Adapted to last IRD interface

CMakeLists.txt

@@ -53,26 +53,35 @@ add_message_files(
   FILES
   target_state.msg
   human_pose_classification.msg
+  Action.msg
+  Activity.msg
+  Answer.msg
+  Date.msg
+  Movement.msg
+  Question.msg
+  Screen.msg
+  Speech.msg
 )
 
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
-  get_rooms_to_search.srv
   upload_answers.srv
   get_current_room.srv
   get_current_person_pose.srv
-#   Service1.srv
-#   Service2.srv
+  ScheduleActivity.srv
+  SetAnswer.srv
+  SetScreen.srv
 )
 
 ## Generate actions in the 'action' folder
 add_action_files(
   FILES
-  ask_questionary.action
   ask_questions.action
   remote_control.action
-#   Action2.action
+  ExecuteAction.action
+  ExecuteActivity.action
+  Speak.action
 )
 
 ## Generate added messages and services with any dependencies listed here

action/ask_questionary.action → action/ExecuteAction.action

-# Action to start the mison to ask a questionary to the user.
+# Action to execute an action
 ##### Result code
 uint8 SUCCESS=0 # All ok.
 uint8 SEARCHNAVERR=1 # Navigation error when searching the person.
@@ -15,39 +15,9 @@ uint8 SENTERR=11 # Error capturing sentiment.
 uint8 ROOMERR=12 # Error getting localization.
 uint8 POSEERR=13 # Error capturing pose.
 
-##### Language code
-uint8 ENGLISH=0
-uint8 CATALAN=1
-uint8 SPANISH=2
-
-##### Tone/Sentiment code
-uint8 UNKNOWN=0
-uint8 HAPPY=1
-uint8 SAD=2
-uint8 NEUTRAL=3
-
-##### Status code
-uint8 SEARCHING=0 # Searching the person
-uint8 APPROACHING=1 #Person found. Approaching person.
-uint8 ASKING=2 # Asking the questionary
-uint8 RETURNING=3 # Returning home.
-
-
-string questionary_id #Questionary name.
-string[] questions_id #Vector with the questions references to ask. If empty ask all.
-string[] response_options #Vector with the answers
-int32 language # language code
-int32 tone # Tone code
-bool screen_answers # Bool to show screen answers
-string screen # Screen to be displayed
-string motion # Motion name
-bool get_answer # Bool to wait for an answer
-bool get_sentiment # Bool to get sentiment
-bool get_room # Bool to get room
-bool get_pose # Bool to get person pose
+iri_raadical_msgs/Action action
 ---
-int32 result_code #Result code.
-string result_str # Result human readable string.
+int32 return_code # Code after finishing the action.
+string return_msg # Optional returning msg to pass information to higher levels.
 ---
-int32 status_code #Status code.
-string status_str # Status human readable string.
+string feedback_status

action/ExecuteActivity.action

+# Action to execute an activity
+
+iri_raadical_msgs/Activity activity
+---
+int32 return_code # Code after finishing the activity.
+string return_msg # Optional returning msg to pass information to higher levels.
+---
+string feedback_status

action/Speak.action

+# Action to generate robot speech
+
+string speaking_text
+int32 language
+int32 speaking_mode
+---
+int32 return_code # Code after finishing the activity.
+string return_msg # Optional returning msg to pass information to higher levels.
+---
+string feedback_status
\ No newline at end of file

action/ask_questions.action

@@ -4,23 +4,10 @@ uint8 SUCCESS=0 # Questionary successfully finished.
 uint8 QERR=1 # Error reading questionary.
 uint8 QNOTFINISHED=2 # Q.
 
-##### Language code
-uint8 ENGLISH=0
-uint8 CATALAN=1
-uint8 SPANISH=2
-
-##### Tone/Sentiment code
-uint8 HAPPY=1
-uint8 SAD=2
-uint8 NEUTRAL=3
-
-string questionary_id #Questionary name.
-string[] questions_id #Vector with the questions references to ask. If empty ask all.
-string[] response_options #Vector with the answers
-int32 language # language code
-int32 tone # Tone code
+iri_raadical_msgs/Speech speech
 bool get_answer # Bool to wait for an answer
 ---
 int32 return_code # Code after analizing the response.
 string return_msg # Optional returning msg to pass information to higher levels.
 ---
+string feedback_status

msg/Action.msg

+iri_raadical_msgs/Movement movement
+iri_raadical_msgs/Speech speech
+iri_raadical_msgs/Answer answer
+iri_raadical_msgs/Screen screen
+bool capture_emotion
+bool capture_location
+bool capture_pose
+bool capture_answer

msg/Activity.msg

+#### Activity code
+uint8 TASKPS=0 # Task plan support.
+uint8 DIMALERT=1 # Dimension alert.
+uint8 SPECDATE=2 # Special date.
+uint8 NEWFEED=3 # News feed.
+uint8 SOCIALEV=4 # Social event.
+
+string id
+int32 type
+iri_raadical_msgs/Date date
+string[] constraints
+
+iri_raadical_msgs/Action[] actions

msg/Answer.msg

+string[] options
\ No newline at end of file

msg/Date.msg

+
+int32 year
+int32 month
+int32 day
+int32 hour
+int32 minute
\ No newline at end of file

msg/Movement.msg

+#### Gesture code
+uint8 ALIVE_1=0
+uint8 ALIVE_2=1
+uint8 ALIVE_3=2
+uint8 ALIVE_4=3
+uint8 ALIVE_5=4
+uint8 ALIVE_6=5
+uint8 ALIVE_7=6
+uint8 WAVE=7
+uint8 START_ARI=8
+uint8 BOW=9
+uint8 NOD=10
+uint8 SHAKE_LEFT=11
+uint8 SHAKE_RIGHT=12
+uint8 SHOW_LEFT=13
+uint8 SHOW_RIGHT=14
+uint8 LOOK_AROUND=15
+uint8 FLYING=16
+
+int32 gesture  # Desired robot gesture (Use string)
+bool move      # Flag to indicate if is desired to approach to the person
\ No newline at end of file

msg/Question.msg

+string text
+string[] options
\ No newline at end of file

msg/Screen.msg

+string text
+string image
+string game
+string[] options
\ No newline at end of file

msg/Speech.msg

+#### Language code
+uint8 CATALAN=0
+uint8 ENGLISH=1
+uint8 SPANISH=2
+
+#### Speaking mode code
+uint8 NEUTRAL=0
+uint8 ANGER=1
+uint8 DISGUST=2
+uint8 FEAR=3
+uint8 HAPPINESS=4
+uint8 SADNESS=5
+uint8 SURPRISE=6
+
+
+string speaking_text
+int32 language
+int32 speaking_mode
\ No newline at end of file

srv/ScheduleActivity.srv

+# Service for scheduling an activity
+
+#### Language code
+uint8 SUCCESS=0
+uint8 ERROR=1
+uint8 UNKNOWN=2
+
+std_msgs/Header header
+iri_raadical_msgs/Activity activity
+---
+int32 result

srv/SetAnswer.srv

+# Service for scheduling an activity
+
+string question
+string answer
+---
+int32 result
\ No newline at end of file

srv/SetScreen.srv

+# Service for scheduling an activity
+
+std_msgs/Header header
+iri_raadical_msgs/Screen screen
+---
+int32 result

srv/get_rooms_to_search.srv

-# Service to get an ordered vector with the user location probability
-
-
-string[] room_names # Vector with the room names.
-float64[] room_distances # distances to each room.
----
-string[] searching_rooms # Ordered rooms' list to search for the user