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hlrc / client / python / hlrc_client / hlrc_test_gui.py @ 041c3638

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#!/usr/bin/python
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"""
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This file is part of hlrc
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Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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http://opensource.cit-ec.de/projects/hlrc
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This file may be licensed under the terms of the
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GNU General Public License Version 3 (the ``GPL''),
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or (at your option) any later version.
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Software distributed under the License is distributed
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on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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express or implied. See the GPL for the specific language
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governing rights and limitations.
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You should have received a copy of the GPL along with this
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program. If not, go to http://www.gnu.org/licenses/gpl.html
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or write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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The development of this software was supported by the
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Excellence Cluster EXC 277 Cognitive Interaction Technology.
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The Excellence Cluster EXC 277 is a grant of the Deutsche
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Forschungsgemeinschaft (DFG) in the context of the German
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Excellence Initiative.
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"""
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import logging
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from hlrc_client import *
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import time
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import errno
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import sys
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import os.path
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from PyQt4 import QtGui, QtCore
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from PyQt4.QtCore import SIGNAL
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class HLRCExample(QtGui.QWidget):
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    def __init__(self, scope, mw):
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        super(HLRCExample, self).__init__()
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        self.scope = scope
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        self.mw = mw
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        self.initUI()
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        self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG)
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    def initUtteranceUI(self):
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        groupBox = QtGui.QGroupBox("utterances")
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        hello = QtGui.QPushButton("hello...")
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        hello.clicked.connect(self.utterance_button_clicked)
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        count = QtGui.QPushButton("12345...")
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        count.clicked.connect(self.utterance_button_clicked)
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        vbox = QtGui.QVBoxLayout()
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        vbox.addWidget(hello)
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        vbox.addWidget(count)
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        vbox.addStretch(1)
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        groupBox.setLayout(vbox)
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        return groupBox
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    def initSpinbox(self, _min, _max, _init, double):
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        if (double):
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            s = QtGui.QDoubleSpinBox()
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        else:
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            s = QtGui.QSpinBox()
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        s.setMinimum(_min)
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        s.setMaximum(_max)
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        s.setValue(_init)
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        return s
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    def initPushButton(self, base_layout, text, action):
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        button = QtGui.QPushButton(text)
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        button.clicked.connect(action)
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        base_layout.addWidget(button)
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    def initEmotionUI(self):
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        vbox = QtGui.QVBoxLayout()
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        self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0)
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        vbox.addWidget(self.duration_spinbox)
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        #self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)
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        self.initPushButton(vbox, "neutral",  self.emotion_button_clicked)
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        self.initPushButton(vbox, "surprise", self.emotion_button_clicked)
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        self.initPushButton(vbox, "angry",    self.emotion_button_clicked)
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        self.initPushButton(vbox, "happy",    self.emotion_button_clicked)
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        self.initPushButton(vbox, "sad",      self.emotion_button_clicked)
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        self.initPushButton(vbox, "fear",     self.emotion_button_clicked)
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        vbox.addStretch(1)
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        groupBox = QtGui.QGroupBox("emotion")
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        groupBox.setLayout(vbox)
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        return groupBox
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    def initAnimationButton(self, base_layout, name):
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        b = QtGui.QPushButton(name)
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        b.clicked.connect(self.animation_button_clicked)
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        base_layout.addWidget(b)
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    def initAnimUI(self):
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        groupBox = QtGui.QGroupBox("animations")
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        #options
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        options = QtGui.QHBoxLayout()
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        vbox_r = QtGui.QVBoxLayout()
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        vbox_r.addWidget(QtGui.QLabel("repetitions"))
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        self.repetitions_spinbox = self.initSpinbox(1,10,1,0)
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        vbox_r.addWidget(self.repetitions_spinbox)
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        vbox_d = QtGui.QVBoxLayout()
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        vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
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        self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0)
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        vbox_d.addWidget(self.duration_each_spinbox)
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        vbox_s = QtGui.QVBoxLayout()
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        vbox_s.addWidget(QtGui.QLabel("scale"))
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        self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1)
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        vbox_s.addWidget(self.scale_spinbox)
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        options.addLayout(vbox_r)
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        options.addLayout(vbox_d)
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        options.addLayout(vbox_s)
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        #buttons
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        vbox = QtGui.QVBoxLayout()
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        vbox.addLayout(options)
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        self.initAnimationButton(vbox, "head shake")
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        self.initAnimationButton(vbox, "head nod")
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        self.initAnimationButton(vbox, "eyeblink left")
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        self.initAnimationButton(vbox, "eyeblink right")
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        self.initAnimationButton(vbox, "eyeblink both")
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        self.initAnimationButton(vbox, "eyebrows raise")
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        self.initAnimationButton(vbox, "eyebrows lower")
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        vbox.addStretch(1)
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        groupBox.setLayout(vbox)
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        return groupBox
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    def initUI(self):
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        vbox = QtGui.QVBoxLayout()
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        hboxl = QtGui.QHBoxLayout()
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        hboxl.addWidget(QtGui.QLabel("base scope: "))
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        hboxl.addWidget(QtGui.QLabel(self.scope))
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        vbox.addLayout(hboxl)
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        hbox = QtGui.QHBoxLayout()
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        vbox.addLayout(hbox)
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        #emotion
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        hbox.addWidget(self.initEmotionUI())
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        #utterance:
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        hbox.addWidget(self.initUtteranceUI())
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        #animations:
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        hbox.addWidget(self.initAnimUI())
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        self.setLayout(vbox)
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        #sld.valueChanged.connect(lcd.display)
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        self.setGeometry(400, 100, 250, 150)
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        self.setWindowTitle("HLRC Server test GUI - %s" % self.scope)
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        self.show()
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    def utterance_button_clicked(self):
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        button = self.sender().text()
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        if (button == "12345..."):
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            self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False)
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        elif (button == "hello..."):
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            self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False)
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        else:
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            self.robot_controller.set_speak("invalid button name", False)
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            print "invalid button '%s'" % (button)
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    def emotion_button_clicked(self):
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        button = self.sender().text()
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        re = RobotEmotion()
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        re.time_ms = self.duration_spinbox.value()
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        if (button == "angry"):
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            re.value = RobotEmotion.ANGRY
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        elif (button == "neutral"):
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            re.value = RobotEmotion.NEUTRAL
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        elif (button == "happy"):
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            re.value = RobotEmotion.HAPPY
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        elif (button == "sad"):
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            re.value = RobotEmotion.SAD
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        elif (button == "surprise"):
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            re.value = RobotEmotion.SURPRISED
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        elif (button == "fear"):
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            re.value = RobotEmotion.FEAR
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        else:
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            print "invalid emotion id '%s'" % (button)
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            return
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        self.robot_controller.set_current_emotion(re, False)
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    def animation_button_clicked(self):
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        button = self.sender().text()
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        ra = RobotAnimation()
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        ra.time_ms =  self.duration_each_spinbox.value()
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        ra.repetitions = self.repetitions_spinbox.value()
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        ra.scale = self.scale_spinbox.value()
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        if (button == "head nod"):
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            ra.value = RobotAnimation.HEAD_NOD
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        elif (button == "head shake"):
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            ra.value = RobotAnimation.HEAD_SHAKE
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        elif (button == "eyeblink left"):
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            ra.value = RobotAnimation.EYEBLINK_L
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        elif (button == "eyeblink right"):
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            ra.value = RobotAnimation.EYEBLINK_R
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        elif (button == "eyeblink both"):
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            ra.value = RobotAnimation.EYEBLINK_BOTH
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        elif (button == "eyebrows raise"):
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            ra.value = RobotAnimation.EYEBROWS_RAISE
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        elif (button == "eyebrows lower"):
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            ra.value = RobotAnimation.EYEBROWS_LOWER
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        else:
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            print "invalid button '%s'" % (button)
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            return
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        self.robot_controller.set_head_animation(ra, False)
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def main():
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    if (len(sys.argv) != 3):
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        print("usage:   hlrc_test_gui.py <middleware> <scope>\n\n")
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        print("example: hlrc_test_gui.py ROS /flobi\n\n")
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        sys.exit(errno.EINVAL)
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    scope = sys.argv[1]
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    mw    = sys.argv[2]
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    app = QtGui.QApplication(sys.argv)
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    ex = HLRCExample(mw, scope)
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    sys.exit(app.exec_())
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if __name__ == '__main__':
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    main()