From c5e576586eac0cc1f353d4dced057356c55727f7 Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.educlear>
Date: Wed, 2 Oct 2019 20:23:51 +0200
Subject: [PATCH] Add methods for reproducing audio - hard coded
---
src/robot_behaviour/robot.py | 65 +++++++++++++++----------
src/robot_behaviour/speech_utterance.py | 8 ++-
2 files changed, 45 insertions(+), 28 deletions(-)
diff --git a/src/robot_behaviour/robot.py b/src/robot_behaviour/robot.py
index e26d343..78e12db 100644
--- a/src/robot_behaviour/robot.py
+++ b/src/robot_behaviour/robot.py
@@ -163,39 +163,49 @@ class Robot:
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_1(self, speech, file, your_turn):
+ #speech.play_file(file, 2)
+ #speech.play_file(your_turn, 1)
+ return file
- def provide_lev_2_col(self, token, skt, speech, robot, file_Left, file_Center, file_Right):
+ def provide_lev_2_col(self, token, skt, speech, robot, file_Left, file_Center, file_Right, your_turn):
board_cols = skt.get_board_size()[1]
- 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)
+ sentence = ""
# 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)
+ sentence = file_Right
+ #speech.play_file(file_Right, 3)
+ #speech.play_file(your_turn, 1)
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)
+ sentence = file_Left
+ #speech.play_file(file_Left, 3)
+ #speech.play_file(your_turn, 1)
print("Soluition in on the left")
else:
- speech.play_file(file_Center)
+ sentence = file_Center
+ #speech.play_file(file_Center, 3)
+ #speech.play_file(your_turn, 1)
print("Solution is in the middle")
+ return sentence
+
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)
+ speech.play_file(file_2Row, 3)
else:
print("first row")
- speech.play_file(file_1Row)
+ speech.play_file(file_1Row, 3)
def move_token_back(self, token, skt):
@@ -205,34 +215,37 @@ class Robot:
return token_curr_loc, token_dest_loc
- def provide_instructions(self, speech, file):
- speech.play_file(file)
-
+ def provide_instructions(self, speech, file1, file2):
+ speech.play_file(file1, 10)
+ speech.play_file(file2, 10)
def provide_congratulation(self, speech, file):
- speech.play_file(file)
+ speech.play_file(file, 4)
def provide_pos_feedback(self, attempt, max_attempt, speech, robot, file):
- if attempt>max_attempt-1:
- attempt = np.random.randint(0, max_attempt)
+ attempt = np.random.randint(0, max_attempt)
#robot.head_noddling_yes()
- speech.play_file(file[attempt])
+ #speech.play_file(file[attempt],2)
+ return file[attempt]
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])
+ attempt = np.random.randint(0, max_attempt)
+ #robot.head_noddling_no()
+ #speech.play_file(file[attempt], 2)
+ return file[attempt]
def provide_token_back(self, speech, file):
- speech.play_file(file)
-
+ #speech.play_file(file, 2)
+ return file
def provide_game_completed(self, speech, file):
- speech.play_file(file)
-
+ #speech.play_file(file,4)
+ return file
def provide_illegal_move(self, speech, file):
- speech.play_file(file)
-
+ #speech.play_file(file, 3)
+ return file
+ def provide_timeout(self, speech, file):
+ #speech.play_file(file, 3)
+ return file
# length=5
# progress=1
# timeout=15
diff --git a/src/robot_behaviour/speech_utterance.py b/src/robot_behaviour/speech_utterance.py
index b7fe6ae..d9a056a 100755
--- a/src/robot_behaviour/speech_utterance.py
+++ b/src/robot_behaviour/speech_utterance.py
@@ -17,6 +17,10 @@ class SpeechUtterance():
def reproduce_speech(self, sentence):
rate = rospy.Rate(1) # 10hz
+ #check if the sentence is a string otherwise cast it
+ if not isinstance(sentence, str):
+ sentence = str(sentence)
+
while not rospy.is_shutdown():
connections = self.pub.get_num_connections()
if connections>0:
@@ -32,7 +36,7 @@ class SpeechUtterance():
break
#rospy.sleep(pause)
- def play_file(self, file, volume=0.5):
+ def play_file(self, file, timing, volume=0.5):
rospy.loginfo('Example: SoundClient play methods can take in an explicit'
' blocking parameter')
soundhandle = SoundClient() # blocking = False by default
@@ -41,7 +45,7 @@ class SpeechUtterance():
sound_beep = soundhandle.waveSound(file, volume)
sound_beep.play()
- rospy.sleep(0.5) # Let sound complete.
+ rospy.sleep(timing) # Let sound complete.
# def main():
--
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