diff --git a/src/robot_behaviour/robot.py b/src/robot_behaviour/robot.py
index efd52887305fc8f0894f372c0709c3c7d2c4a388..e26d343e3bb1cb404640033f5b0a20828c9c7e0f 100644
--- a/src/robot_behaviour/robot.py
+++ b/src/robot_behaviour/robot.py
@@ -16,7 +16,7 @@ from robot_behaviour.speech_utterance import SpeechUtterance
from robot_behaviour.actions import Actions
import time
import numpy as np
-
+import random as rn
class Robot:
'''
robot class to define the actions of assistance, combining speech and gesture
@@ -55,6 +55,8 @@ class Robot:
self.play_again = xml_reader.get_actions_by_tag(actions_file_name, "play_again")
self.max_attempt = xml_reader.get_actions_by_tag(actions_file_name, "max_attempt")
self.unexpected_beahviour = xml_reader.get_actions_by_tag(actions_file_name, "unexpected_behaviour")
+ self.positive_grasping = xml_reader.get_actions_by_tag(actions_file_name, "positive_grasping")
+ self.negative_grasping = xml_reader.get_actions_by_tag(actions_file_name, "negative_grasping")
def get_instructions_speech(self):
'''
@@ -106,13 +108,13 @@ class Robot:
def get_play_again_speech(self):
'''
- :return:
+ :return:
'''
return self.play_again
-
+
def get_end_game_speech(self):
'''
- :return:
+ :return:
'''
return self.end_game
@@ -148,34 +150,52 @@ class Robot:
print("The index is out of bound, we will set it to 0 for action index")
- def get_token_subset_solution(self, token, skt):
+
+ def get_positive_grasping(self):
+ try:
+ return self.positive_grasping
+ except IndexError:
+ print("The index is out of bound, we will set it to 0 for action index")
+
+ def get_negative_grasping(self):
+ try:
+ return self.negative_grasping
+ except IndexError:
+ print("The index is out of bound, we will set it to 0 for action index")
+
+ def provide_lev_1(self, speech, file):
+ speech.play_file(file)
+
+ def provide_lev_2_col(self, token, skt, speech, robot, file_Left, file_Center, file_Right):
board_cols = skt.get_board_size()[1]
- solution_subset =[]
- #we need to get the location of the current token
- #and get the two that are closer
+ robot.look_at_user()
+
+ # we need to get the location of the current token
+ # and get the two that are closer
solution_location = skt.get_token_location(token)
- #if the right token is is the last column of the board
- if(solution_location==(board_cols) or solution_location==((2*board_cols)) or solution_location==(3*board_cols) or solution_location==(4*board_cols)):
- left_left_closer_token = skt.get_current_board_status()[solution_location - 2]
- if left_left_closer_token != '0': solution_subset.append(left_left_closer_token)
- left_closer_token = skt.get_current_board_status()[solution_location-1]
- if left_closer_token != '0': solution_subset.append(left_closer_token)
- solution_subset.append(token)
-
- #if theright token is in the first column of the board
- elif(solution_location==1 or solution_location==(board_cols+1) or solution_location==(board_cols*2)+1 or solution_location==(board_cols*3)+1):
- solution_subset.append(token)
- right_closer_token = skt.get_current_board_status()[solution_location+1]
- if right_closer_token != '0': solution_subset.append(right_closer_token)
- right_right_closer_token = skt.get_current_board_status()[solution_location + 2]
- if right_right_closer_token != '0': solution_subset.append(right_right_closer_token)
+ # if the right token is is the last column of the board
+ if (solution_location == (board_cols) or solution_location == ((2 * board_cols)) or solution_location == (
+ 3 * board_cols) or solution_location == (4 * board_cols)):
+ speech.play_file(file_Right)
+ print("Solution is on the right")
+ elif (solution_location == 1 or solution_location == (board_cols + 1) or solution_location == (
+ board_cols * 2) + 1 or solution_location == (board_cols * 3) + 1):
+ speech.play_file(file_Left)
+ print("Soluition in on the left")
else:
- left_closer_token = skt.get_current_board_status()[solution_location-1]
- if left_closer_token != '0': solution_subset.append(left_closer_token)
- solution_subset.append(token)
- right_closer_token = skt.get_current_board_status()[solution_location-2]
- if right_closer_token != '0': solution_subset.append(right_closer_token)
- return solution_subset
+ speech.play_file(file_Center)
+ print("Solution is in the middle")
+
+ def provide_lev_2_row(self, token, skt, speech, file_1Row, file_2Row, file_3Row):
+ # we need to get the location of the current token
+ # and get the two that are closer
+ solution_location = skt.get_token_location(token)
+ if solution_location>11 and solution_location<15:
+ print("second row")
+ speech.play_file(file_2Row)
+ else:
+ print("first row")
+ speech.play_file(file_1Row)
def move_token_back(self, token, skt):
@@ -184,204 +204,34 @@ class Robot:
token_dest_loc = skt.get_token_initial_location(token)
return token_curr_loc, token_dest_loc
- def provide_reengagement_timeout(self, speech):
- for i in range(len(self.get_timeout_actions_speech())):
- #check if we need to reproduce a gesture
- if self.get_timeout_actions_speech()[i][1]==1:
- speech.reproduce_speech(self.get_timeout_actions_speech()[i][0])
- #reproduce the gesture
- else:
- speech.reproduce_speech(self.get_timeout_actions_speech()[i][0])
-
-
- def provide_instructions(self, speech, actions):
- for i in range(len(self.get_instructions_speech())):
- #check if we need to reproduce a gesture
- speech.reproduce_speech(self.get_instructions_speech()[i][0])
- #reproduce the gesture
- #if at the first one of the instructions are with gesture then reproduce it
- if self.get_instructions_speech()[0][1]==1:
- actions.initial_pos()
-
- def provide_assistance(self, level_index, attempt, token, skt, speech, actions):
- if level_index == 0:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
-
- elif level_index == 1:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- #if in the xml file name!= "no_gesture"
- if self.get_assistive_action_speech(level_index, attempt)[1] == 1:
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- #hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
- else:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
-
- elif level_index == 2:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- #robot action
- if self.get_assistive_action_speech(level_index, attempt)[1] == 1:
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- # reproduce the gesture
- token_loc = skt.get_token_location(token)
- print("token ", token, " location ", token_loc)
- subset_solution = self.get_token_subset_solution(token, skt)
- actions.suggest_subset(token_loc, speech, subset_solution, 5)
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
- actions.initial_pos()
- else:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- subset_solution = self.get_token_subset_solution(token, skt)
- for i in range(len(subset_solution)):
- speech.reproduce_speech(subset_solution[i])
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
-
- elif level_index == 3:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- #robot action
- if self.get_assistive_action_speech(level_index, attempt)[1] == 1:
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- # reproduce the gesture
- token_loc = skt.get_token_location(token)
- actions.suggest_solution(token_loc, speech, token, 5)
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
- actions.initial_pos()
- else:
- if attempt > len(self.get_assistive_actions(level_index)) - 1:
- attempt = np.random.randint(0, len(self.get_assistive_actions(level_index)))
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, attempt)[0])
- speech.reproduce_speech(token)
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
-
- elif level_index == 4:
- print("Warning hard coded string")
- # reproduce the gesture
- token_loc = skt.get_token_location(token)
- speech.reproduce_speech(self.get_assistive_action_speech(level_index, 0)[0])
- if self.get_assistive_action_speech(level_index, 0)[1] == 1:
- actions.offer_token(token_loc, speech, self.get_assistive_action_speech(level_index, 1)[0])
- #speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
- actions.initial_pos()
- # hard coded string
- speech.reproduce_speech(self.get_assistive_action_speech(0, 0)[0])
- #speech.reproduce_speech(token)
- # reproduce the gesture
- #speech.reproduce_speech(self.get_assistive_action_speech(level_index, 1)[0])
- else:
- assert Exception ("error in the index level, please revise it")
-
- def provide_congratulation(self, attempt, speech, actions):
- if attempt>len(self.get_congratulate_actions_speech())-1:
- attempt = np.random.randint(0, len(self.get_congratulate_actions_speech()))
- if self.get_congratulate_actions_speech()[attempt][1] == 1:
- #perform robot action
- actions.head_noddling_yes()
- speech.reproduce_speech(self.get_congratulate_actions_speech()[attempt][0])
- else:
- speech.reproduce_speech(self.get_congratulate_actions_speech()[attempt][0])
+ def provide_instructions(self, speech, file):
+ speech.play_file(file)
- def provide_compassion(self, attempt, speech, actions):
- if attempt>len(self.get_compassion_actions_speech())-1:
- attempt = np.random.randint(0, len(self.get_compassion_actions_speech()))
+ def provide_congratulation(self, speech, file):
+ speech.play_file(file)
- if self.get_compassion_actions_speech()[attempt][1] == 1:
- # perform robot action
- actions.head_noddling_no()
- speech.reproduce_speech(self.get_compassion_actions_speech()[attempt][0])
- else:
- speech.reproduce_speech(self.get_compassion_actions_speech()[attempt][0])
+ def provide_pos_feedback(self, attempt, max_attempt, speech, robot, file):
+ if attempt>max_attempt-1:
+ attempt = np.random.randint(0, max_attempt)
+ #robot.head_noddling_yes()
+ speech.play_file(file[attempt])
- def provide_help(self, attempt, speech):
- if attempt > len(self.get_help_actions_speech()) - 1:
- attempt = np.random.randint(0, len(self.get_help_actions_speech()))
+ def provide_neg_feedback(self, attempt, max_attempt, speech, robot, file):
+ if attempt>max_attempt-1:
+ attempt = np.random.randint(0, max_attempt)
+ #robot.head_noddling_no()
+ speech.play_file(file[attempt])
- if self.get_help_actions_speech()[attempt][1] == 1:
- speech.reproduce_speech(self.get_help_actions_speech()[attempt][0])
- #perform robot action (need to implement this movement)
- else:
- speech.reproduce_speech(self.get_help_actions_speech()[attempt][0])
+ def provide_token_back(self, speech, file):
+ speech.play_file(file)
- def provide_help_attempt(self, attempt, speech):
- if attempt > len(self.get_help_attempt_actions_speech()) - 1:
- attempt = np.random.randint(0, len(self.get_help_attempt_actions_speech()))
+ def provide_game_completed(self, speech, file):
+ speech.play_file(file)
- if self.get_help_attempt_actions_speech()[attempt][1] == 1:
- speech.reproduce_speech(self.get_help_attempt_actions_speech()[attempt][0])
- #perform robot action
- else:
- speech.reproduce_speech(self.get_help_attempt_actions_speech()[attempt][0])
-
- def provide_help_timeout(self, attempt, speech):
- if attempt > len(self.get_help_timeout_actions_speech()) - 1:
- attempt = np.random.randint(0, len(self.get_help_timeout_actions_speech()))
-
- if self.get_help_timeout_actions_speech()[attempt][1] == 1:
- speech.reproduce_speech(self.get_help_timeout_actions_speech()[attempt][0])
- # perform robot action
- else:
- speech.reproduce_speech(self.get_help_timeout_actions_speech()[attempt][0])
-
- def provide_token_back(self, attempt, speech, actions, _from, _to):
- if attempt >= len(self.get_move_back_actions_speech()) - 1:
- attempt = np.random.randint(0, len(self.get_move_back_actions_speech()))
-
- if self.get_move_back_actions_speech()[attempt][1] == 1:
- # perform robot action
- speech.reproduce_speech(self.get_move_back_actions_speech()[attempt][0])
- actions.pick_and_place(_from, _to)
- else:
- speech.reproduce_speech(self.get_move_back_actions_speech()[attempt][0])
-
- def provide_game_completed(self, speech, actions):
- for i in range(len(self.get_end_game_speech())):
- # check if we need to reproduce a gesture
- if self.get_end_game_speech()[i][1] == 1:
- speech.reproduce_speech(self.get_end_game_speech()[i][0])
- # reproduce the gesture
- actions.wave()
- else:
- speech.reproduce_speech(self.get_end_game_speech()[i][0])
-
- def provide_play_again(self, speech):
- speech.reproduce_speech(self.get_play_again_speech()[0][0])
-
- def provide_max_attempt(self, speech, actions, _from, _to):
- speech.reproduce_speech(self.get_max_attempt_speech()[0][0])
- if self.get_max_attempt_speech()[0][1] == 1:
- actions.pick_and_place(_from, _to)
-
- def provide_unexpected_behaviour(self, speech, actions):
- for i in range(len(self.get_unexpected_beahviour())):
- if self.get_unexpected_beahviour()[i][1]==1:
- speech.reproduce_speech(self.get_unexpected_beahviour()[i][0])
- #reproduce action
- actions.head_noddling_no()
- else:
- speech.reproduce_speech(self.get_unexpected_beahviour()[i][0])
-
- def provide_any_instruction(self, speech, sentence):
- speech.reproduce_speech(sentence)
-
- def provide_illegal_move(self, speech, token, location):
- speech.reproduce_speech("Move token "+token+ ". in location "+location)
- time.sleep(2)
+ def provide_illegal_move(self, speech, file):
+ speech.play_file(file)
# length=5
# progress=1