 'aborted':'Ask_Person_Object'})
smach.StateMachine.add('Ask_Person_Object',
text_to_say(),
transitions={'succeeded':'Reach_Arm', 'preempted':'Reach_Arm', 'aborted':'Reach_Arm'})
# Reach the arm
self.userdata.manip_motion_to_play = 'give_object_right'
smach.StateMachine.add('Reach_Arm',
play_motion_sm(),
transitions={'succeeded':'Pre_Grasp', 'preempted':'Reach_Arm', 'aborted':'Reach_Arm'})
smach.StateMachine.add('Pre_Grasp',
move_hands_form(hand_pose_name='pre_grasp', hand_side='right'),
transitions={'succeeded':'Full_Grasp', 'preempted':'Full_Grasp', 'aborted':'Full_Grasp'})
smach.StateMachine.add('Full_Grasp',
move_hands_form(hand_pose_name='grasp', hand_side='right'),
transitions={'succeeded':'succeeded', 'preempted':'preempted', 'aborted':'aborted'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:30，代码来源:ask_give_object_grasping.py
示例13: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'],
output_keys=['standard_error'])
with self:
# Preparation of the Ask Process
# Input Data: 'object_to_grasp'
self.userdata.tts_wait_before_speaking = 0
self.userdata.tts_lang = 'en_US'
smach.StateMachine.add('Ask_Person_Object',
text_to_say('I am giving you the object you asked'),
transitions={'succeeded':'Reach_Arm', 'preempted':'Reach_Arm', 'aborted':'Reach_Arm'})
# Reach the arm
self.userdata.manip_motion_to_play = 'give_object_right'
self.userdata.manip_time_to_play = 2.0
smach.StateMachine.add('Reach_Arm',
play_motion_sm(),
transitions={'succeeded':'Pre_Grasp', 'preempted':'Reach_Arm', 'aborted':'Reach_Arm'})
smach.StateMachine.add('Pre_Grasp',
move_hands_form(hand_pose_name='pre_grasp', hand_side='right'),
transitions={'succeeded':'Open_Hand', 'preempted':'Open_Hand', 'aborted':'Open_Hand'})
smach.StateMachine.add('Open_Hand',
move_hands_form(hand_pose_name='full_open', hand_side='right'),
transitions={'succeeded':'Home_position_end', 'preempted':'Home_position_end', 'aborted':'Home_position_end'})
smach.StateMachine.add('Home_position_end',
play_motion_sm("home", 4.0),
transitions={'succeeded':'succeeded', 'preempted':'preempted', 'aborted':'aborted'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:29，代码来源:give_object.py
示例14: __init__
def __init__(self, head_position=None):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted', 'end_searching'],
input_keys=[],
output_keys=['wave_position', 'wave_yaw_degree','standard_error'])
with self:
self.userdata.loop_iterations = 0
self.userdata.wave_position = None
self.userdata.wave_yaw_degree = None
smach.StateMachine.add(
'Move_head_prepare',
prepare_move_head(),
transitions={'succeeded': 'move_head', 'aborted': 'aborted',
'preempted': 'preempted', 'end_searching':'end_searching'})
smach.StateMachine.add(
'move_head',
move_head_form(head_up_down='normal'),
transitions={'succeeded': 'Say_Searching',
'preempted':'Say_Searching',
'aborted':'aborted'})
smach.StateMachine.add(
'Say_Searching',
text_to_say("I am searching, let's see"),
transitions={'succeeded':'wave_recognition', 'aborted':'wave_recognition', 'preempted':'wave_recognition'})
smach.StateMachine.add(
'wave_recognition',
WaveDetection(),
transitions={'succeeded': 'succeeded', 'aborted': 'Move_head_prepare',
'preempted': 'preempted'})
开发者ID:changlongzj，项目名称:robocup2014，代码行数:29，代码来源:search_wave_sm.py
示例15: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded','aborted', 'preempted'],
input_keys=[],
output_keys=[])
with self:
smach.StateMachine.add('Wait_search_1',
Wait_search(),
transitions={'succeeded':'Say_search', 'preempted':'preempted'})
smach.StateMachine.add('Say_search',
text_to_say('I am looking for the referee',wait=True),
transitions={'succeeded':'Move_head_Left', 'aborted':'aborted'})
smach.StateMachine.add('Move_head_Left',
look_to_point(direction="left", min_duration=3),
transitions={'succeeded':'Wait_search_2', 'aborted':'aborted'})
smach.StateMachine.add('Wait_search_2',
Wait_search(),
transitions={'succeeded':'Move_head_Right', 'preempted':'preempted'})
smach.StateMachine.add('Move_head_Right',
look_to_point(direction="front", min_duration=2),
transitions={'succeeded':'Wait_search_3', 'aborted':'aborted'})
smach.StateMachine.add('Wait_search_3',
Wait_search(),
transitions={'succeeded':'Move_head_Middle', 'preempted':'preempted'})
smach.StateMachine.add('Move_head_Middle',
look_to_point(direction="right", min_duration=2),
transitions={'succeeded':'Wait_search_1', 'aborted':'Wait_search_1'})
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:33，代码来源:go_find_person.py
示例16: main
def main():
rospy.init_node('say_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
sm.userdata.tts_text = None
sm.userdata.tts_wait_before_speaking = None
sm.userdata.tts_lang = 'en_US'
smach.StateMachine.add(
'SaySM',
text_to_say("Hello!"),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted'})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer(
'saysm_test_introspection', sm, '/SAY_TEST')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
开发者ID:awesomebytes，项目名称:robocup2014，代码行数:25，代码来源:say_test.py
示例17: __init__
def __init__(self):
smach.StateMachine.__init__(self, ['succeeded', 'preempted', 'aborted'],
output_keys=['standard_error','in_learn_person'])
with self:
self.userdata.tts_wait_before_speaking=0
self.userdata.tts_text=None
self.userdata.tts_lang=None
self.userdata.standard_error='OK'
self.userdata.in_learn_person=1
self.userdata.type_movment = 'home'
smach.StateMachine.add('DEFAULT_POSITION',
move_head_form("center","up"),
transitions={'succeeded': 'INTRO','aborted':'INTRO'})
smach.StateMachine.add('INTRO',
acknowledgment(type_movement='home', tts_text=START_FRASE),
transitions={'succeeded': 'Learn','aborted':'aborted'})
# it learns the person that we have to follow
smach.StateMachine.add('Learn',
LearnPerson(learn_face=True),
transitions={'succeeded': 'SM_STOP_LEARNING',
'aborted': 'aborted'})
smach.StateMachine.add('SM_STOP_LEARNING',
text_to_say(LETS_GO),
transitions={'succeeded': 'succeeded','aborted':'aborted'})
开发者ID:lucamarchionni，项目名称:robocup2014，代码行数:28，代码来源:restaurant_init_phase.py
示例18: __init__
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded','aborted', 'preempted'],
input_keys=[],
output_keys=[])
with self:
smach.StateMachine.add('Wait_search_1',
Wait_search(),
transitions={'succeeded':'Say_search', 'preempted':'preempted'})
smach.StateMachine.add('Say_search',
text_to_say('I am looking for the referee',wait=False),
transitions={'succeeded':'Move_head_Left', 'aborted':'aborted'})
smach.StateMachine.add('Move_head_Left',
move_head_form( head_left_right='mid_left', head_up_down='up'),
transitions={'succeeded':'Wait_search_2', 'aborted':'aborted'})
smach.StateMachine.add('Wait_search_2',
Wait_search(),
transitions={'succeeded':'Move_head_Right', 'preempted':'preempted'})
smach.StateMachine.add('Move_head_Right',
move_head_form( head_left_right='mid_right', head_up_down='up'),
transitions={'succeeded':'Wait_search_3', 'aborted':'aborted'})
smach.StateMachine.add('Wait_search_3',
Wait_search(),
transitions={'succeeded':'Move_head_Middle', 'preempted':'preempted'})
smach.StateMachine.add('Move_head_Middle',
move_head_form( head_left_right='center', head_up_down='up'),
transitions={'succeeded':'Wait_search_1', 'aborted':'Wait_search_1'})
开发者ID:lucamarchionni，项目名称:robocup2014，代码行数:34，代码来源:go_find_person.py
示例19: __init__
def __init__(self, nav_to_poi_name = None, tts_text = None):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'],
input_keys=['tts_text','nav_to_poi_name'],
output_keys=['standard_error'])
with self:
self.userdata.tts_lang='en_US'
self.userdata.tts_wait_bef
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