hlrc / client / python / hlrc_client / MiddlewareRSB.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 | ba6302b1 | Simon Schulz | import rsb |
| 32 | import rsb.converter |
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| 33 | 64f5c90e | Simon Schulz | import rst |
| 34 | import rstsandbox |
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| 35 | from rst.robot.EmotionState_pb2 import EmotionState |
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| 36 | from rst.robot.Animation_pb2 import Animation |
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| 37 | from rst.robot.GazeTarget_pb2 import GazeTarget |
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| 38 | from rst.robot.MouthTarget_pb2 import MouthTarget |
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| 39 | 0c286af0 | Simon Schulz | |
| 40 | class MiddlewareRSB(Middleware): |
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| 41 | 3877047d | Simon Schulz | #######################################################################
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| 42 | def __init__(self, scope, loglevel=logging.WARNING): |
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| 43 | """initialise
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| 44 | :param scope: base scope we want to listen on
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| 45 | """
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| 46 | #init base settings
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| 47 | Middleware.__init__(self,scope,loglevel)
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| 48 | #call mw init
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| 49 | self.init_middleware()
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| 50 | f8fa1217 | Simon Schulz | |
| 51 | def __del__(self): |
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| 52 | 3877047d | Simon Schulz | """destructor
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| 53 | """
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| 54 | self.logger.debug("destructor of MiddlewareROS called") |
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| 55 | |||
| 56 | #######################################################################
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| 57 | def init_middleware(self): |
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| 58 | 0c286af0 | Simon Schulz | """initialise middleware
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| 59 | """
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| 60 | #mute rsb logging:
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| 61 | 3877047d | Simon Schulz | logging.getLogger("rsb").setLevel(logging.ERROR)
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| 62 | |||
| 63 | #initialise RSB stuff
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| 64 | self.logger.info("initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope)) |
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| 65 | |||
| 66 | self.emotionstate_converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState)
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| 67 | rsb.converter.registerGlobalConverter(self.emotionstate_converter)
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| 68 | |||
| 69 | self.animation_converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation)
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| 70 | rsb.converter.registerGlobalConverter(self.animation_converter)
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| 71 | |||
| 72 | self.gaze_converter = rsb.converter.ProtocolBufferConverter(messageClass = GazeTarget)
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| 73 | rsb.converter.registerGlobalConverter(self.gaze_converter)
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| 74 | |||
| 75 | self.mouth_converter = rsb.converter.ProtocolBufferConverter(messageClass = MouthTarget)
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| 76 | rsb.converter.registerGlobalConverter(self.mouth_converter)
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| 77 | |||
| 78 | try:
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| 79 | 0c286af0 | Simon Schulz | self.server = rsb.createRemoteServer(self.base_scope + '/set') |
| 80 | 3877047d | Simon Schulz | except ValueError: |
| 81 | self.logger.error("ERROR: invalid scope given. server deactivated") |
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| 82 | self.server.deactivate()
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| 83 | sys.exit(errno.EINVAL) |
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| 84 | |||
| 85 | #######################################################################
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| 86 | def publish_emotion(self, em_type, emotion, blocking): |
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| 87 | """publish an emotion via mw
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| 88 | :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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| 89 | :param emotion: emotion to set
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| 90 | :param blocking: True if this call should block until execution finished on robot
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| 91 | """
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| 92 | |||
| 93 | #create emotion & fill it with values:
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| 94 | rsb_em = EmotionState() |
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| 95 | |||
| 96 | #set value
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| 97 | rsb_em.value = self.convert_emotiontype_to_rsbval(emotion.value)
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| 98 | |||
| 99 | #set duration
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| 100 | rsb_em.duration = int(emotion.time_ms)
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| 101 | |||
| 102 | with rsb.createRemoteServer(self.base_scope + '/set') as server: |
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| 103 | self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 104 | |||
| 105 | if (blocking):
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| 106 | #blocking rpc call:
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| 107 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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| 108 | result = server.defaultEmotion(rsb_em) |
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| 109 | else:
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| 110 | result = server.currentEmotion(rsb_em) |
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| 111 | |||
| 112 | self.logger.debug("server reply: '%s'" % result) |
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| 113 | else:
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| 114 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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| 115 | future = server.defaultEmotion.async(rsb_em) |
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| 116 | else:
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| 117 | future = server.currentEmotion.async(rsb_em) |
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| 118 | |||
| 119 | #we could block here for a incoming result with a timeout in s
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| 120 | #print '> server reply: "%s"' % future.get(timeout = 10);
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| 121 | self.logger.debug("emotion rpc done") |
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| 122 | |||
| 123 | def publish_head_animation(self, animation, blocking): |
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| 124 | """publish an head animation via mw
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| 125 | :param animation: animation to set
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| 126 | :param blocking: True if this call should block until execution finished on robot
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| 127 | """
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| 128 | |||
| 129 | self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 130 | |||
| 131 | #create animation & fill it with values:
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| 132 | rsb_ani = Animation() |
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| 133 | |||
| 134 | #select ani
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| 135 | rsb_ani.target = self.convert_animationtype_to_rsbval(animation.value)
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| 136 | rsb_ani.repetitions = animation.repetitions |
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| 137 | rsb_ani.duration_each = animation.time_ms |
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| 138 | rsb_ani.scale = animation.scale |
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| 139 | |||
| 140 | if (blocking):
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| 141 | #blocking:
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| 142 | result = self.server.animation(rsb_ani)
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| 143 | self.logger.debug("server reply: '%s'" % result) |
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| 144 | else:
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| 145 | future = self.server.animation.async(rsb_ani)
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| 146 | #we can block here for a incoming result with a timeout in s
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| 147 | #print '> server reply: "%s"' % future.get(timeout = 10);
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| 148 | |||
| 149 | self.logger.debug("animation rpc done") |
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| 150 | |||
| 151 | def publish_default_emotion(self, emotion, blocking): |
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| 152 | self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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| 153 | |||
| 154 | def publish_current_emotion(self, emotion, blocking): |
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| 155 | self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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| 156 | |||
| 157 | def publish_gaze_target(self, gaze, blocking): |
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| 158 | """publish a gaze target via mw
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| 159 | :param gaze: gaze to set
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| 160 | :param blocking: True if this call should block until execution finished on robot
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| 161 | """
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| 162 | self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 163 | |||
| 164 | #create gaze target & fill it with values:
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| 165 | rsb_gaze = GazeTarget() |
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| 166 | |||
| 167 | #fill proto
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| 168 | rsb_gaze.pan = gaze.pan |
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| 169 | rsb_gaze.tilt = gaze.tilt |
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| 170 | rsb_gaze.roll = gaze.roll |
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| 171 | rsb_gaze.vergence = gaze.vergence |
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| 172 | rsb_gaze.pan_offset = gaze.pan_offset |
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| 173 | rsb_gaze.tilt_offset = gaze.tilt_offset |
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| 174 | |||
| 175 | if (blocking):
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| 176 | #blocking:
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| 177 | result = self.server.gaze(rsb_gaze)
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| 178 | self.logger.debug("server reply: '%s'" % result) |
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| 179 | else:
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| 180 | future = self.server.gaze.async(rsb_gaze)
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| 181 | #we can block here for a incoming result with a timeout in s
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| 182 | #print '> server reply: "%s"' % future.get(timeout = 10);
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| 183 | |||
| 184 | self.logger.debug("gaze rpc done") |
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| 185 | |||
| 186 | def publish_mouth_target(self, mouth, blocking): |
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| 187 | """publish a mouth target via mw
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| 188 | :param mouth: mouth value to set
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| 189 | :param blocking: True if this call should block until execution finished on robot
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| 190 | """
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| 191 | self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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| 192 | |||
| 193 | #create mouth state & fill it with values:
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| 194 | rsb_mouth = MouthTarget() |
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| 195 | |||
| 196 | #fill proto
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| 197 | rsb_mouth.opening_left = mouth.opening_left |
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| 198 | rsb_mouth.opening_center = mouth.opening_center |
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| 199 | rsb_mouth.opening_right = mouth.opening_right |
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| 200 | rsb_mouth.position_left = mouth.position_left |
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| 201 | rsb_mouth.position_center = mouth.position_center |
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| 202 | rsb_mouth.position_right = mouth.position_right |
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| 203 | |||
| 204 | if (blocking):
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| 205 | #blocking:
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| 206 | result = self.server.mouth(rsb_mouth)
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| 207 | self.logger.debug("server reply: '%s'" % result) |
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| 208 | else:
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| 209 | future = self.server.mouth.async(rsb_mouth)
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| 210 | #we can block here for a incoming result with a timeout in s
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| 211 | #print '> server reply: "%s"' % future.get(timeout = 10);
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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 | if (blocking):
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| 223 | #blocking:
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| 224 | result = self.server.speech(text)
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| 225 | self.logger.debug("server reply: '%s'" % result) |
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| 226 | else:
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| 227 | future = self.server.speech.async(text)
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| 228 | #we can block here for a incoming result with a timeout in s
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| 229 | #print '> server reply: "%s"' % future.get(timeout = 10);
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| 230 | |||
| 231 | self.logger.debug("speech rpc done") |
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| 232 | |||
| 233 | #######################################################################
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| 234 | # some helpers
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| 235 | def convert_animationtype_to_rsbval(self, value): |
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| 236 | """convert RobotAnimation.value to RSB animation value
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| 237 | :param value: RobotAnimation.* id to convert to rsb id
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| 238 | """
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| 239 | #NOTE: this convertion is important as the actual integer values of
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| 240 | # thy python api and the protobuf might be different
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| 241 | |||
| 242 | if (value == RobotAnimation.IDLE):
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| 243 | return Animation().IDLE
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| 244 | elif (value == RobotAnimation.HEAD_NOD):
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| 245 | return Animation().HEAD_NOD
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| 246 | elif (value == RobotAnimation.HEAD_SHAKE):
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| 247 | return Animation().HEAD_SHAKE
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| 248 | elif (value == RobotAnimation.EYEBLINK_L):
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| 249 | return Animation().EYEBLINK_L
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| 250 | elif (value == RobotAnimation.EYEBLINK_R):
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| 251 | return Animation().EYEBLINK_R
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| 252 | elif (value == RobotAnimation.EYEBLINK_BOTH):
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| 253 | return Animation().EYEBLINK_BOTH
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| 254 | elif (value == RobotAnimation.EYEBROWS_RAISE):
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| 255 | return Animation().EYEBROWS_RAISE
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| 256 | elif (value == RobotAnimation.EYEBROWS_LOWER):
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| 257 | return Animation().EYEBROWS_LOWER
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| 258 | else:
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| 259 | self.logger.error("invalid animation type %d\n" % (value)) |
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| 260 | return Animation().NEUTRAL
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| 261 | |||
| 262 | def convert_emotiontype_to_rsbval(self, value): |
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| 263 | """convert RobotEmotion.value to RSB animation value
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| 264 | :param value: RobotEmotion.* id to convert to rsb id
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| 265 | """
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| 266 | #NOTE: this convertion is important as the actual integer values of
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| 267 | # thy python api and the protobuf might be different
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| 268 | |||
| 269 | if (value == RobotEmotion.NEUTRAL):
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| 270 | return EmotionState().NEUTRAL
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| 271 | elif (value == RobotEmotion.HAPPY):
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| 272 | return EmotionState().HAPPY
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| 273 | elif (value == RobotEmotion.SAD):
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| 274 | return EmotionState().SAD
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| 275 | elif (value == RobotEmotion.ANGRY):
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| 276 | return EmotionState().ANGRY
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| 277 | elif (value == RobotEmotion.SURPRISED):
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| 278 | return EmotionState().SURPRISED
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| 279 | elif (value == RobotEmotion.FEAR):
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| 280 | return EmotionState().FEAR
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| 281 | else:
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| 282 | self.logger.error("invalid emotion type %d\n" % (value)) |
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| 283 | return EmotionState().NEUTRAL |