Statistics
| Branch: | Tag: | Revision:

hlrc / client / python / hlrc_client / MiddlewareRSB.py @ 38936fe1

History | View | Annotate | Download (11.64 KB)

1
"""
2
This file is part of hlrc
3

4
Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
5
http://opensource.cit-ec.de/projects/hlrc
6

7
This file may be licensed under the terms of the
8
GNU General Public License Version 3 (the ``GPL''),
9
or (at your option) any later version.
10

11
Software distributed under the License is distributed
12
on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
13
express or implied. See the GPL for the specific language
14
governing rights and limitations.
15

16
You should have received a copy of the GPL along with this
17
program. If not, go to http://www.gnu.org/licenses/gpl.html
18
or write to the Free Software Foundation, Inc.,
19
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
20

21
The development of this software was supported by the
22
Excellence Cluster EXC 277 Cognitive Interaction Technology.
23
The Excellence Cluster EXC 277 is a grant of the Deutsche
24
Forschungsgemeinschaft (DFG) in the context of the German
25
Excellence Initiative.
26
"""
27

    
28
from .Middleware import *
29
import errno
30

    
31
import rsb
32
import rsb.converter
33
import rst
34
import rstsandbox
35

    
36
from rst.animation.EmotionExpression_pb2 import EmotionExpression
37
from rst.animation.HeadAnimation_pb2 import HeadAnimation
38
from rst.animation.BinocularHeadGaze_pb2 import BinocularHeadGaze
39
from rst.geometry.SphericalDirectionFloat_pb2 import SphericalDirectionFloat
40

    
41

    
42
class MiddlewareRSB(Middleware):
43
    #######################################################################
44
    def __init__(self, scope, loglevel=logging.WARNING):
45
        """initialise
46
        :param scope: base scope we want to listen on
47
        """
48
        # init base settings
49
        Middleware.__init__(self, scope, loglevel)
50
        self.EmotionExpression_converter = None
51
        self.HeadAnimation_converter = None
52
        self.BinocularHeadGaze_converter = None
53
        #call mw init
54
        self.server = None
55
        self.init_middleware()
56

    
57
    def __del__(self):
58
        """destructor
59
        """
60
        self.logger.debug("destructor of MiddlewareROS called")
61

    
62
    #######################################################################
63
    def init_middleware(self):
64
        """initialise middleware
65
        """
66
        # mute rsb logging:
67
        logging.getLogger("rsb").setLevel(logging.ERROR)
68

    
69
        #initialise RSB stuff
70
        self.logger.info(
71
            "initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope))
72

    
73
        self.EmotionExpression_converter = rsb.converter.ProtocolBufferConverter(messageClass=EmotionExpression)
74
        rsb.converter.registerGlobalConverter(self.EmotionExpression_converter)
75

    
76
        self.HeadAnimation_converter = rsb.converter.ProtocolBufferConverter(messageClass=HeadAnimation)
77
        rsb.converter.registerGlobalConverter(self.HeadAnimation_converter)
78

    
79
        self.BinocularHeadGaze_converter = rsb.converter.ProtocolBufferConverter(messageClass=BinocularHeadGaze)
80
        rsb.converter.registerGlobalConverter(self.BinocularHeadGaze_converter)
81

    
82
        try:
83
            self.server = rsb.createRemoteServer(self.base_scope + '/set')
84
        except ValueError:
85
            self.logger.error("ERROR: invalid scope given. server deactivated")
86
            self.server.deactivate()
87
            sys.exit(errno.EINVAL)
88

    
89
    #######################################################################
90
    def publish_emotion(self, em_type, emotion, blocking):
91
        """publish an emotion via mw
92
        :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
93
        :param emotion: emotion to set
94
        :param blocking: True if this call should block until execution finished on robot
95
        """
96

    
97
        # create emotion & fill it with values:
98
        rsb_em = EmotionExpression()
99
        rsb_em.emotion = self.convert_emotiontype_to_rsbval(emotion.value)
100
        rsb_em.duration = int(emotion.time_ms)
101

    
102
        # with rsb.createRemoteServer(self.base_scope + '/{current,default}Emotion') as server:
103
        self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
104

    
105
        if (blocking):
106
            #blocking rpc call:
107
            if (em_type == EmotionExpression.TYPE_DEFAULT):
108
                result = self.server.defaultEmotion(rsb_em)
109
            else:
110
                result = self.server.currentEmotion(rsb_em)
111
            self.logger.debug("server reply: '%s'" % result)
112
        else:
113
            if (em_type == EmotionExpression.TYPE_DEFAULT):
114
                future = self.server.defaultEmotion.async(rsb_em)
115
            else:
116
                future = self.server.currentEmotion.async(rsb_em)
117
            self.logger.debug("server reply: '%s'" % future)
118
            #we could block here for a incoming result with a timeout in s
119
            #print '> server reply: "%s"' % future.get(timeout = 10);
120
        self.logger.debug("emotion rpc done")
121

    
122
    def publish_head_animation(self, animation, blocking):
123
        """publish an head HeadAnimation via mw
124
        :param HeadAnimation: HeadAnimation to set
125
        :param blocking: True if this call should block until execution finished on robot
126
        """
127

    
128
        self.logger.debug("calling the HeadAnimation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
129

    
130
        # create HeadAnimation & fill it with values:
131
        rsb_ani = HeadAnimation()
132

    
133
        #select ani
134
        rsb_ani.animation = self.convert_HeadAnimationtype_to_rsbval(animation.value)
135
        rsb_ani.repetitions = animation.repetitions
136
        rsb_ani.duration_each = animation.time_ms
137
        rsb_ani.emphasis_scale = animation.scale
138

    
139
        if blocking:
140
            #blocking:
141
            result = self.server.animation(rsb_ani)
142
            self.logger.debug("server reply: '%s'" % result)
143
        else:
144
            future = self.server.animation.async(rsb_ani)
145
            #we can block here for a incoming result with a timeout in s
146
            #print '> server reply: "%s"' % future.get(timeout = 10);
147

    
148
        self.logger.debug("HeadAnimation rpc done")
149

    
150
    def publish_default_emotion(self, emotion, blocking):
151
        self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
152

    
153
    def publish_current_emotion(self, emotion, blocking):
154
        self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
155

    
156
    def publish_gaze_target(self, gaze, blocking):
157
        """publish a gaze target via mw
158
        :param gaze: gaze to set
159
        :param blocking: True if this call should block until execution finished on robot
160
        """
161
        self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
162

    
163
        # create gaze target & fill it with values:
164
        hg = BinocularHeadGaze()
165

    
166
        hg.target.elevation = gaze.tilt
167
        hg.target.azimuth = gaze.pan
168
        hg.eye_vergence = gaze.vergence
169

    
170
        hg.offset.elevation = gaze.tilt_offset
171
        hg.offset.azimuth = gaze.pan_offset
172

    
173
        if blocking:
174
            # blocking:
175
            result = self.server.gaze(hg)
176
            self.logger.debug("server reply blocking: '%s'" % result)
177
        else:
178
            future = self.server.gaze.async(hg)
179
            self.logger.debug("server reply non-blocking: '%s'" % future)
180
            # we can block here for a incoming result with a timeout in s
181
            #print '> server reply: "%s"' % future.get(timeout = 10);
182

    
183
        self.logger.debug("gaze rpc done")
184

    
185
    def publish_speech(self, text, blocking):
186
        """publish a tts request via mw
187
        :param text: text to synthesize and speak
188
        :param blocking: True if this call should block until execution finished on robot
189
        """
190
        """
191
        self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
192

193
        if (blocking):
194
            # blocking:
195
            result = self.server.speech(text)
196
            self.logger.debug("server reply: '%s'" % result)
197
        else:
198
            future = self.server.speech.async(text)
199
            # we can block here for a incoming result with a timeout in s
200
            #print '> server reply: "%s"' % future.get(timeout = 10);
201

202
        self.logger.debug("speech rpc done")
203
        """
204
        print("WARNING: Not IMPLEMENTED.")
205

    
206

    
207
    #######################################################################
208
    def is_running(self):
209
        return True
210

    
211

    
212
    #######################################################################
213
    # some helpers
214
    def convert_HeadAnimationtype_to_rsbval(self, value):
215
        """convert RobotHeadAnimation.value to RSB HeadAnimation value
216
        :param value: RobotHeadAnimation.* id to convert to rsb id
217
        """
218
        # NOTE: this convertion is important as the actual integer values of
219
        #      thy python api and the protobuf might be different
220

    
221
        if value == HeadAnimation.IDLE:
222
            return HeadAnimation().IDLE
223
        elif value == HeadAnimation.HEAD_NOD:
224
            return HeadAnimation().HEAD_NOD
225
        elif (value == HeadAnimation.HEAD_SHAKE):
226
            return HeadAnimation().HEAD_SHAKE
227
        elif (value == HeadAnimation.EYEBLINK_LEFT):
228
            return HeadAnimation().EYEBLINK_LEFT
229
        elif (value == HeadAnimation.EYEBLINK_RIGHT):
230
            return HeadAnimation().EYEBLINK_RIGHT
231
        elif (value == HeadAnimation.EYEBLINK_BOTH):
232
            return HeadAnimation().EYEBLINK_BOTH
233
        elif (value == HeadAnimation.EYEBROWS_RAISE):
234
            return HeadAnimation().EYEBROWS_RAISE
235
        elif (value == HeadAnimation.EYEBROWS_LOWER):
236
            return HeadAnimation().EYEBROWS_LOWER
237
        else:
238
            self.logger.error("invalid HeadAnimation type %d\n" % (value))
239
            return HeadAnimation().NEUTRAL
240

    
241
    def convert_emotiontype_to_rsbval(self, value):
242
        """convert RobotEmotion.value to RSB HeadAnimation value
243
        :param value: RobotEmotion.* id to convert to rsb id
244
        """
245
        # NOTE: this convertion is important as the actual integer values of
246
        #      thy python api and the protobuf might be different
247

    
248
        if (value == RobotEmotion.NEUTRAL):
249
            return EmotionExpression().NEUTRAL
250
        elif (value == RobotEmotion.HAPPY):
251
            return EmotionExpression().HAPPY
252
        elif (value == RobotEmotion.SAD):
253
            return EmotionExpression().SAD
254
        elif (value == RobotEmotion.ANGRY):
255
            return EmotionExpression().ANGRY
256
        elif (value == RobotEmotion.SURPRISED):
257
            return EmotionExpression().SURPRISED
258
        elif (value == RobotEmotion.FEAR):
259
            return EmotionExpression().FEAR
260
        else:
261
            self.logger.error("invalid emotion type %d\n" % (value))
262
            return EmotionExpression().NEUTRAL
263

    
264
    """
265
    def publish_mouth_target(self, mouth, blocking):
266
        publish a mouth target via mw
267
        :param mouth: mouth value to set
268
        :param blocking: True if this call should block until execution finished on robot
269

270
        self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
271

272
        #create mouth state & fill it with values:
273
        rsb_mouth = MouthTarget()
274

275
        #fill proto
276
        rsb_mouth.opening_left   = mouth.opening_left
277
        rsb_mouth.opening_center = mouth.opening_center
278
        rsb_mouth.opening_right  = mouth.opening_right
279
        rsb_mouth.position_left  = mouth.position_left
280
        rsb_mouth.position_center = mouth.position_center
281
        rsb_mouth.position_right = mouth.position_right
282

283
        if (blocking):
284
            #blocking:
285
            result = self.server.mouth(rsb_mouth)
286
            self.logger.debug("server reply: '%s'" % result)
287
        else:
288
            future = self.server.mouth.async(rsb_mouth)
289
            #we can block here for a incoming result with a timeout in s
290
            #print '> server reply: "%s"' % future.get(timeout = 10);
291

292
        self.logger.debug("mouth rpc done")
293
    """