Skip to content

Commit

Permalink
[jsk_fetch_startup/kithcen] Change description dependent on success o…
Browse files Browse the repository at this point in the history 
…r not
  • Loading branch information
@tkmtnt7000
tkmtnt7000 committed Aug 24, 2022
1 parent 6d5811e commit 1213188
Showing 1 changed file with 34 additions and 15 deletions.
49 changes: 34 additions & 15 deletions jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
View file
Original file line number Diff line number Diff line change
Expand Up @@ -697,14 +697,14 @@ Args:
'(lambda (userdata)
(let ((light-on (get-light-on)))
(setf (cdr (assoc 'initial-light-on userdata)) light-on)
(set-alist 'description "電気がついているか確認したよ" userdata)
(if light-on
(set-alist 'description "電気がついていたよ" userdata)
(set-alist 'description "電気がついていなかったよ" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
light-on)))
(:report-light-on
'(lambda (userdata)
(report-light-on)
(set-alist 'description "電気がついていたよ" userdata)
(set-alist 'image "" userdata)
t))
(:room-light-on
'(lambda (userdata)
Expand All @@ -719,7 +719,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata)))
(success (move-to-dock-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
(set-alist 'description "ドックの前に移動したよ" userdata)
(if success
(set-alist 'description "ドックの前に移動したよ" userdata)
(set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-dock-front
Expand All @@ -739,7 +741,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
(success (move-to-tv-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
(set-alist 'description "テレビの前に移動したよ" userdata)
(if success
(set-alist 'description "テレビの前に移動したよ" userdata)
(set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-tv-front
Expand All @@ -759,7 +763,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
(success (move-to-tv-desk :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
(set-alist 'description "机の前に移動したよ" userdata)
(if success
(set-alist 'description "机の前に移動したよ" userdata)
(set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-tv-desk
Expand All @@ -779,7 +785,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
(success (move-to-desk-back :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
(set-alist 'description "部屋の後ろに移動したよ" userdata)
(if success
(set-alist 'description "部屋の後ろに移動したよ" userdata)
(set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-desk-back
Expand All @@ -799,7 +807,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
(success (move-to-desk-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
(set-alist 'description "部屋の前に移動したよ" userdata)
(if success
(set-alist 'description "部屋の前に移動したよ" userdata)
(set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-desk-front
Expand All @@ -819,7 +829,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
(success (move-to-kitchen-door-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
(set-alist 'description "ドアの前に移動したよ" userdata)
(if success
(set-alist 'description "ドアの前に移動したよ" userdata)
(set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-kitchen-door-front
Expand All @@ -839,7 +851,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
(success (move-to-sink-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
(set-alist 'description "キッチンに向かったよ" userdata)
(if success
(set-alist 'description "キッチンに移動したよ" userdata)
(set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-kitchen
Expand All @@ -859,7 +873,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
(success (move-to-trashcan-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
(set-alist 'description "ゴミ箱の前に向かったよ" userdata)
(if success
(set-alist 'description "ゴミ箱の前に移動したよ" userdata)
(set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-trashcan
Expand All @@ -880,7 +896,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
(success (auto-dock :n-trial n-trial :clear-costmap nil)))
(setf (cdr (assoc 'success-auto-dock userdata)) success)
(set-alist 'description "帰ってきたよ" userdata)
(if success
(set-alist 'description "帰ってきたよ" userdata)
(set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:auto-dock-failure
Expand All @@ -895,9 +913,10 @@ Args:
(initial-light-on (cdr (assoc 'initial-light-on userdata)))
(control-switchbot (cdr (assoc 'control-switchbot userdata))))
(if (and success-auto-dock (not initial-light-on))
(room-light-off :control-switchbot control-switchbot))
(set-alist 'description "電気を消したよ" userdata)
(set-alist 'image "" userdata))
(progn
(room-light-off :control-switchbot control-switchbot)
(set-alist 'description "電気を消したよ" userdata)
(set-alist 'image "" userdata))))
t))
(:finish
'(lambda (userdata)
Expand Down

0 comments on commit 1213188

Please sign in to comment.