hlrc / client / python / hlrc_client / MiddlewareROS.py @ 0c286af0
History | View | Annotate | Download (10.339 KB)
| 1 |
"""
|
|---|---|
| 2 |
This file is part of hlrc
|
| 3 |
|
| 4 |
Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
|
| 5 |
http://opensource.cit-ec.de/projects/hlrc
|
| 6 |
|
| 7 |
This file may be licensed under the terms of the
|
| 8 |
GNU General Public License Version 3 (the ``GPL''),
|
| 9 |
or (at your option) any later version.
|
| 10 |
|
| 11 |
Software distributed under the License is distributed
|
| 12 |
on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
|
| 13 |
express or implied. See the GPL for the specific language
|
| 14 |
governing rights and limitations.
|
| 15 |
|
| 16 |
You should have received a copy of the GPL along with this
|
| 17 |
program. If not, go to http://www.gnu.org/licenses/gpl.html
|
| 18 |
or write to the Free Software Foundation, Inc.,
|
| 19 |
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
| 20 |
|
| 21 |
The development of this software was supported by the
|
| 22 |
Excellence Cluster EXC 277 Cognitive Interaction Technology.
|
| 23 |
The Excellence Cluster EXC 277 is a grant of the Deutsche
|
| 24 |
Forschungsgemeinschaft (DFG) in the context of the German
|
| 25 |
Excellence Initiative.
|
| 26 |
"""
|
| 27 |
|
| 28 |
from Middleware import * |
| 29 |
import errno |
| 30 |
|
| 31 |
try:
|
| 32 |
import roslib; |
| 33 |
|
| 34 |
import rospy |
| 35 |
import actionlib |
| 36 |
from hlrc_server.msg import * |
| 37 |
|
| 38 |
except ImportError as exception: |
| 39 |
sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))
|
| 40 |
sys.exit(errno.ENOPKG) |
| 41 |
|
| 42 |
class MiddlewareROS(Middleware): |
| 43 |
#default timeout to wait in case of blocking calls
|
| 44 |
ROS_ACTION_CALL_TIMEOUT = 30.0
|
| 45 |
|
| 46 |
#######################################################################
|
| 47 |
def __init__(self, scope, loglevel=logging.WARNING): |
| 48 |
"""initialise
|
| 49 |
:param scope: base scope we want to listen on
|
| 50 |
"""
|
| 51 |
#init base settings
|
| 52 |
Middleware.__init__(self,scope,loglevel)
|
| 53 |
#call mw init
|
| 54 |
self.init_middleware()
|
| 55 |
|
| 56 |
#######################################################################
|
| 57 |
def init_middleware(self): |
| 58 |
"""initialise middleware
|
| 59 |
"""
|
| 60 |
self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope)) |
| 61 |
|
| 62 |
rospy.init_node('hlrc_client', anonymous=True) |
| 63 |
|
| 64 |
self.logger.info("creating action clients") |
| 65 |
|
| 66 |
self.logger.debug("creating speech action client") |
| 67 |
self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
| 68 |
self.speech_client.wait_for_server()
|
| 69 |
|
| 70 |
self.logger.debug("creating default emotion action client") |
| 71 |
self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
| 72 |
self.default_emotion_client.wait_for_server()
|
| 73 |
|
| 74 |
self.logger.debug("creating current emotion action client") |
| 75 |
self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
| 76 |
self.current_emotion_client.wait_for_server()
|
| 77 |
|
| 78 |
self.logger.debug("creating animation action client") |
| 79 |
self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
| 80 |
self.animation_client.wait_for_server()
|
| 81 |
|
| 82 |
self.logger.debug("creating gazetarget action client") |
| 83 |
self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
| 84 |
self.gazetarget_client.wait_for_server()
|
| 85 |
|
| 86 |
self.logger.debug("creating mouthtarget action client") |
| 87 |
self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
| 88 |
self.mouthtarget_client.wait_for_server()
|
| 89 |
|
| 90 |
self.logger.info("MiddlewareROS initialised") |
| 91 |
|
| 92 |
|
| 93 |
#######################################################################
|
| 94 |
def publish_emotion(self, em_type, emotion, blocking): |
| 95 |
"""publish an emotion via mw
|
| 96 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
|
| 97 |
:param emotion: emotion to set
|
| 98 |
:param blocking: True if this call should block until execution finished on robot
|
| 99 |
"""
|
| 100 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
| 101 |
|
| 102 |
#create a goal to send to the action server.
|
| 103 |
goal = emotionstateGoal() |
| 104 |
goal.value = self.convert_emotiontype_to_rosval(emotion.value)
|
| 105 |
goal.duration = int(emotion.time_ms)
|
| 106 |
|
| 107 |
#which client do we use?
|
| 108 |
if (em_type == RobotEmotion.TYPE_DEFAULT):
|
| 109 |
client = self.default_emotion_client
|
| 110 |
else:
|
| 111 |
client = self.current_emotion_client
|
| 112 |
|
| 113 |
#send the goal to the server
|
| 114 |
client.send_goal(goal) |
| 115 |
|
| 116 |
#wait for the server to finish
|
| 117 |
if (blocking):
|
| 118 |
timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
| 119 |
if (timed_out):
|
| 120 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
| 121 |
|
| 122 |
def publish_default_emotion(self, emotion, blocking): |
| 123 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
|
| 124 |
|
| 125 |
def publish_current_emotion(self, emotion, blocking): |
| 126 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
|
| 127 |
|
| 128 |
def publish_head_animation(self, animation, blocking): |
| 129 |
"""publish an head animation via mw
|
| 130 |
:param animation: animation to set
|
| 131 |
:param blocking: True if this call should block until execution finished on robot
|
| 132 |
"""
|
| 133 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
| 134 |
|
| 135 |
#create a goal to send to the action server.
|
| 136 |
goal = animationGoal() |
| 137 |
goal.target = self.convert_animationtype_to_rosval(animation.value)
|
| 138 |
goal.repetitions = animation.repetitions |
| 139 |
goal.duration_each = int(animation.time_ms)
|
| 140 |
goal.scale = animation.scale |
| 141 |
|
| 142 |
#send the goal to the server
|
| 143 |
self.animation_client.send_goal(goal)
|
| 144 |
|
| 145 |
#wait for the server to finish
|
| 146 |
if (blocking):
|
| 147 |
timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
|
| 148 |
if (timed_out):
|
| 149 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
| 150 |
|
| 151 |
self.logger.debug("animation rpc done") |
| 152 |
|
| 153 |
def publish_gaze_target(self, gaze, blocking): |
| 154 |
"""publish a gaze target via mw
|
| 155 |
:param gaze: gaze to set
|
| 156 |
:param blocking: True if this call should block until execution finished on robot
|
| 157 |
"""
|
| 158 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
| 159 |
|
| 160 |
#create a goal to send to the action server.
|
| 161 |
goal = gazetargetGoal() |
| 162 |
goal.pan = gaze.pan |
| 163 |
goal.tilt = gaze.tilt |
| 164 |
goal.roll = gaze.roll |
| 165 |
goal.vergence = gaze.vergence |
| 166 |
goal.pan_offset = gaze.pan_offset |
| 167 |
goal.tilt_offset = gaze.tilt_offset |
| 168 |
|
| 169 |
#send the goal to the server
|
| 170 |
self.gazetarget_client.send_goal(goal)
|
| 171 |
|
| 172 |
#wait for the server to finish
|
| 173 |
if (blocking):
|
| 174 |
timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
|
| 175 |
if (timed_out):
|
| 176 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
| 177 |
|
| 178 |
|
| 179 |
self.logger.debug("gaze rpc done") |
| 180 |
|
| 181 |
def publish_mouth_target(self, mouth, blocking): |
| 182 |
"""publish a mouth target via mw
|
| 183 |
:param mouth: mouth value to set
|
| 184 |
:param blocking: True if this call should block until execution finished on robot
|
| 185 |
"""
|
| 186 |
self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
| 187 |
|
| 188 |
#create a goal to send to the action server.
|
| 189 |
goal = mouthtargetGoal() |
| 190 |
goal.opening_left = mouth.opening_left |
| 191 |
goal.opening_center = mouth.opening_center |
| 192 |
goal.opening_right = mouth.opening_right |
| 193 |
goal.position_left = mouth.position_left |
| 194 |
goal.position_center = mouth.position_center |
| 195 |
goal.position_right = mouth.position_right |
| 196 |
|
| 197 |
#send the goal to the server
|
| 198 |
self.mouthtarget_client.send_goal(goal)
|
| 199 |
|
| 200 |
#wait for the server to finish
|
| 201 |
if (blocking):
|
| 202 |
timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
|
| 203 |
if (timed_out):
|
| 204 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
| 205 |
|
| 206 |
self.logger.debug("mouth rpc done") |
| 207 |
|
| 208 |
def publish_speech(self, text_, blocking): |
| 209 |
"""publish a tts request via mw
|
| 210 |
:param text_: text to synthesize and speak
|
| 211 |
:param blocking: True if this call should block until execution finished on robot
|
| 212 |
"""
|
| 213 |
self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
| 214 |
|
| 215 |
#create a goal to send to the action server.
|
| 216 |
goal = speechGoal(text=text_) |
| 217 |
|
| 218 |
#send the goal to the server
|
| 219 |
self.speech_client.send_goal(goal)
|
| 220 |
|
| 221 |
#wait for the server to finish
|
| 222 |
if (blocking):
|
| 223 |
timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
|
| 224 |
if (timed_out):
|
| 225 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
| 226 |
|
| 227 |
self.logger.debug("speech rpc done") |
| 228 |
|
| 229 |
#######################################################################
|
| 230 |
# some helpers
|
| 231 |
def convert_animationtype_to_rosval(self, value): |
| 232 |
"""convert RobotAnimation.value to ROS animation value
|
| 233 |
:param value: RobotAnimation.* id to convert to rsb id
|
| 234 |
"""
|
| 235 |
#NOTE: this convertion is important as the actual integer values of
|
| 236 |
# thy python api and the protobuf might be different
|
| 237 |
if (value == RobotAnimation.IDLE):
|
| 238 |
return animationGoal.IDLE
|
| 239 |
elif (value == RobotAnimation.HEAD_NOD):
|
| 240 |
return animationGoal.HEAD_NOD
|
| 241 |
elif (value == RobotAnimation.HEAD_SHAKE):
|
| 242 |
return animationGoal.HEAD_SHAKE
|
| 243 |
elif (value == RobotAnimation.EYEBLINK_L):
|
| 244 |
return animationGoal.EYEBLINK_L
|
| 245 |
elif (value == RobotAnimation.EYEBLINK_R):
|
| 246 |
return animationGoal.EYEBLINK_R
|
| 247 |
elif (value == RobotAnimation.EYEBLINK_BOTH):
|
| 248 |
return animationGoal.EYEBLINK_BOTH
|
| 249 |
elif (value == RobotAnimation.EYEBROWS_RAISE):
|
| 250 |
return animationGoal.EYEBROWS_RAISE
|
| 251 |
elif (value == RobotAnimation.EYEBROWS_LOWER):
|
| 252 |
return animationGoal.EYEBROWS_LOWER
|
| 253 |
else:
|
| 254 |
self.logger.error("invalid animation type %d\n" % (value)) |
| 255 |
return animationGoal.NEUTRAL
|
| 256 |
|
| 257 |
def convert_emotiontype_to_rosval(self, value): |
| 258 |
"""convert RobotEmotion.value to ROS animation value
|
| 259 |
:param value: RobotEmotion.* id to convert to ros id
|
| 260 |
"""
|
| 261 |
#NOTE: this convertion is important as the actual integer values of
|
| 262 |
# thy python api and the protobuf might be different
|
| 263 |
|
| 264 |
if (value == RobotEmotion.NEUTRAL):
|
| 265 |
return emotionstateGoal.NEUTRAL
|
| 266 |
elif (value == RobotEmotion.HAPPY):
|
| 267 |
return emotionstateGoal.HAPPY
|
| 268 |
elif (value == RobotEmotion.SAD):
|
| 269 |
return emotionstateGoal.SAD
|
| 270 |
elif (value == RobotEmotion.ANGRY):
|
| 271 |
return emotionstateGoal.ANGRY
|
| 272 |
elif (value == RobotEmotion.SURPRISED):
|
| 273 |
return emotionstateGoal.SURPRISED
|
| 274 |
elif (value == RobotEmotion.FEAR):
|
| 275 |
return emotionstateGoal.FEAR
|
| 276 |
else:
|
| 277 |
self.logger.error("invalid emotion type %d\n" % (value)) |
| 278 |
return emotionstateGoal.NEUTRAL
|