example.gpp

number fluent position_outcome() {
initially:
	() = 0;
}

action detect_position(string obj) {
senses:
	position_outcome()	
mapping:
	"/yolo_obj_detection_position_server"{
		to_detected_obj = obj	
	}
}

action say(string str){
mapping:
	"/naoqi_say_server/naoqi_say" {
		say_string = str 
	}
}

bool fluent bumper_state() {
initially:
        () = false;                
} 

exog_action bumper(bool pressed) {
mapping:
	"/pepper_robot/naoqi_driver/bumper" {
		pressed = pressed 	
	}
effect: 
	bumper_state() = pressed;
}

string fluent dialog_outcome() {
initially:
        ()= "";
}

action dialog(string topicfile) {
senses:
	dialog_outcome()
mapping:
	"/naoqi_dialog_server" {
		topic_file = topicfile
	}
}

string fluent web_name() {
initially:
        () = "";                
} 

action openWebsite (string url, bool waitForWebCommand){
senses:
	web_name()
mapping:
		"/naoqi_openWebsite_server/openWebsite"{
			url = url,
			waitForWebCommand = waitForWebCommand	
	}
}

bool fluent touch_sensor_state() {
initially:
        () = false;                
} 

exog_action touch(bool pressed) {
mapping:
	"/pepper_robot/naoqi_driver/head_touch" {
		pressed = pressed 	
	}
effect: 
	touch_sensor_state() = pressed;
}

bool fluent name_state() {
initially:
        () = false;                
} 
string fluent name() {
initially:
        () = "";                
}

action LearnFace (string name){	
mapping:
		"/face_recognition_trainer_actionserver"{
			learn_name = name
	}
}

number fluent confidence_val() {
initially:
        () = 0;                
}

exog_action recog_name(string name, number confidence) {
mapping:
	"/face_recognition/output" {
		name = name,
		confidence = confidence 	
	}
effect:
	name_state() = true;
	name() = name;
	confidence_val() = confidence;
}



{
openWebsite("http://192.168.1.200:3412/examples/html/pepper_keyboard/keyboard.html?ros=true", true);
//end(openWebsite("http://192.168.1.200:3412/examples/html/pepper_keyboard/keyboard.html?ros=true", true));
say(web_name());

say("Hallo");

start(openWebsite("http://192.168.1.200:3412/examples/html/pepper_videostream.html?ros=true", false));
//LearnFace("max");

test(name_state() & confidence_val() > 3000);
say("test");
say(name());
}