hlrc / client / python / hlrc_client / Middleware.py @ 3877047d
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| 1 | 0c286af0 | Simon Schulz | """
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| 2 | This file is part of hlrc
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| 3 |
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| 4 | Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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| 5 | http://opensource.cit-ec.de/projects/hlrc
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| 6 |
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| 7 | This file may be licensed under the terms of the
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| 8 | GNU General Public License Version 3 (the ``GPL''),
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| 9 | or (at your option) any later version.
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| 10 |
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| 11 | Software distributed under the License is distributed
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| 12 | on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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| 13 | express or implied. See the GPL for the specific language
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| 14 | governing rights and limitations.
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| 15 |
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| 16 | You should have received a copy of the GPL along with this
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| 17 | program. If not, go to http://www.gnu.org/licenses/gpl.html
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| 18 | or write to the Free Software Foundation, Inc.,
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| 19 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 20 |
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| 21 | The development of this software was supported by the
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| 22 | Excellence Cluster EXC 277 Cognitive Interaction Technology.
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| 23 | The Excellence Cluster EXC 277 is a grant of the Deutsche
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| 24 | Forschungsgemeinschaft (DFG) in the context of the German
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| 25 | Excellence Initiative.
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| 26 | """
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| 27 | |||
| 28 | import sys |
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| 29 | import logging |
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| 30 | from RobotEmotion import * |
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| 31 | from RobotGaze import * |
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| 32 | from RobotMouth import * |
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| 33 | from RobotAnimation import * |
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| 34 | |||
| 35 | class Middleware: |
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| 36 | 3877047d | Simon Schulz | #######################################################################
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| 37 | def __init__(self, scope, loglevel=logging.WARNING): |
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| 38 | """initialise
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| 39 | :param scope: base scope we want to listen on
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| 40 | """
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| 41 | self.base_scope = scope
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| 42 | |||
| 43 | self.logger = logging.getLogger(__name__)
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| 44 | |||
| 45 | # create nice and actually usable formatter and add it to the handler
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| 46 | self.config_logger(loglevel)
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| 47 | |||
| 48 | #initialise defaults
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| 49 | self.default_emotion = RobotEmotion()
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| 50 | self.current_emotion = RobotEmotion()
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| 51 | self.gaze_target = RobotGaze()
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| 52 | self.mouth_target = RobotMouth()
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| 53 | self.robot_animation = RobotAnimation()
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| 54 | |||
| 55 | f8fa1217 | Simon Schulz | def __del__(self): |
| 56 | 3877047d | Simon Schulz | """destructor
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| 57 | """
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| 58 | self.logger.debug("destructor of Middleware called") |
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| 59 | |||
| 60 | def config_logger(self, level): |
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| 61 | 0c286af0 | Simon Schulz | formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
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| 62 | ch = logging.StreamHandler() |
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| 63 | #ch.setLevel(level)
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| 64 | ch.setFormatter(formatter) |
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| 65 | self.logger.setLevel(level)
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| 66 | self.logger.addHandler(ch)
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| 67 | 3877047d | Simon Schulz | |
| 68 | #######################################################################
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| 69 | #abstract/virtual functions
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| 70 | def die_virtual(self, funcname): |
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| 71 | raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
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| 72 | |||
| 73 | def init_middleware(self): |
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| 74 | self.die_virtual(sys._getframe().f_code.co_name)
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| 75 | |||
| 76 | def publish_default_emotion(self, emotion, blocking): |
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| 77 | self.die_virtual(sys._getframe().f_code.co_name)
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| 78 | |||
| 79 | def publish_current_emotion(self, emotion, blocking): |
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| 80 | self.die_virtual(sys._getframe().f_code.co_name)
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| 81 | |||
| 82 | def publish_gaze_target(self, gaze, blocking): |
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| 83 | self.die_virtual(sys._getframe().f_code.co_name)
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| 84 | |||
| 85 | def publish_mouth_target(self, mouth, blocking): |
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| 86 | self.die_virtual(sys._getframe().f_code.co_name)
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| 87 | |||
| 88 | def publish_head_animation(self, animation, blocking): |
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| 89 | self.die_virtual(sys._getframe().f_code.co_name)
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| 90 | |||
| 91 | def publish_speech(self, text, blocking): |
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| 92 | self.die_virtual(sys._getframe().f_code.co_name)
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| 93 | |||
| 94 | #######################################################################
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| 95 | #finally some implemented functions
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| 96 | def set_default_emotion(self, emotion, blocking): |
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| 97 | """set the default emotion
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| 98 | :param emotion: RobotEmotion to set
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| 99 | :param blocking: True if this call should block until execution finished on robot
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| 100 | """
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| 101 | self.default_emotion = emotion
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| 102 | self.publish_default_emotion(emotion, blocking)
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| 103 | |||
| 104 | def set_current_emotion(self, emotion, blocking): |
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| 105 | """set a temporary emotion (duration: see emotion.time_ms)
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| 106 | :param emotion: RobotEmotion to set temporarily
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| 107 | :param blocking: True if this call should block until execution finished on robot
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| 108 | """
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| 109 | self.current_emotion = emotion
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| 110 | self.publish_current_emotion(emotion, blocking)
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| 111 | |||
| 112 | def set_head_animation(self, animation, blocking): |
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| 113 | """trigger a head animation
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| 114 | :param animation: RobotAnimation to set
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| 115 | :param blocking: True if this call should block until execution finished on robot
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| 116 | """
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| 117 | self.animation = animation
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| 118 | self.publish_head_animation(animation, blocking)
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| 119 | |||
| 120 | def set_mouth_target(self, mouth, blocking): |
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| 121 | """set a mouth target
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| 122 | :param mouth: RobotMouth to set
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| 123 | :param blocking: True if this call should block until execution finished on robot
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| 124 | """
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| 125 | self.mouth_target = mouth
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| 126 | self.publish_mouth_target(mouth, blocking)
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| 127 | |||
| 128 | def set_speak(self, text, blocking): |
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| 129 | """trigger a tts speech output
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| 130 | :param text: text to synthesize and speak
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| 131 | :param blocking: True if this call should block until execution finished on robot
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| 132 | """
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| 133 | self.publish_speech(text, blocking)
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| 134 | |||
| 135 | def set_gaze_target(self, gaze, blocking): |
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| 136 | """set a new gaze
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| 137 | :param gaze: RobotGaze to set
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| 138 | :param blocking: True if this call should block until execution finished on robot
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| 139 | """
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| 140 | self.gaze_target = gaze
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| 141 | self.publish_gaze_target(gaze, blocking)
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| 142 | |||
| 143 | #######################################################################
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| 144 | #some get methods
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| 145 | #def get_current_emotion(self):
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| 146 | # return self.current_emotion
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| 147 | #
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| 148 | #def get_default_emotion(self):
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| 149 | # return self.default_emotion
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| 150 | # |