예제 #1
0
	int executeCB(ros::Duration dt)
		{
            std::cout << "**Reset Activity -%- Executing Main Task, elapsed_time: "
			          << dt.toSec() << std::endl;
            std::cout << "**Reset Activityt -%- execute_time: "
			          << execute_time_.toSec() << std::endl;
			execute_time_ += dt;

			if (!init_)
			{
				initialize();
				init_ = true;
            }
            speech_proxy_ptr->say("Activity Reset");
            msg.data = "";//I reset the activity after he's done
            activity_pub.publish(msg);//so it does not say the sentence more than once
            set_feedback(SUCCESS);
            return 1;

		}
예제 #2
0
void Bumper::onRightBumperPressed() {
  qiLogInfo("module.example") << "Executing callback method on right bumper event" << std::endl;
  /**
  * As long as this is defined, the code is thread-safe.
  */
  AL::ALCriticalSection section(fCallbackMutex);

  /**
  * Check that the bumper is pressed.
  */
  fState =  fMemoryProxy.getData("RightBumperPressed");
  if (fState  > 0.5f) {
    return;
  }
  try {
    fTtsProxy = AL::ALTextToSpeechProxy(getParentBroker());
    fTtsProxy.say("Right bumper pressed");
  }
  catch (const AL::ALError& e) {
    qiLogError("module.example") << e.what() << std::endl;
  }
}