hlrc / client / python / hlrc_client / Middleware.py @ 3877047d
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"""
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This file is part of hlrc
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Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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http://opensource.cit-ec.de/projects/hlrc
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This file may be licensed under the terms of the
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GNU General Public License Version 3 (the ``GPL''),
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or (at your option) any later version.
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Software distributed under the License is distributed
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on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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express or implied. See the GPL for the specific language
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governing rights and limitations.
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You should have received a copy of the GPL along with this
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program. If not, go to http://www.gnu.org/licenses/gpl.html
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or write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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The development of this software was supported by the
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Excellence Cluster EXC 277 Cognitive Interaction Technology.
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The Excellence Cluster EXC 277 is a grant of the Deutsche
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Forschungsgemeinschaft (DFG) in the context of the German
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Excellence Initiative.
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"""
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import sys |
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import logging |
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from RobotEmotion import * |
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from RobotGaze import * |
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from RobotMouth import * |
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from RobotAnimation import * |
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class Middleware: |
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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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self.base_scope = scope
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self.logger = logging.getLogger(__name__)
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# create nice and actually usable formatter and add it to the handler
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self.config_logger(loglevel)
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#initialise defaults
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self.default_emotion = RobotEmotion()
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self.current_emotion = RobotEmotion()
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self.gaze_target = RobotGaze()
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self.mouth_target = RobotMouth()
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self.robot_animation = RobotAnimation()
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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 Middleware called") |
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def config_logger(self, level): |
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formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
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ch = logging.StreamHandler() |
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#ch.setLevel(level)
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ch.setFormatter(formatter) |
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self.logger.setLevel(level)
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self.logger.addHandler(ch)
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#######################################################################
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#abstract/virtual functions
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def die_virtual(self, funcname): |
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raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
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def init_middleware(self): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_default_emotion(self, emotion, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_current_emotion(self, emotion, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_gaze_target(self, gaze, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_mouth_target(self, mouth, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_head_animation(self, animation, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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def publish_speech(self, text, blocking): |
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self.die_virtual(sys._getframe().f_code.co_name)
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#######################################################################
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#finally some implemented functions
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def set_default_emotion(self, emotion, blocking): |
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"""set the default emotion
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:param emotion: RobotEmotion 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.default_emotion = emotion
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self.publish_default_emotion(emotion, blocking)
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def set_current_emotion(self, emotion, blocking): |
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"""set a temporary emotion (duration: see emotion.time_ms)
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:param emotion: RobotEmotion to set temporarily
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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.current_emotion = emotion
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self.publish_current_emotion(emotion, blocking)
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def set_head_animation(self, animation, blocking): |
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"""trigger a head animation
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:param animation: RobotAnimation 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.animation = animation
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self.publish_head_animation(animation, blocking)
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def set_mouth_target(self, mouth, blocking): |
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"""set a mouth target
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:param mouth: RobotMouth 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.mouth_target = mouth
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self.publish_mouth_target(mouth, blocking)
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def set_speak(self, text, blocking): |
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"""trigger a tts speech output
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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.publish_speech(text, blocking)
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def set_gaze_target(self, gaze, blocking): |
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"""set a new gaze
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:param gaze: RobotGaze 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.gaze_target = gaze
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self.publish_gaze_target(gaze, blocking)
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#######################################################################
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#some get methods
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#def get_current_emotion(self):
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# return self.current_emotion
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#
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#def get_default_emotion(self):
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# return self.default_emotion
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#
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