hlrc / client / python / hlrc_client / RobotController.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 logging |
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import sys |
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import errno |
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class RobotController: |
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def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
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"""initialise
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:param mw_name: which mw to use, currentyl ROS and RSB are supported
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:param scope: base scope we want to listen on
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:param loglevel: optional log level
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"""
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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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#store
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self.scope = scope
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self.mw = mw_name
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self.loglevel = loglevel
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self.middleware = None |
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if (self.mw.upper() == "RSB"): |
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self.logger.info("creating new middleware connection via RSB") |
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try:
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from MiddlewareRSB import MiddlewareRSB |
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except ImportError, e: |
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self.logger.error("failed to import RSB or the necessary data types: {}".format(e)) |
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sys.exit(errno.EINVAL) |
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#import worked, safe to intantiate RSB mw now
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self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
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elif (self.mw.upper() == "ROS"): |
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self.logger.info("creating new middleware connection via ROS") |
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try:
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from MiddlewareROS import MiddlewareROS |
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except ImportError, e: |
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self.logger.error("failed to import ROS or the necessary data types: {}".format(e)) |
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sys.exit(errno.EINVAL) |
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#import worked, safe to intantiate RSB mw now
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self.middleware = MiddlewareROS(self.scope, self.loglevel) |
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else:
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self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw)) |
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sys.exit(errno.EINVAL) |
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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 RobotController called") |
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def config_logger(self, level): |
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"""initialise a nice logger formatting
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:param level: log level
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"""
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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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def set_current_emotion(self, robot_emotion, blocking = False): |
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"""set the current emotion
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:param robot_emotion: a RobotEmotion object
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_current_emotion(robot_emotion, blocking)
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def set_default_emotion(self, robot_emotion, blocking = False): |
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"""set the default emotion
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:param robot_emotion: a RobotEmotion object
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_default_emotion(robot_emotion, blocking)
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def set_gaze_target(self, robot_gaze, blocking = False): |
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"""set a gaze target
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:param robot_gaze: a RobotGaze object
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_gaze_target(robot_gaze, blocking)
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def set_mouth_target(self, robot_mouth, blocking = False): |
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"""set a mouth target
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:param robot_mouth: a RobotMouth object
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_mouth_target(robot_mouth, blocking)
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def set_head_animation(self, robot_animation, blocking = False): |
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"""set a head animation
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:param robot_animation: a RobotAnimation object
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_head_animation(robot_animation, blocking)
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def set_speak(self, text, blocking = False): |
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"""request the robot to say something using tts
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:param text: text to synthesize
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:param blocking: should this call block during execution?
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"""
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self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
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self.middleware.set_speak(text, blocking)
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#def get_gaze_target(self):
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# result = self.middleware.get_gaze_target()
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# self.logger.debug("get_gaze_target() returned %s" % (result))
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# return self.middleware.get_gaze_target()
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