feat: statemachine to handle the "talk" gpsr subtask

tasks/gpsr/src/gpsr/states/talk.py

@@ -0,0 +1,73 @@
+import smach
+from lasr_skills import Say
+import time
+from typing import Dict
+import rospy
+
+
+class GenerateResponse(smach.State):
+    def __init__(self):
+        smach.State.__init__(
+            self,
+            outcomes=["succeeded", "failed"],
+            input_keys=["talk_phrase"],
+            output_keys=["response"],
+        )
+
+        self._possible_responses: Dict[str, str] = self._create_responses()
+
+    def _create_responses(self) -> Dict[str, str]:
+        response = {}
+        response["something about yourself"] = (
+            "I am a Tiago -- a helpful assistive robot developed by PAL Robotics."
+        )
+        current_time = time.strftime("%H:%M")
+        response["the time"] = f"The current time is {current_time}."
+        current_day = time.strftime("%A")
+        response["what day is today"] = f"Today is {current_day}."
+        tomorrow = time.strftime("%A", time.localtime(time.time() + 86400))
+        response["what day is tomorrow"] = f"Tomorrow is {tomorrow}."
+        response["your teams name"] = "Our team is called LASR."
+        response["your teams country"] = "Our team is from the United Kingdom."
+        response["your teams affiliation"] = (
+            "Our team is affiliated with King's College London."
+        )
+        day_of_the_week = current_day
+        day_of_the_month = time.strftime("%d")
+        response["the day of the week"] = f"Today is {day_of_the_week}."
+
+        response["the day of the month"] = (
+            f"The day of the month is {day_of_the_month}."
+        )
+        return response
+
+    def execute(self, userdata):
+        try:
+            userdata.response = self._possible_responses[userdata.talk_phrase]
+        except KeyError:
+            rospy.loginfo(
+                f"Failed to generate response for {userdata.talk_phrase} as it is not in the list of possible questions."
+            )
+            return "failed"
+        return "succeeded"
+
+
+# In future we might want to add looking at person talking to the state machine.
+class Talk(smach.StateMachine):
+    def __init__(self):
+        smach.StateMachine.__init__(self, outcomes=["succeeded", "failed"])
+
+        with self:
+            smach.StateMachine.add(
+                "GENERATE_RESPONSE",
+                GenerateResponse(),
+                transitions={"succeeded": "SAY_RESPONSE", "failed": "failed"},
+                remapping={"talk_phrase": "talk_phrase", "response": "response"},
+            )
+
+            smach.StateMachine.add(
+                "SAY_RESPONSE",
+                Say(),
+                transitions={"succeeded": "succeeded", "failed": "failed"},
+                remapping={"phrase": "response"},
+            )