void Remind::run() {
ros::NodeHandle n;
if (!pub_set) {
remind_pub = n.advertise<sound_play::SoundRequest>("robotsound", 1000);
pub_set = true;
}
ros::ServiceClient krClient = n.serviceClient<bwi_kr_execution::UpdateFluents> ( "update_fluents" );
krClient.waitForExistence();
if (remind_pub.getNumSubscribers() == 0) return; //if the subscriber is not connected, sleep
//speak
sound_play::SoundRequest sound_req;
sound_req.sound = sound_play::SoundRequest::SAY;
sound_req.command = sound_play::SoundRequest::PLAY_ONCE;
std::stringstream ss;
ss << "Hi " << person_to_remind << "!\n";
ss << "You have a meeting right now.\n";
ss << "Please come to room " << room << " .\n";
sound_req.arg = ss.str();
remind_pub.publish(sound_req);
ss.str("");
ss << "Hi " << person_to_remind << "!\n";
ss << "This is a friendly reminder that you have a meeting right now: \n";
ss << "Meeting name: " << meeting << "\n";
ss << "Meeting room: " << room;
vector<string> options;
options.push_back("Okay, I'll come soon.");
CallGUI remindPerson("remindPerson", CallGUI::CHOICE_QUESTION, ss.str(), 60.0, options);
remindPerson.run();
bwi_kr_execution::UpdateFluents uf;
bwi_kr_execution::AspFluent fluent;
fluent.timeStep = 0;
fluent.variables.push_back(person_to_remind);
fluent.variables.push_back(meeting);
fluent.name = "inmeeting";
uf.request.fluents.push_back(fluent);
krClient.call(uf);
CallGUI thank("thank", CallGUI::DISPLAY, "Thank you!");
thank.run();
done = true;
}
void AskPerson::run() {
ros::NodeHandle n;
if (!pub_set) {
ask_pub = n.advertise<sound_play::SoundRequest>("robotsound", 1000);
pub_set = true;
}
if (ask_pub.getNumSubscribers() == 0) return; //if the subscriber is not connected, sleep
ros::ServiceClient krClient = n.serviceClient<bwi_kr_execution::UpdateFluents> ( "update_fluents" );
krClient.waitForExistence();
//speak
sound_play::SoundRequest sound_req;
sound_req.sound = sound_play::SoundRequest::SAY;
sound_req.command = sound_play::SoundRequest::PLAY_ONCE;
stringstream ss;
ss << "Hi " << person_to_ask << "! ";
ss << "Do you know where " << person_to_know << " is?";
sound_req.arg = ss.str();
ask_pub.publish(sound_req);
vector<string> options;
options.push_back("Yes! " + person_to_know + " is in GDC and I know exactly where.");
options.push_back("No, I have no idea.");
CallGUI askPerson("askPerson", CallGUI::CHOICE_QUESTION, "Hi " + person_to_ask + "! Do you know where " + person_to_know + " is?", 60.0, options);
askPerson.run();
int response = askPerson.getResponseIndex();
if (response < 0) {
bwi_kr_execution::UpdateFluents uf;
bwi_kr_execution::AspFluent fluent;
fluent.timeStep = 0;
fluent.variables.push_back(person_to_ask);
fluent.variables.push_back(person_to_know);
fluent.name = "-know";
uf.request.fluents.push_back(fluent);
krClient.call(uf);
}
if (response == 1) {
sound_req.arg = "OK, thank you anyway!";
ask_pub.publish(sound_req);
CallGUI thank("thank", CallGUI::DISPLAY, "OK, thank you anyway!");
thank.run();
bwi_kr_execution::UpdateFluents uf;
bwi_kr_execution::AspFluent fluent;
fluent.timeStep = 0;
fluent.variables.push_back(person_to_ask);
fluent.variables.push_back(person_to_know);
fluent.name = "-know";
uf.request.fluents.push_back(fluent);
krClient.call(uf);
}
if (response == 0) {
bool know = false;
int count = 0;
sound_req.arg = "Great! Please tell me the room number.";
CallGUI *askPerson = new CallGUI("askPerson", CallGUI::TEXT_QUESTION, "Great! Please tell me the room number.", 60.0);
while ((! know) && (count < 3)) {
ask_pub.publish(sound_req);
askPerson->run();
if ((askPerson->getResponseIndex() == -3) && (askPerson->getResponse() != "")) {
bwi_kr_execution::UpdateFluents uf;
bwi_kr_execution::AspFluent fluent;
fluent.timeStep = 0;
fluent.variables.push_back(person_to_know);
fluent.variables.push_back(askPerson->getResponse());
fluent.name = "inroom";
uf.request.fluents.push_back(fluent);
krClient.call(uf);
know = uf.response.consistent;
}
count++;
sound_req.arg = "The room number doesn't exist. Please try again.";
delete askPerson;
askPerson = new CallGUI("askPerson", CallGUI::TEXT_QUESTION, "The room number doesn't exist. Please try again.", 60.0);
}
sound_req.arg = "Thank you!";
CallGUI *thank = new CallGUI("thank", CallGUI::DISPLAY, "Thank you!");
if (!know) {
sound_req.arg = "OK, thank you anyway!";
delete thank;
thank = new CallGUI("thank", CallGUI::DISPLAY, "OK, thank you anyway!");
}
//ask_pub.publish(sound_req);
thank->run();
bwi_kr_execution::UpdateFluents uf;
bwi_kr_execution::AspFluent fluent;
fluent.timeStep = 0;
fluent.variables.push_back(person_to_ask);
fluent.variables.push_back(person_to_know);
fluent.name = (know ? "know" : "-know");
uf.request.fluents.push_back(fluent);
krClient.call(uf);
}
done = true;
}
void download()
{
closegraph();
initwindow(1275,700);
setfillstyle(1,1);
floodfill(100,100,1);
setcolor(11);
setbkcolor(1);
settextstyle(10,0,5);
outtextxy(30,275,"Downloading"); //Download bar start
setcolor(15);
moveto(40,325);
lineto(1230,325);
arc(40,335,90,270,10);
moveto(40,345);
lineto(1230,345);
arc(1230,335,270,90,10); //Download bar end
settextstyle(10,0,7);
setbkcolor(1);
setcolor(1); //Increasing bar
for(int i=0,j=40;i<100;i++,j=j+12)
{
outintxy(1120,250,i);
outtextxy(1200,250,"%");
setcolor(15);
moveto(j,325);
lineto(j,345);
setcolor(11);
setfillstyle(1,11);
floodfill(j-2,335,15);
delay(200);
}
delay(3000);
outtextxy(1100,250,"100%");
floodfill(1231,335,15);
setcolor(0); //Done button
rectangle(1075,580,1205,650);
setfillstyle(1,7);
floodfill(1100,600,0);
setbkcolor(7);
settextstyle(0,0,3);
outtextxy(1090,605,"Done");
int x=0,y=0;
x = getmaxx( );
y = getmaxy( );
setmousequeuestatus(WM_LBUTTONDOWN);
while(!ismouseclick(WM_LBUTTONDOWN));
{
getmouseclick(WM_LBUTTONDOWN,x,y);
}
if(( x > 1075 && x < 1205 ) && ( y > 580 && y < 650 ))
{
thank();
}
system("pause");
}
