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