hlrc / client / python / hlrc_client / hlrc_test_gui.py @ 3877047d
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#!/usr/bin/python
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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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from hlrc_client import * |
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import time |
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import errno |
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import sys |
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import os.path |
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from PyQt4 import QtGui, QtCore |
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from PyQt4.QtCore import SIGNAL |
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class HLRCExample(QtGui.QWidget): |
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def __init__(self, scope, mw): |
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super(HLRCExample, self).__init__() |
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self.scope = scope
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self.mw = mw
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self.initUI()
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self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG) |
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def initUtteranceUI(self): |
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groupBox = QtGui.QGroupBox("utterances")
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hello = QtGui.QPushButton("hello...")
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hello.clicked.connect(self.utterance_button_clicked)
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count = QtGui.QPushButton("12345...")
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count.clicked.connect(self.utterance_button_clicked)
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vbox = QtGui.QVBoxLayout() |
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vbox.addWidget(hello) |
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vbox.addWidget(count) |
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vbox.addStretch(1)
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groupBox.setLayout(vbox) |
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return groupBox
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def initSpinbox(self, _min, _max, _init, double): |
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if (double):
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s = QtGui.QDoubleSpinBox() |
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else:
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s = QtGui.QSpinBox() |
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s.setMinimum(_min) |
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s.setMaximum(_max) |
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s.setValue(_init) |
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return s
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def initPushButton(self, base_layout, text, action): |
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button = QtGui.QPushButton(text) |
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button.clicked.connect(action) |
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base_layout.addWidget(button) |
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def initEmotionUI(self): |
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vbox = QtGui.QVBoxLayout() |
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self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
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vbox.addWidget(self.duration_spinbox)
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#self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)
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self.initPushButton(vbox, "neutral", self.emotion_button_clicked) |
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self.initPushButton(vbox, "surprise", self.emotion_button_clicked) |
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self.initPushButton(vbox, "angry", self.emotion_button_clicked) |
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self.initPushButton(vbox, "happy", self.emotion_button_clicked) |
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self.initPushButton(vbox, "sad", self.emotion_button_clicked) |
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self.initPushButton(vbox, "fear", self.emotion_button_clicked) |
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vbox.addStretch(1)
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groupBox = QtGui.QGroupBox("emotion")
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groupBox.setLayout(vbox) |
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return groupBox
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def initAnimationButton(self, base_layout, name): |
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b = QtGui.QPushButton(name) |
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b.clicked.connect(self.animation_button_clicked)
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base_layout.addWidget(b) |
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def initAnimUI(self): |
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groupBox = QtGui.QGroupBox("animations")
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#options
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options = QtGui.QHBoxLayout() |
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vbox_r = QtGui.QVBoxLayout() |
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vbox_r.addWidget(QtGui.QLabel("repetitions"))
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self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
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vbox_r.addWidget(self.repetitions_spinbox)
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vbox_d = QtGui.QVBoxLayout() |
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vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
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self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0) |
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vbox_d.addWidget(self.duration_each_spinbox)
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vbox_s = QtGui.QVBoxLayout() |
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vbox_s.addWidget(QtGui.QLabel("scale"))
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self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
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vbox_s.addWidget(self.scale_spinbox)
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options.addLayout(vbox_r) |
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options.addLayout(vbox_d) |
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options.addLayout(vbox_s) |
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#buttons
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vbox = QtGui.QVBoxLayout() |
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vbox.addLayout(options) |
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self.initAnimationButton(vbox, "head shake") |
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self.initAnimationButton(vbox, "head nod") |
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self.initAnimationButton(vbox, "eyeblink left") |
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self.initAnimationButton(vbox, "eyeblink right") |
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self.initAnimationButton(vbox, "eyeblink both") |
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self.initAnimationButton(vbox, "eyebrows raise") |
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self.initAnimationButton(vbox, "eyebrows lower") |
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vbox.addStretch(1)
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groupBox.setLayout(vbox) |
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return groupBox
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def initUI(self): |
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vbox = QtGui.QVBoxLayout() |
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hboxl = QtGui.QHBoxLayout() |
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hboxl.addWidget(QtGui.QLabel("base scope: "))
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hboxl.addWidget(QtGui.QLabel(self.scope))
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vbox.addLayout(hboxl) |
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hbox = QtGui.QHBoxLayout() |
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vbox.addLayout(hbox) |
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#emotion
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hbox.addWidget(self.initEmotionUI())
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#utterance:
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hbox.addWidget(self.initUtteranceUI())
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#animations:
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hbox.addWidget(self.initAnimUI())
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self.setLayout(vbox)
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#sld.valueChanged.connect(lcd.display)
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self.setGeometry(400, 100, 250, 150) |
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self.setWindowTitle("HLRC Server test GUI - %s" % self.scope) |
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self.show()
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def utterance_button_clicked(self): |
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button = self.sender().text()
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if (button == "12345..."): |
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self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False) |
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elif (button == "hello..."): |
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self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False) |
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else:
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self.robot_controller.set_speak("invalid button name", False) |
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print "invalid button '%s'" % (button) |
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def emotion_button_clicked(self): |
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button = self.sender().text()
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re = RobotEmotion() |
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re.time_ms = self.duration_spinbox.value()
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if (button == "angry"): |
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re.value = RobotEmotion.ANGRY |
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elif (button == "neutral"): |
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re.value = RobotEmotion.NEUTRAL |
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elif (button == "happy"): |
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re.value = RobotEmotion.HAPPY |
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elif (button == "sad"): |
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re.value = RobotEmotion.SAD |
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elif (button == "surprise"): |
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re.value = RobotEmotion.SURPRISED |
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elif (button == "fear"): |
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re.value = RobotEmotion.FEAR |
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else:
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print "invalid emotion id '%s'" % (button) |
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return
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self.robot_controller.set_current_emotion(re, False) |
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def animation_button_clicked(self): |
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button = self.sender().text()
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ra = RobotAnimation() |
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ra.time_ms = self.duration_each_spinbox.value()
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ra.repetitions = self.repetitions_spinbox.value()
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ra.scale = self.scale_spinbox.value()
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if (button == "head nod"): |
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ra.value = RobotAnimation.HEAD_NOD |
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elif (button == "head shake"): |
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ra.value = RobotAnimation.HEAD_SHAKE |
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elif (button == "eyeblink left"): |
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ra.value = RobotAnimation.EYEBLINK_L |
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elif (button == "eyeblink right"): |
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ra.value = RobotAnimation.EYEBLINK_R |
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elif (button == "eyeblink both"): |
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ra.value = RobotAnimation.EYEBLINK_BOTH |
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elif (button == "eyebrows raise"): |
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ra.value = RobotAnimation.EYEBROWS_RAISE |
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elif (button == "eyebrows lower"): |
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ra.value = RobotAnimation.EYEBROWS_LOWER |
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else:
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print "invalid button '%s'" % (button) |
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return
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self.robot_controller.set_head_animation(ra, False) |
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def main(): |
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if (len(sys.argv) != 3): |
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print("usage: hlrc_test_gui.py <middleware> <scope>\n\n")
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print("example: hlrc_test_gui.py ROS /flobi\n\n")
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sys.exit(errno.EINVAL) |
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scope = sys.argv[1]
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mw = sys.argv[2]
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app = QtGui.QApplication(sys.argv) |
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ex = HLRCExample(mw, scope) |
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sys.exit(app.exec_()) |
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if __name__ == '__main__': |
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main() |