diff --git a/launch/bring_up.launch b/launch/bring_up.launch index 2a1f07ea2a7dd45a04414e6dcb9b4d920c36654f..7b572fd3a3fab0fdd8f67d8d114589345d3156e2 100644 --- a/launch/bring_up.launch +++ b/launch/bring_up.launch @@ -8,9 +8,10 @@ <param name="/user_id" value="$(arg user_id)" /> <arg name="assistive_actions" default="$(find xml_reader)/src/xml_reader/assistive_actions_definition_es.xml" /> <param name="/assistive_actions" value="$(arg assistive_actions)" /> - <arg name="objective" default="ascending" /> <param name="/objective" value="$(arg objective)" /> + <arg name="SOCIABLE" default="True" /> + <param name="/SOCIABLE" value="$(arg SOCIABLE)" /> <!-- Final tokens locations --> <rosparam param="solution_ascending"> diff --git a/scripts/settings.py b/scripts/settings.py deleted file mode 100644 index 0e83bc5258db581eacdc67732f43f0aac08fbe35..0000000000000000000000000000000000000000 --- a/scripts/settings.py +++ /dev/null @@ -1,113 +0,0 @@ -'''In this class we set all the connecting with the external sources and we -initialise all the classes instances -''' - -#import from ros -import rospy -import time -#sub/pub, services and actions from ros -from std_msgs.msg import String, Int8 -from iri_rfid_board_scanner.msg import BoardIds - -#import from libraries -import pygame - -class Settings(object): - def __init__(self): - rospy.init_node('big_hero', anonymous=True) - # subscriber for getting data from the hr sensor - rospy.Subscriber("/rfid_board_scanner/board_ids", BoardIds, self.get_electro_board_callback) - self.robot_language = rospy.get_param("/language") - self.user_id = rospy.get_param("/user_id") - self.ids = list(map(int, rospy.get_param('/rfid_id').split())) - self.tokens = rospy.get_param('/tokens_number') - solution_board_from_launch = rospy.get_param('/solution_board') - # getting the ids from the rfids sensors - self.ids = [int(self.ids[i]) for i in range(len(self.ids))] - # coupling ids with numbers - self.electro_board_from_ids_to_tokens = self.convert_electro_board_ids_to_tokens(self.ids, self.tokens) - self.solution_board = solution_board_from_launch - self.electro_board = list() - self.electro_board_with_tokens = dict() - - self.previous_board_state = dict() - self.current_board_state = dict() - - - def play_sound(self, file_path, sleep): - ''' - play a sound using pygame - ''' - pygame.mixer.init() - pygame.mixer.music.load(file_path) - pygame.mixer.music.play(0) - time.sleep(sleep) - - - def get_tokens_id(self): - return self.tokens - - - # def get_robot_personality(self): - # return self.robot_personality - - def get_robot_language(self): - return self.robot_language - - - # def get_robot_gender(self): - # return self.robot_gender - - def get_user_id(self): - return self.user_id - - - # get value from the topic - def get_electro_board_ids(self): - return self.electro_board - - - # topic subscriber - def get_electro_board_callback(self, msg): - self.electro_board = (msg.id) - - - def get_electro_board(self): - return self.get_tokens_by_ids(self.electro_board_from_ids_to_tokens, self.electro_board) - - - def convert_electro_board_ids_to_tokens(self, ids, tokens): - ''' - :param ids: - :param tokens: - :return: this method creates a dic where the ids are the keys and the values are the tokens - ''' - from_ids_to_tokens = dict() - for i in range(len(ids)): - from_ids_to_tokens[ids[i]] = tokens[i] - return from_ids_to_tokens - - - def get_tokens_by_ids(self, from_ids_to_tokens_dict, msg): - ''' - :param electro_board: - :param msg: - :return: given a dictionary where key is the id and value is the token change the msg according (0 empty !0 a token id) - ''' - for i in range(len(msg)): - if msg[i] == 0: - # i+1 because the id start - self.electro_board_with_tokens[i + 1] = '0' - else: - self.electro_board_with_tokens[i + 1] = from_ids_to_tokens_dict.get(msg[i]) - return self.electro_board_with_tokens - - -def main(): - settings = Settings() - while not rospy.is_shutdown(): - print(settings.get_electro_board()) - - -if __name__=="__main__": - main() \ No newline at end of file