Revision 3877047d client/python/hlrc_client/MiddlewareROS.py
| client/python/hlrc_client/MiddlewareROS.py | ||
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from hlrc_server.msg import * |
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class MiddlewareROS(Middleware): |
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#default timeout to wait in case of blocking calls
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ROS_ACTION_CALL_TIMEOUT = 30.0
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#######################################################################
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def __init__(self, scope, loglevel=logging.WARNING):
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"""initialise
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:param scope: base scope we want to listen on
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"""
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#init base settings
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Middleware.__init__(self,scope,loglevel)
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#call mw init
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self.init_middleware()
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#default timeout to wait in case of blocking calls
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ROS_ACTION_CALL_TIMEOUT = 30.0
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#######################################################################
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def __init__(self, scope, loglevel=logging.WARNING):
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"""initialise |
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:param scope: base scope we want to listen on
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""" |
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#init base settings |
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Middleware.__init__(self,scope,loglevel) |
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#call mw init |
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self.init_middleware() |
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def __del__(self): |
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"""destructor
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"""
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self.logger.debug("destructor of MiddlewareROS called")
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####################################################################### |
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def init_middleware(self):
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"""destructor
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"""
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self.logger.debug("destructor of MiddlewareROS called")
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#######################################################################
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def init_middleware(self):
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"""initialise middleware |
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""" |
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self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope))
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| ... | ... | |
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self.logger.info("MiddlewareROS initialised")
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####################################################################### |
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def publish_emotion(self, em_type, emotion, blocking): |
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"""publish an emotion via mw |
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:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
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:param emotion: emotion to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = emotionstateGoal() |
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goal.value = self.convert_emotiontype_to_rosval(emotion.value) |
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goal.duration = int(emotion.time_ms) |
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#which client do we use? |
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if (em_type == RobotEmotion.TYPE_DEFAULT): |
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#######################################################################
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def publish_emotion(self, em_type, emotion, blocking):
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"""publish an emotion via mw
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:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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:param emotion: emotion to set
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:param blocking: True if this call should block until execution finished on robot
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"""
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self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server.
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goal = emotionstateGoal()
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goal.value = self.convert_emotiontype_to_rosval(emotion.value)
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goal.duration = int(emotion.time_ms)
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#which client do we use?
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if (em_type == RobotEmotion.TYPE_DEFAULT):
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client = self.default_emotion_client |
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else: |
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client = self.current_emotion_client |
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#send the goal to the server |
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client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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def publish_default_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
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def publish_current_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
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def publish_head_animation(self, animation, blocking): |
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"""publish an head animation via mw |
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:param animation: animation to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = animationGoal() |
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goal.target = self.convert_animationtype_to_rosval(animation.value) |
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goal.repetitions = animation.repetitions |
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goal.duration_each = int(animation.time_ms) |
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goal.scale = animation.scale |
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#send the goal to the server |
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self.animation_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("animation rpc done")
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def publish_gaze_target(self, gaze, blocking): |
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"""publish a gaze target via mw |
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:param gaze: gaze to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = gazetargetGoal() |
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goal.pan = gaze.pan |
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goal.tilt = gaze.tilt |
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goal.roll = gaze.roll |
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goal.vergence = gaze.vergence |
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goal.pan_offset = gaze.pan_offset |
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goal.tilt_offset = gaze.tilt_offset |
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#type |
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if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE): |
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goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
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else: |
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goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
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goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
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#send the goal to the server |
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self.gazetarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("gaze rpc done")
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def publish_mouth_target(self, mouth, blocking): |
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"""publish a mouth target via mw |
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:param mouth: mouth value to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = mouthtargetGoal() |
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goal.opening_left = mouth.opening_left |
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goal.opening_center = mouth.opening_center |
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goal.opening_right = mouth.opening_right |
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goal.position_left = mouth.position_left |
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goal.position_center = mouth.position_center |
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goal.position_right = mouth.position_right |
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#send the goal to the server |
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self.mouthtarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("mouth rpc done")
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def publish_speech(self, text_, blocking): |
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"""publish a tts request via mw |
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:param text_: text to synthesize and speak |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = speechGoal(text=text_) |
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#send the goal to the server |
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self.speech_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("speech rpc done")
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####################################################################### |
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# some helpers |
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def convert_animationtype_to_rosval(self, value): |
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"""convert RobotAnimation.value to ROS animation value |
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:param value: RobotAnimation.* id to convert to rsb id |
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""" |
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#NOTE: this convertion is important as the actual integer values of |
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# thy python api and the protobuf might be different |
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if (value == RobotAnimation.IDLE): |
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return animationGoal.IDLE |
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elif (value == RobotAnimation.HEAD_NOD): |
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return animationGoal.HEAD_NOD |
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elif (value == RobotAnimation.HEAD_SHAKE): |
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return animationGoal.HEAD_SHAKE |
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elif (value == RobotAnimation.EYEBLINK_L): |
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return animationGoal.EYEBLINK_L |
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elif (value == RobotAnimation.EYEBLINK_R): |
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return animationGoal.EYEBLINK_R |
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elif (value == RobotAnimation.EYEBLINK_BOTH): |
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return animationGoal.EYEBLINK_BOTH |
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elif (value == RobotAnimation.EYEBROWS_RAISE): |
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return animationGoal.EYEBROWS_RAISE |
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elif (value == RobotAnimation.EYEBROWS_LOWER): |
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return animationGoal.EYEBROWS_LOWER |
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else: |
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self.logger.error("invalid animation type %d\n" % (value))
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return animationGoal.NEUTRAL |
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def convert_emotiontype_to_rosval(self, value): |
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"""convert RobotEmotion.value to ROS animation value |
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:param value: RobotEmotion.* id to convert to ros id |
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""" |
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#NOTE: this convertion is important as the actual integer values of |
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# thy python api and the protobuf might be different |
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if (value == RobotEmotion.NEUTRAL): |
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return emotionstateGoal.NEUTRAL |
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elif (value == RobotEmotion.HAPPY): |
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return emotionstateGoal.HAPPY |
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elif (value == RobotEmotion.SAD): |
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return emotionstateGoal.SAD |
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elif (value == RobotEmotion.ANGRY): |
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return emotionstateGoal.ANGRY |
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elif (value == RobotEmotion.SURPRISED): |
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return emotionstateGoal.SURPRISED |
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elif (value == RobotEmotion.FEAR): |
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return emotionstateGoal.FEAR |
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else: |
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self.logger.error("invalid emotion type %d\n" % (value))
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return emotionstateGoal.NEUTRAL |
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else: |
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client = self.current_emotion_client |
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#send the goal to the server |
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client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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def publish_default_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
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def publish_current_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
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def publish_head_animation(self, animation, blocking): |
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"""publish an head animation via mw |
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:param animation: animation to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = animationGoal() |
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goal.target = self.convert_animationtype_to_rosval(animation.value) |
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goal.repetitions = animation.repetitions |
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goal.duration_each = int(animation.time_ms) |
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goal.scale = animation.scale |
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#send the goal to the server |
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self.animation_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("animation rpc done")
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def publish_gaze_target(self, gaze, blocking): |
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"""publish a gaze target via mw |
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:param gaze: gaze to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = gazetargetGoal() |
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goal.pan = gaze.pan |
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goal.tilt = gaze.tilt |
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goal.roll = gaze.roll |
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goal.vergence = gaze.vergence |
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goal.pan_offset = gaze.pan_offset |
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goal.tilt_offset = gaze.tilt_offset |
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#type |
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if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE): |
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goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
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else: |
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goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
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goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
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#send the goal to the server |
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self.gazetarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("gaze rpc done")
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def publish_mouth_target(self, mouth, blocking): |
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"""publish a mouth target via mw |
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:param mouth: mouth value to set |
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:param blocking: True if this call should block until execution finished on robot |
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""" |
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self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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#create a goal to send to the action server. |
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goal = mouthtargetGoal() |
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goal.opening_left = mouth.opening_left |
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goal.opening_center = mouth.opening_center |
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goal.opening_right = mouth.opening_right |
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goal.position_left = mouth.position_left |
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goal.position_center = mouth.position_center |
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goal.position_right = mouth.position_right |
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#send the goal to the server |
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self.mouthtarget_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("mouth rpc done")
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def publish_speech(self, text_, blocking): |
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"""publish a tts request via mw |
|
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:param text_: text to synthesize and speak |
|
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
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self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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|
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#create a goal to send to the action server. |
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goal = speechGoal(text=text_) |
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#send the goal to the server |
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self.speech_client.send_goal(goal) |
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#wait for the server to finish |
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if (blocking): |
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timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
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if (timed_out): |
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
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self.logger.debug("speech rpc done")
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|
| 235 |
|
|
| 236 |
####################################################################### |
|
| 237 |
# some helpers |
|
| 238 |
def convert_animationtype_to_rosval(self, value): |
|
| 239 |
"""convert RobotAnimation.value to ROS animation value |
|
| 240 |
:param value: RobotAnimation.* id to convert to rsb id |
|
| 241 |
""" |
|
| 242 |
#NOTE: this convertion is important as the actual integer values of |
|
| 243 |
# thy python api and the protobuf might be different |
|
| 244 |
if (value == RobotAnimation.IDLE): |
|
| 245 |
return animationGoal.IDLE |
|
| 246 |
elif (value == RobotAnimation.HEAD_NOD): |
|
| 247 |
return animationGoal.HEAD_NOD |
|
| 248 |
elif (value == RobotAnimation.HEAD_SHAKE): |
|
| 249 |
return animationGoal.HEAD_SHAKE |
|
| 250 |
elif (value == RobotAnimation.EYEBLINK_L): |
|
| 251 |
return animationGoal.EYEBLINK_L |
|
| 252 |
elif (value == RobotAnimation.EYEBLINK_R): |
|
| 253 |
return animationGoal.EYEBLINK_R |
|
| 254 |
elif (value == RobotAnimation.EYEBLINK_BOTH): |
|
| 255 |
return animationGoal.EYEBLINK_BOTH |
|
| 256 |
elif (value == RobotAnimation.EYEBROWS_RAISE): |
|
| 257 |
return animationGoal.EYEBROWS_RAISE |
|
| 258 |
elif (value == RobotAnimation.EYEBROWS_LOWER): |
|
| 259 |
return animationGoal.EYEBROWS_LOWER |
|
| 260 |
else: |
|
| 261 |
self.logger.error("invalid animation type %d\n" % (value))
|
|
| 262 |
return animationGoal.NEUTRAL |
|
| 263 |
|
|
| 264 |
def convert_emotiontype_to_rosval(self, value): |
|
| 265 |
"""convert RobotEmotion.value to ROS animation value |
|
| 266 |
:param value: RobotEmotion.* id to convert to ros id |
|
| 267 |
""" |
|
| 268 |
#NOTE: this convertion is important as the actual integer values of |
|
| 269 |
# thy python api and the protobuf might be different |
|
| 270 |
|
|
| 271 |
if (value == RobotEmotion.NEUTRAL): |
|
| 272 |
return emotionstateGoal.NEUTRAL |
|
| 273 |
elif (value == RobotEmotion.HAPPY): |
|
| 274 |
return emotionstateGoal.HAPPY |
|
| 275 |
elif (value == RobotEmotion.SAD): |
|
| 276 |
return emotionstateGoal.SAD |
|
| 277 |
elif (value == RobotEmotion.ANGRY): |
|
| 278 |
return emotionstateGoal.ANGRY |
|
| 279 |
elif (value == RobotEmotion.SURPRISED): |
|
| 280 |
return emotionstateGoal.SURPRISED |
|
| 281 |
elif (value == RobotEmotion.FEAR): |
|
| 282 |
return emotionstateGoal.FEAR |
|
| 283 |
else: |
|
| 284 |
self.logger.error("invalid emotion type %d\n" % (value))
|
|
| 285 |
return emotionstateGoal.NEUTRAL |
|
Also available in: Unified diff