hlrc / client / python / hlrc_client / MiddlewareROS.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 | from Middleware import * |
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| 29 | import errno |
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| 30 | |||
| 31 | 64f5c90e | Simon Schulz | import roslib; |
| 32 | import rospy |
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| 33 | import actionlib |
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| 34 | from hlrc_server.msg import * |
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| 35 | 0c286af0 | Simon Schulz | |
| 36 | class MiddlewareROS(Middleware): |
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| 37 | 3877047d | Simon Schulz | #default timeout to wait in case of blocking calls
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| 38 | ROS_ACTION_CALL_TIMEOUT = 30.0
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| 39 | |||
| 40 | #######################################################################
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| 41 | def __init__(self, scope, loglevel=logging.WARNING): |
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| 42 | """initialise
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| 43 | :param scope: base scope we want to listen on
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| 44 | """
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| 45 | #init base settings
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| 46 | Middleware.__init__(self,scope,loglevel)
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| 47 | #call mw init
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| 48 | self.init_middleware()
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| 49 | |||
| 50 | f8fa1217 | Simon Schulz | def __del__(self): |
| 51 | 3877047d | Simon Schulz | """destructor
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| 52 | """
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| 53 | self.logger.debug("destructor of MiddlewareROS called") |
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| 54 | |||
| 55 | #######################################################################
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| 56 | def init_middleware(self): |
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| 57 | 0c286af0 | Simon Schulz | """initialise middleware
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| 58 | """
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| 59 | self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope)) |
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| 60 | |||
| 61 | rospy.init_node('hlrc_client', anonymous=True) |
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| 62 | |||
| 63 | self.logger.info("creating action clients") |
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| 64 | |||
| 65 | self.logger.debug("creating speech action client") |
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| 66 | self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
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| 67 | self.speech_client.wait_for_server()
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| 68 | |||
| 69 | self.logger.debug("creating default emotion action client") |
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| 70 | self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
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| 71 | self.default_emotion_client.wait_for_server()
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| 72 | |||
| 73 | self.logger.debug("creating current emotion action client") |
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| 74 | self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
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| 75 | self.current_emotion_client.wait_for_server()
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| 76 | |||
| 77 | self.logger.debug("creating animation action client") |
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| 78 | self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
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| 79 | self.animation_client.wait_for_server()
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| 80 | |||
| 81 | self.logger.debug("creating gazetarget action client") |
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| 82 | self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
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| 83 | self.gazetarget_client.wait_for_server()
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| 84 | |||
| 85 | self.logger.debug("creating mouthtarget action client") |
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| 86 | self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
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| 87 | self.mouthtarget_client.wait_for_server()
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| 88 | |||
| 89 | self.logger.info("MiddlewareROS initialised") |
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| 90 | |||
| 91 | |||
| 92 | 3877047d | Simon Schulz | #######################################################################
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| 93 | def publish_emotion(self, em_type, emotion, blocking): |
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| 94 | """publish an emotion via mw
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| 95 | :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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| 96 | :param emotion: emotion to set
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| 97 | :param blocking: True if this call should block until execution finished on robot
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| 98 | """
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| 99 | self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 100 | |||
| 101 | #create a goal to send to the action server.
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| 102 | goal = emotionstateGoal() |
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| 103 | goal.value = self.convert_emotiontype_to_rosval(emotion.value)
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| 104 | goal.duration = int(emotion.time_ms)
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| 105 | |||
| 106 | #which client do we use?
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| 107 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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| 108 | 0c286af0 | Simon Schulz | client = self.default_emotion_client
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| 109 | 3877047d | Simon Schulz | else:
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| 110 | client = self.current_emotion_client
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| 111 | |||
| 112 | #send the goal to the server
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| 113 | client.send_goal(goal) |
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| 114 | |||
| 115 | #wait for the server to finish
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| 116 | if (blocking):
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| 117 | timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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| 118 | if (timed_out):
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| 119 | self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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| 120 | |||
| 121 | def publish_default_emotion(self, emotion, blocking): |
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| 122 | self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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| 123 | |||
| 124 | def publish_current_emotion(self, emotion, blocking): |
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| 125 | self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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| 126 | |||
| 127 | def publish_head_animation(self, animation, blocking): |
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| 128 | """publish an head animation via mw
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| 129 | :param animation: animation to set
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| 130 | :param blocking: True if this call should block until execution finished on robot
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| 131 | """
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| 132 | self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 133 | |||
| 134 | #create a goal to send to the action server.
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| 135 | goal = animationGoal() |
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| 136 | goal.target = self.convert_animationtype_to_rosval(animation.value)
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| 137 | goal.repetitions = animation.repetitions |
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| 138 | goal.duration_each = int(animation.time_ms)
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| 139 | goal.scale = animation.scale |
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| 140 | |||
| 141 | #send the goal to the server
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| 142 | self.animation_client.send_goal(goal)
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| 143 | |||
| 144 | #wait for the server to finish
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| 145 | if (blocking):
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| 146 | timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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| 147 | if (timed_out):
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| 148 | self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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| 149 | |||
| 150 | self.logger.debug("animation rpc done") |
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| 151 | |||
| 152 | def publish_gaze_target(self, gaze, blocking): |
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| 153 | """publish a gaze target via mw
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| 154 | :param gaze: gaze to set
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| 155 | :param blocking: True if this call should block until execution finished on robot
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| 156 | """
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| 157 | self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 158 | |||
| 159 | #create a goal to send to the action server.
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| 160 | goal = gazetargetGoal() |
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| 161 | goal.pan = gaze.pan |
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| 162 | goal.tilt = gaze.tilt |
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| 163 | goal.roll = gaze.roll |
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| 164 | goal.vergence = gaze.vergence |
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| 165 | goal.pan_offset = gaze.pan_offset |
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| 166 | goal.tilt_offset = gaze.tilt_offset |
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| 167 | |||
| 168 | #type
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| 169 | if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE):
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| 170 | goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
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| 171 | else:
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| 172 | goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
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| 173 | |||
| 174 | goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
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| 175 | |||
| 176 | #send the goal to the server
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| 177 | self.gazetarget_client.send_goal(goal)
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| 178 | |||
| 179 | #wait for the server to finish
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| 180 | if (blocking):
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| 181 | timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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| 182 | if (timed_out):
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| 183 | self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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| 184 | |||
| 185 | |||
| 186 | self.logger.debug("gaze rpc done") |
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| 187 | |||
| 188 | def publish_mouth_target(self, mouth, blocking): |
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| 189 | """publish a mouth target via mw
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| 190 | :param mouth: mouth value to set
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| 191 | :param blocking: True if this call should block until execution finished on robot
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| 192 | """
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| 193 | self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 194 | |||
| 195 | #create a goal to send to the action server.
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| 196 | goal = mouthtargetGoal() |
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| 197 | goal.opening_left = mouth.opening_left |
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| 198 | goal.opening_center = mouth.opening_center |
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| 199 | goal.opening_right = mouth.opening_right |
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| 200 | goal.position_left = mouth.position_left |
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| 201 | goal.position_center = mouth.position_center |
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| 202 | goal.position_right = mouth.position_right |
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| 203 | |||
| 204 | #send the goal to the server
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| 205 | self.mouthtarget_client.send_goal(goal)
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| 206 | |||
| 207 | #wait for the server to finish
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| 208 | if (blocking):
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| 209 | timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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| 210 | if (timed_out):
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| 211 | self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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| 212 | |||
| 213 | self.logger.debug("mouth rpc done") |
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| 214 | |||
| 215 | def publish_speech(self, text_, blocking): |
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| 216 | """publish a tts request via mw
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| 217 | :param text_: text to synthesize and speak
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| 218 | :param blocking: True if this call should block until execution finished on robot
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| 219 | """
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| 220 | self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 221 | |||
| 222 | #create a goal to send to the action server.
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| 223 | goal = speechGoal(text=text_) |
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| 224 | |||
| 225 | #send the goal to the server
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| 226 | self.speech_client.send_goal(goal)
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| 227 | |||
| 228 | #wait for the server to finish
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| 229 | if (blocking):
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| 230 | timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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| 231 | if (timed_out):
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| 232 | self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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| 233 | |||
| 234 | self.logger.debug("speech rpc done") |
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| 235 | |||
| 236 | #######################################################################
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| 237 | # some helpers
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| 238 | def convert_animationtype_to_rosval(self, value): |
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| 239 | """convert RobotAnimation.value to ROS animation value
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| 240 | :param value: RobotAnimation.* id to convert to rsb id
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| 241 | """
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| 242 | #NOTE: this convertion is important as the actual integer values of
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| 243 | # thy python api and the protobuf might be different
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| 244 | if (value == RobotAnimation.IDLE):
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| 245 | return animationGoal.IDLE
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| 246 | elif (value == RobotAnimation.HEAD_NOD):
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| 247 | return animationGoal.HEAD_NOD
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| 248 | elif (value == RobotAnimation.HEAD_SHAKE):
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| 249 | return animationGoal.HEAD_SHAKE
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| 250 | elif (value == RobotAnimation.EYEBLINK_L):
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| 251 | return animationGoal.EYEBLINK_L
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| 252 | elif (value == RobotAnimation.EYEBLINK_R):
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| 253 | return animationGoal.EYEBLINK_R
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| 254 | elif (value == RobotAnimation.EYEBLINK_BOTH):
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| 255 | return animationGoal.EYEBLINK_BOTH
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| 256 | elif (value == RobotAnimation.EYEBROWS_RAISE):
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| 257 | return animationGoal.EYEBROWS_RAISE
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| 258 | elif (value == RobotAnimation.EYEBROWS_LOWER):
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| 259 | return animationGoal.EYEBROWS_LOWER
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| 260 | else:
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| 261 | self.logger.error("invalid animation type %d\n" % (value)) |
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| 262 | return animationGoal.NEUTRAL
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| 263 | |||
| 264 | def convert_emotiontype_to_rosval(self, value): |
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| 265 | """convert RobotEmotion.value to ROS animation value
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| 266 | :param value: RobotEmotion.* id to convert to ros id
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| 267 | """
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| 268 | #NOTE: this convertion is important as the actual integer values of
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| 269 | # thy python api and the protobuf might be different
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| 270 | |||
| 271 | if (value == RobotEmotion.NEUTRAL):
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| 272 | return emotionstateGoal.NEUTRAL
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| 273 | elif (value == RobotEmotion.HAPPY):
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| 274 | return emotionstateGoal.HAPPY
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| 275 | elif (value == RobotEmotion.SAD):
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| 276 | return emotionstateGoal.SAD
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| 277 | elif (value == RobotEmotion.ANGRY):
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| 278 | return emotionstateGoal.ANGRY
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| 279 | elif (value == RobotEmotion.SURPRISED):
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| 280 | return emotionstateGoal.SURPRISED
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| 281 | elif (value == RobotEmotion.FEAR):
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| 282 | return emotionstateGoal.FEAR
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| 283 | else:
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| 284 | self.logger.error("invalid emotion type %d\n" % (value)) |
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| 285 | return emotionstateGoal.NEUTRAL |