hlrc / client / python / hlrc_client / RobotController.py @ 2126781b
History | View | Annotate | Download (5.845 KB)
1 | 0c286af0 | Simon Schulz | """
|
---|---|---|---|
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 | import logging |
||
29 | ba6302b1 | Simon Schulz | import sys |
30 | 64f5c90e | Simon Schulz | import errno |
31 | 0c286af0 | Simon Schulz | |
32 | class RobotController: |
||
33 | 3877047d | Simon Schulz | def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
34 | 70c54617 | Simon Schulz | """initialise
|
35 | :param mw_name: which mw to use, currentyl ROS and RSB are supported
|
||
36 | :param scope: base scope we want to listen on
|
||
37 | :param loglevel: optional log level
|
||
38 | """
|
||
39 | self.logger = logging.getLogger(__name__)
|
||
40 | |||
41 | # create nice and actually usable formatter and add it to the handler
|
||
42 | self.config_logger(loglevel)
|
||
43 | |||
44 | #store
|
||
45 | self.scope = scope
|
||
46 | self.mw = mw_name
|
||
47 | self.loglevel = loglevel
|
||
48 | |||
49 | self.middleware = None |
||
50 | |||
51 | |||
52 | if (self.mw.upper() == "RSB"): |
||
53 | self.logger.info("creating new middleware connection via RSB") |
||
54 | try:
|
||
55 | from MiddlewareRSB import MiddlewareRSB |
||
56 | except ImportError, e: |
||
57 | self.logger.error("failed to import RSB or the necessary data types: {}".format(e)) |
||
58 | sys.exit(errno.EINVAL) |
||
59 | |||
60 | #import worked, safe to intantiate RSB mw now
|
||
61 | self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
||
62 | |||
63 | elif (self.mw.upper() == "ROS"): |
||
64 | self.logger.info("creating new middleware connection via ROS") |
||
65 | try:
|
||
66 | from MiddlewareROS import MiddlewareROS |
||
67 | except ImportError, e: |
||
68 | self.logger.error("failed to import ROS or the necessary data types: {}".format(e)) |
||
69 | sys.exit(errno.EINVAL) |
||
70 | |||
71 | #import worked, safe to intantiate RSB mw now
|
||
72 | self.middleware = MiddlewareROS(self.scope, self.loglevel) |
||
73 | else:
|
||
74 | self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw)) |
||
75 | sys.exit(errno.EINVAL) |
||
76 | |||
77 | def __del__(self): |
||
78 | """destructor
|
||
79 | """
|
||
80 | self.logger.debug("destructor of RobotController called") |
||
81 | |||
82 | 02fc76ae | Simon Schulz | def is_running(self): |
83 | return self.middleware.is_running() |
||
84 | |||
85 | 70c54617 | Simon Schulz | def config_logger(self, level): |
86 | """initialise a nice logger formatting
|
||
87 | :param level: log level
|
||
88 | """
|
||
89 | formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
||
90 | ch = logging.StreamHandler() |
||
91 | #ch.setLevel(level)
|
||
92 | ch.setFormatter(formatter) |
||
93 | self.logger.setLevel(level)
|
||
94 | self.logger.addHandler(ch)
|
||
95 | |||
96 | def set_current_emotion(self, robot_emotion, blocking = False): |
||
97 | """set the current emotion
|
||
98 | :param robot_emotion: a RobotEmotion object
|
||
99 | :param blocking: should this call block during execution?
|
||
100 | """
|
||
101 | self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
102 | self.middleware.set_current_emotion(robot_emotion, blocking)
|
||
103 | |||
104 | def set_default_emotion(self, robot_emotion, blocking = False): |
||
105 | """set the default emotion
|
||
106 | :param robot_emotion: a RobotEmotion object
|
||
107 | :param blocking: should this call block during execution?
|
||
108 | """
|
||
109 | self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
110 | self.middleware.set_default_emotion(robot_emotion, blocking)
|
||
111 | |||
112 | def set_gaze_target(self, robot_gaze, blocking = False): |
||
113 | """set a gaze target
|
||
114 | :param robot_gaze: a RobotGaze object
|
||
115 | :param blocking: should this call block during execution?
|
||
116 | """
|
||
117 | |||
118 | self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
119 | self.middleware.set_gaze_target(robot_gaze, blocking)
|
||
120 | |||
121 | def set_mouth_target(self, robot_mouth, blocking = False): |
||
122 | """set a mouth target
|
||
123 | :param robot_mouth: a RobotMouth object
|
||
124 | :param blocking: should this call block during execution?
|
||
125 | """
|
||
126 | self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
127 | self.middleware.set_mouth_target(robot_mouth, blocking)
|
||
128 | |||
129 | def set_head_animation(self, robot_animation, blocking = False): |
||
130 | """set a head animation
|
||
131 | :param robot_animation: a RobotAnimation object
|
||
132 | :param blocking: should this call block during execution?
|
||
133 | """
|
||
134 | self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
135 | self.middleware.set_head_animation(robot_animation, blocking)
|
||
136 | |||
137 | def set_speak(self, text, blocking = False): |
||
138 | """request the robot to say something using tts
|
||
139 | :param text: text to synthesize
|
||
140 | :param blocking: should this call block during execution?
|
||
141 | """
|
||
142 | self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
||
143 | self.middleware.set_speak(text, blocking)
|
||
144 | |||
145 | #def get_gaze_target(self):
|
||
146 | # result = self.middleware.get_gaze_target()
|
||
147 | # self.logger.debug("get_gaze_target() returned %s" % (result))
|
||
148 | # return self.middleware.get_gaze_target() |