From f60c40c631b8735e32f91ef511679154c2772c86 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Wed, 20 Jul 2022 18:40:08 +0200 Subject: [PATCH] move robot to default pose after finishing --- src/main/jastadd/cleanup/SemanticActions.jadd | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd index 3c4e25b..981f176 100644 --- a/src/main/jastadd/cleanup/SemanticActions.jadd +++ b/src/main/jastadd/cleanup/SemanticActions.jadd @@ -59,6 +59,20 @@ aspect SemanticActions { } } + public void Tidy.action(World world) { + RobotScene scene = world.asRobotScene(); + System.out.println("performing semantic action for element Tidy"); + if (scene.simulated) { + } else { + de.tudresden.inf.st.ceti.Command c = de.tudresden.inf.st.ceti.Command.newBuilder().setEvacuate(de.tudresden.inf.st.ceti.Evacuate.newBuilder().setIdRobot("arm").setIdCollaborationZone("arm").build()).build(); + try { + scene.connection.publish(scene.commandTopic, c.toByteArray(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false); + } catch (Exception e) { + e.printStackTrace(); + } + } + } + public void Wait.action(World world) { RobotScene container = world.asRobotScene(); System.out.println("performing semantic action for element Wait"); -- GitLab