Added custom action timeout

examples/4.Actions/7.custom_action_timeout.py

@@ -0,0 +1,50 @@
+# BSD 2-Clause License
+#
+# Copyright (c) 2022, Social Cognition in Human-Robot Interaction,
+#                     Istituto Italiano di Tecnologia, Genova
+#
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+hamlet="""
+To be, or not to be, that is the question:
+Whether 'tis nobler in the mind to suffer
+The slings and arrows of outrageous fortune,
+Or to take arms against a sea of troubles
+And by opposing end them. To die—to sleep
+...
+"""
+
+
+from pyicub.helper import iCub, PyiCubCustomCall
+
+icub = iCub()
+
+speak = PyiCubCustomCall(target="speech.say", args=(hamlet,), timeout=5.0)
+
+action = icub.createAction()
+step = icub.createStep()
+step.addCustomCall(speak)
+action.addStep(step)
+
+icub.play(action)