170 lines
4.6 KiB
Python
Executable File
170 lines
4.6 KiB
Python
Executable File
#! /usr/bin/env python
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from argparse import ArgumentParser
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import rospy
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import actionlib
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from teleoperation.srv import InformMasterloop, InformMasterloopResponse
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from teleoperation.srv import Hands
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from teleoperation.msg import RequestSpeechAction, RequestSpeechGoal
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# Constants
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IMITATE = 'arms'
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KILL = 'kill'
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REVIVE = 'go'
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STOP = 'stop'
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OPEN = 'open'
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CLOSE = 'close'
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VOC_STATE = None
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SPEECH_TRANSITIONS = None
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VOC_HAND = {
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'closed': [OPEN],
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'opened': [CLOSE]
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}
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SPEECH_HAND = (OPEN, CLOSE)
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AI = False # autoimitate
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# Globals
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state = 'dead' # Also walk, imitate, fallen, idle
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hand_state = 'closed'
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speech_in_progress = False
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def init_voc_state_speech():
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global VOC_STATE, SPEECH_TRANSITIONS
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VOC_STATE = {
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'idle': [KILL] + ([IMITATE] if not AI else []),
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'imitate': [KILL] + ([STOP] if not AI else []),
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'dead': [REVIVE]
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}
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SPEECH_TRANSITIONS = {
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KILL: (('idle', 'imitate'), 'dead'),
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REVIVE: (('dead',), 'idle')
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}
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if not AI:
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SPEECH_TRANSITIONS.update({
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IMITATE: (('idle',), 'imitate'),
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STOP: (('imitate',), 'idle')
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})
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def hands(what):
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try:
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_hands = rospy.ServiceProxy('hands', Hands)
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newstate = _hands(what).newstate
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return newstate if newstate in ('opened', 'closed') else hand_state
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except rospy.service.ServiceException:
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return hand_state
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def speech_done_cb(_, result):
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global speech_in_progress, state, hand_state
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_state_old = state
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rospy.loginfo('SPEECH: {}'.format(result))
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if not result:
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speech_in_progress = False
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return
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if result.word in SPEECH_TRANSITIONS:
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allowed, target = SPEECH_TRANSITIONS[result.word]
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if state in allowed:
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state = target
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elif result.word in SPEECH_HAND:
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hand_state = hands(result.word)
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if _state_old != state:
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rospy.loginfo('{} -> {}'.format(_state_old, state))
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speech_in_progress = False
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def inform_masterloop_factory(who):
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def inform_masterloop(what):
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try:
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inform_masterloop = rospy.ServiceProxy('inform_masterloop',
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InformMasterloop)
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perm = inform_masterloop(who, what).permission
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except rospy.service.ServiceException:
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rospy.signal_shutdown('Masterloop is dead')
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perm = False
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return perm
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return inform_masterloop
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def handle_request(r):
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global state
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module = r.module
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message = r.message
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_state_old = state
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permission = False
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if module == 'walker':
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if message == 'move':
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if state in ('idle', 'walk') + (('imitate',) if AI else ()):
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state = 'walk'
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permission = True
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elif message == 'stop':
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if state == 'walk':
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state = 'idle'
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permission = True
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elif module == 'fall_detector':
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permission = True
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if message in ('falling', 'fallen'):
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state = 'fallen'
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elif message == 'recovered':
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state = 'idle'
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elif module == 'imitator':
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if message == 'imitate':
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if state in ('imitate',) + (('idle',) if AI else ()):
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permission = True
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state = 'imitate'
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rospy.logdebug(
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'GOT REQUEST FROM %s TO %s.\nPERMISSION: %s.\nstate IS NOW: %s.' % (
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module, message, permission, state
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)
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)
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if _state_old != state:
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rospy.loginfo('{} -> {}'.format(_state_old, state))
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return InformMasterloopResponse(permission)
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if __name__ == '__main__':
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rospy.init_node('masterloop')
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ap = ArgumentParser()
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ap.add_argument('-i', '--autoimitate',
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help='Switch between moving and imitating automatically',
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action='store_true')
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args, _ = ap.parse_known_args()
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AI = args.autoimitate
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init_voc_state_speech()
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ic = rospy.Service('inform_masterloop', InformMasterloop, handle_request)
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speech = actionlib.SimpleActionClient('speech_server',
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RequestSpeechAction)
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speech.wait_for_server()
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rospy.loginfo('SPEECH: SERVER THERE')
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rospy.on_shutdown(lambda: speech_in_progress and speech.cancel_goal())
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while not rospy.is_shutdown():
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if state in ('idle', 'imitate', 'dead'):
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if not speech_in_progress:
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speech_in_progress = True
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speech.send_goal(RequestSpeechGoal(
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VOC_STATE[state] + VOC_HAND[hand_state]
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), speech_done_cb)
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else:
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if speech_in_progress:
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speech.cancel_goal()
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speech_in_progress = False
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rospy.Rate(10).sleep()
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