void Controller::update()
{
std_srvs::Empty srv;
// initialization: start with random walking
if(!initialized) {
rnd_walk_start.call(srv);
initialized=true; // will never bet to false again
std::cerr<<"Look at this *gaze*!"<<std::endl;
startGaze();
}
if (new_task)
{
new_task = false;
std::cerr<<"Let's stop here for a while..."<<std::endl;
rnd_walk_stop.call(srv);
std::cerr<<"I feel active...*talk*"<<std::endl;
startDialog();
// update our people memory
updatePersonSeen(person_id);
std::cerr<<"Stop staring ... this is embarassing."<<std::endl;
//ac_gaze.cancelAllGoals();
std::cerr<<"I would like to start roaming again..."<<std::endl;
rnd_walk_start.call(srv);
// discard perception from now on
sleepStarted = ros::Time::now();
}
}
int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
Dialog *dialog = new Dialog(a.applicationDirPath(), &a);
QObject::connect(dialog, SIGNAL(quit()), &a, SLOT(quit()));
QTimer::singleShot(0, dialog, SLOT(setSwitcher()));
QTimer *timer = new QTimer(&a);
QObject::connect(timer, SIGNAL(timeout()), dialog, SLOT(startDialog()));
timer->start(2000);
return a.exec();
}
void UserMenuDialog::slotNewClicked()
{
KILE_DEBUG() << "start new menutree ... ";
if ( !m_menutree->isEmpty() && m_modified ) {
if ( KMessageBox::questionYesNo(this, i18n("Current menu tree was modified, but not saved.\nDiscard this tree?")) == KMessageBox::No ) {
return;
}
}
m_menutree->clear();
m_modified = false;
startDialog(); // includes buttons update
}
