Revision 2126781b client/python/hlrc_client/MiddlewareROS.py
| client/python/hlrc_client/MiddlewareROS.py | ||
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import rospy |
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import actionlib |
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from hlrc_server.msg import * |
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from actionlib_msgs.msg import GoalStatus |
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class MiddlewareROS(Middleware): |
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#default timeout to wait in case of blocking calls |
| ... | ... | |
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client = self.current_emotion_client |
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#send the goal to the server |
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client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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#send and wait: |
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state = client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (state != GoalStatus.SUCCEEDED): |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
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else: |
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#non blocking, fire & forget |
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client.send_goal(goal) |
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self.logger.debug("emotion rpc done")
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def publish_default_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
| ... | ... | |
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goal.scale = animation.scale |
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#send the goal to the server |
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self.animation_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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#send and wait: |
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state = self.animation_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (state != GoalStatus.SUCCEEDED): |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
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else: |
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#non blocking, fire & forget |
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self.animation_client.send_goal(goal) |
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self.logger.debug("animation rpc done")
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|
| ... | ... | |
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goal.gaze_timestamp = rospy.Time.from_sec(gaze.timestamp) |
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#send the goal to the server |
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self.gazetarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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#send and wait: |
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state = self.gazetarget_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (state != GoalStatus.SUCCEEDED): |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
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else: |
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#non blocking, fire & forget |
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self.gazetarget_client.send_goal(goal) |
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self.logger.debug("gaze rpc done")
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|
| ... | ... | |
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goal.position_right = mouth.position_right |
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#send the goal to the server |
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self.mouthtarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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#send and wait: |
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state = self.mouthtarget_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (state != GoalStatus.SUCCEEDED): |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
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else: |
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#non blocking, fire & forget |
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self.mouthtarget_client.send_goal(goal) |
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self.logger.debug("mouth rpc done")
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|
| ... | ... | |
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goal = speechGoal(text=text_) |
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#send the goal to the server |
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self.speech_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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#send and wait: |
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state = self.speech_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (state != GoalStatus.SUCCEEDED): |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
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else: |
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#non blocking, fire & forget |
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self.speech_client.send_goal(goal) |
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self.logger.debug("speech rpc done")
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