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;
}
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;
}
}