hlrc / client / python / hlrc_client / hlrc_test_gui.py @ 3877047d
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| 1 | 0c286af0 | Simon Schulz | #!/usr/bin/python
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| 2 | f8fa1217 | Simon Schulz | |
| 3 | """
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| 4 | This file is part of hlrc
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| 5 |
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| 6 | Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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| 7 | http://opensource.cit-ec.de/projects/hlrc
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| 8 |
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| 9 | This file may be licensed under the terms of the
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| 10 | GNU General Public License Version 3 (the ``GPL''),
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| 11 | or (at your option) any later version.
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| 12 |
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| 13 | Software distributed under the License is distributed
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| 14 | on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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| 15 | express or implied. See the GPL for the specific language
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| 16 | governing rights and limitations.
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| 17 |
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| 18 | You should have received a copy of the GPL along with this
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| 19 | program. If not, go to http://www.gnu.org/licenses/gpl.html
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| 20 | or write to the Free Software Foundation, Inc.,
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| 21 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 22 |
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| 23 | The development of this software was supported by the
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| 24 | Excellence Cluster EXC 277 Cognitive Interaction Technology.
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| 25 | The Excellence Cluster EXC 277 is a grant of the Deutsche
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| 26 | Forschungsgemeinschaft (DFG) in the context of the German
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| 27 | Excellence Initiative.
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| 28 | """
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| 29 | |||
| 30 | |||
| 31 | import logging |
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| 32 | from hlrc_client import * |
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| 33 | import time |
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| 34 | import errno |
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| 35 | 0c286af0 | Simon Schulz | import sys |
| 36 | import os.path |
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| 37 | f8fa1217 | Simon Schulz | |
| 38 | 0c286af0 | Simon Schulz | from PyQt4 import QtGui, QtCore |
| 39 | from PyQt4.QtCore import SIGNAL |
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| 40 | |||
| 41 | f8fa1217 | Simon Schulz | class HLRCExample(QtGui.QWidget): |
| 42 | 0c286af0 | Simon Schulz | |
| 43 | 3877047d | Simon Schulz | def __init__(self, scope, mw): |
| 44 | super(HLRCExample, self).__init__() |
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| 45 | 0c286af0 | Simon Schulz | |
| 46 | 3877047d | Simon Schulz | self.scope = scope
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| 47 | self.mw = mw
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| 48 | self.initUI()
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| 49 | self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG) |
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| 50 | f8fa1217 | Simon Schulz | |
| 51 | def initUtteranceUI(self): |
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| 52 | 3877047d | Simon Schulz | groupBox = QtGui.QGroupBox("utterances")
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| 53 | f8fa1217 | Simon Schulz | |
| 54 | 3877047d | Simon Schulz | hello = QtGui.QPushButton("hello...")
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| 55 | hello.clicked.connect(self.utterance_button_clicked)
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| 56 | f8fa1217 | Simon Schulz | |
| 57 | 3877047d | Simon Schulz | count = QtGui.QPushButton("12345...")
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| 58 | count.clicked.connect(self.utterance_button_clicked)
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| 59 | f8fa1217 | Simon Schulz | |
| 60 | |||
| 61 | 3877047d | Simon Schulz | vbox = QtGui.QVBoxLayout() |
| 62 | vbox.addWidget(hello) |
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| 63 | vbox.addWidget(count) |
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| 64 | vbox.addStretch(1)
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| 65 | groupBox.setLayout(vbox) |
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| 66 | f8fa1217 | Simon Schulz | |
| 67 | 3877047d | Simon Schulz | return groupBox
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| 68 | f8fa1217 | Simon Schulz | |
| 69 | def initSpinbox(self, _min, _max, _init, double): |
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| 70 | 3877047d | Simon Schulz | if (double):
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| 71 | s = QtGui.QDoubleSpinBox() |
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| 72 | f8fa1217 | Simon Schulz | else:
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| 73 | 3877047d | Simon Schulz | s = QtGui.QSpinBox() |
| 74 | |||
| 75 | s.setMinimum(_min) |
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| 76 | s.setMaximum(_max) |
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| 77 | s.setValue(_init) |
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| 78 | return s
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| 79 | |||
| 80 | def initPushButton(self, base_layout, text, action): |
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| 81 | button = QtGui.QPushButton(text) |
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| 82 | button.clicked.connect(action) |
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| 83 | base_layout.addWidget(button) |
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| 84 | |||
| 85 | def initEmotionUI(self): |
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| 86 | vbox = QtGui.QVBoxLayout() |
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| 87 | self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
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| 88 | vbox.addWidget(self.duration_spinbox)
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| 89 | |||
| 90 | #self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)
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| 91 | self.initPushButton(vbox, "neutral", self.emotion_button_clicked) |
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| 92 | self.initPushButton(vbox, "surprise", self.emotion_button_clicked) |
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| 93 | self.initPushButton(vbox, "angry", self.emotion_button_clicked) |
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| 94 | self.initPushButton(vbox, "happy", self.emotion_button_clicked) |
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| 95 | self.initPushButton(vbox, "sad", self.emotion_button_clicked) |
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| 96 | self.initPushButton(vbox, "fear", self.emotion_button_clicked) |
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| 97 | vbox.addStretch(1)
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| 98 | |||
| 99 | groupBox = QtGui.QGroupBox("emotion")
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| 100 | groupBox.setLayout(vbox) |
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| 101 | return groupBox
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| 102 | |||
| 103 | def initAnimationButton(self, base_layout, name): |
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| 104 | b = QtGui.QPushButton(name) |
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| 105 | b.clicked.connect(self.animation_button_clicked)
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| 106 | base_layout.addWidget(b) |
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| 107 | |||
| 108 | def initAnimUI(self): |
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| 109 | groupBox = QtGui.QGroupBox("animations")
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| 110 | |||
| 111 | #options
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| 112 | options = QtGui.QHBoxLayout() |
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| 113 | vbox_r = QtGui.QVBoxLayout() |
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| 114 | vbox_r.addWidget(QtGui.QLabel("repetitions"))
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| 115 | self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
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| 116 | vbox_r.addWidget(self.repetitions_spinbox)
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| 117 | |||
| 118 | vbox_d = QtGui.QVBoxLayout() |
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| 119 | vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
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| 120 | self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0) |
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| 121 | vbox_d.addWidget(self.duration_each_spinbox)
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| 122 | |||
| 123 | vbox_s = QtGui.QVBoxLayout() |
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| 124 | vbox_s.addWidget(QtGui.QLabel("scale"))
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| 125 | self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
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| 126 | vbox_s.addWidget(self.scale_spinbox)
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| 127 | |||
| 128 | |||
| 129 | options.addLayout(vbox_r) |
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| 130 | options.addLayout(vbox_d) |
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| 131 | options.addLayout(vbox_s) |
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| 132 | |||
| 133 | #buttons
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| 134 | vbox = QtGui.QVBoxLayout() |
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| 135 | vbox.addLayout(options) |
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| 136 | self.initAnimationButton(vbox, "head shake") |
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| 137 | self.initAnimationButton(vbox, "head nod") |
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| 138 | self.initAnimationButton(vbox, "eyeblink left") |
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| 139 | self.initAnimationButton(vbox, "eyeblink right") |
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| 140 | self.initAnimationButton(vbox, "eyeblink both") |
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| 141 | self.initAnimationButton(vbox, "eyebrows raise") |
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| 142 | self.initAnimationButton(vbox, "eyebrows lower") |
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| 143 | vbox.addStretch(1)
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| 144 | groupBox.setLayout(vbox) |
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| 145 | |||
| 146 | return groupBox
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| 147 | |||
| 148 | def initUI(self): |
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| 149 | vbox = QtGui.QVBoxLayout() |
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| 150 | |||
| 151 | hboxl = QtGui.QHBoxLayout() |
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| 152 | hboxl.addWidget(QtGui.QLabel("base scope: "))
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| 153 | hboxl.addWidget(QtGui.QLabel(self.scope))
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| 154 | vbox.addLayout(hboxl) |
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| 155 | |||
| 156 | hbox = QtGui.QHBoxLayout() |
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| 157 | vbox.addLayout(hbox) |
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| 158 | |||
| 159 | #emotion
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| 160 | hbox.addWidget(self.initEmotionUI())
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| 161 | |||
| 162 | #utterance:
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| 163 | hbox.addWidget(self.initUtteranceUI())
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| 164 | |||
| 165 | #animations:
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| 166 | hbox.addWidget(self.initAnimUI())
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| 167 | |||
| 168 | self.setLayout(vbox)
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| 169 | #sld.valueChanged.connect(lcd.display)
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| 170 | |||
| 171 | self.setGeometry(400, 100, 250, 150) |
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| 172 | self.setWindowTitle("HLRC Server test GUI - %s" % self.scope) |
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| 173 | self.show()
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| 174 | |||
| 175 | def utterance_button_clicked(self): |
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| 176 | button = self.sender().text()
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| 177 | |||
| 178 | |||
| 179 | if (button == "12345..."): |
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| 180 | self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False) |
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| 181 | elif (button == "hello..."): |
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| 182 | self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False) |
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| 183 | else:
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| 184 | self.robot_controller.set_speak("invalid button name", False) |
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| 185 | print "invalid button '%s'" % (button) |
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| 186 | |||
| 187 | def emotion_button_clicked(self): |
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| 188 | button = self.sender().text()
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| 189 | |||
| 190 | re = RobotEmotion() |
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| 191 | re.time_ms = self.duration_spinbox.value()
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| 192 | |||
| 193 | if (button == "angry"): |
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| 194 | re.value = RobotEmotion.ANGRY |
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| 195 | elif (button == "neutral"): |
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| 196 | re.value = RobotEmotion.NEUTRAL |
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| 197 | elif (button == "happy"): |
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| 198 | re.value = RobotEmotion.HAPPY |
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| 199 | elif (button == "sad"): |
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| 200 | re.value = RobotEmotion.SAD |
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| 201 | elif (button == "surprise"): |
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| 202 | re.value = RobotEmotion.SURPRISED |
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| 203 | elif (button == "fear"): |
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| 204 | re.value = RobotEmotion.FEAR |
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| 205 | else:
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| 206 | print "invalid emotion id '%s'" % (button) |
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| 207 | return
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| 208 | |||
| 209 | self.robot_controller.set_current_emotion(re, False) |
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| 210 | |||
| 211 | def animation_button_clicked(self): |
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| 212 | button = self.sender().text()
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| 213 | |||
| 214 | ra = RobotAnimation() |
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| 215 | ra.time_ms = self.duration_each_spinbox.value()
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| 216 | ra.repetitions = self.repetitions_spinbox.value()
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| 217 | ra.scale = self.scale_spinbox.value()
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| 218 | |||
| 219 | if (button == "head nod"): |
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| 220 | ra.value = RobotAnimation.HEAD_NOD |
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| 221 | elif (button == "head shake"): |
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| 222 | ra.value = RobotAnimation.HEAD_SHAKE |
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| 223 | elif (button == "eyeblink left"): |
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| 224 | ra.value = RobotAnimation.EYEBLINK_L |
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| 225 | elif (button == "eyeblink right"): |
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| 226 | ra.value = RobotAnimation.EYEBLINK_R |
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| 227 | elif (button == "eyeblink both"): |
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| 228 | ra.value = RobotAnimation.EYEBLINK_BOTH |
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| 229 | elif (button == "eyebrows raise"): |
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| 230 | ra.value = RobotAnimation.EYEBROWS_RAISE |
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| 231 | elif (button == "eyebrows lower"): |
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| 232 | ra.value = RobotAnimation.EYEBROWS_LOWER |
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| 233 | else:
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| 234 | print "invalid button '%s'" % (button) |
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| 235 | return
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| 236 | |||
| 237 | self.robot_controller.set_head_animation(ra, False) |
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| 238 | |||
| 239 | def main(): |
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| 240 | if (len(sys.argv) != 3): |
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| 241 | print("usage: hlrc_test_gui.py <middleware> <scope>\n\n")
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| 242 | print("example: hlrc_test_gui.py ROS /flobi\n\n")
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| 243 | sys.exit(errno.EINVAL) |
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| 244 | |||
| 245 | scope = sys.argv[1]
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| 246 | mw = sys.argv[2]
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| 247 | |||
| 248 | app = QtGui.QApplication(sys.argv) |
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| 249 | ex = HLRCExample(mw, scope) |
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| 250 | sys.exit(app.exec_()) |
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| 251 | |||
| 252 | |||
| 253 | if __name__ == '__main__': |
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| 254 | main() |