hlrc

#!/usr/bin/python

"""

This file is part of hlrc

Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

http://opensource.cit-ec.de/projects/hlrc

This file may be licensed under the terms of the

GNU General Public License Version 3 (the ``GPL''),

or (at your option) any later version.

Software distributed under the License is distributed

on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

express or implied. See the GPL for the specific language

governing rights and limitations.

You should have received a copy of the GPL along with this

program. If not, go to http://www.gnu.org/licenses/gpl.html

or write to the Free Software Foundation, Inc.,

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

The development of this software was supported by the

Excellence Cluster EXC 277 Cognitive Interaction Technology.

The Excellence Cluster EXC 277 is a grant of the Deutsche

Forschungsgemeinschaft (DFG) in the context of the German

Excellence Initiative.

"""

import logging

from hlrc_client import *

import time

import errno

import sys

import os.path

from PyQt5 import QtCore

from PyQt5.QtWidgets import QWidget, QApplication, QVBoxLayout, QHBoxLayout, QLabel, QPushButton, QSpinBox, QGroupBox, QDoubleSpinBox

class HLRCExample(QWidget):

    def __init__(self, scope, mw):

        super(HLRCExample, self).__init__()

        self.scope = scope

        self.mw = mw

        self.initUI()

        self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG)

    def initUtteranceUI(self):

        groupBox = QGroupBox("utterances")

        hello = QPushButton("hello...")

        hello.clicked.connect(self.utterance_button_clicked)

        count = QPushButton("12345...")

        count.clicked.connect(self.utterance_button_clicked)

        vbox = QVBoxLayout()

        vbox.addWidget(hello)

        vbox.addWidget(count)

        vbox.addStretch(1)

        groupBox.setLayout(vbox)

        return groupBox

    def initSpinbox(self, _min, _max, _init, double):

        if (double):

            s = QDoubleSpinBox()

        else:

            s = QSpinBox()

        s.setMinimum(_min)

        s.setMaximum(_max)

        s.setValue(_init)

        return s

    def initPushButton(self, base_layout, text, action):

        button = QPushButton(text)

        button.clicked.connect(action)

        base_layout.addWidget(button)

    def initEmotionUI(self):

        vbox = QVBoxLayout()

        self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0)

        vbox.addWidget(self.duration_spinbox)

        #self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)

        self.initPushButton(vbox, "neutral",  self.emotion_button_clicked)

        self.initPushButton(vbox, "surprise", self.emotion_button_clicked)

        self.initPushButton(vbox, "angry",    self.emotion_button_clicked)

        self.initPushButton(vbox, "happy",    self.emotion_button_clicked)

        self.initPushButton(vbox, "sad",      self.emotion_button_clicked)

        self.initPushButton(vbox, "fear",     self.emotion_button_clicked)

        vbox.addStretch(1)

        groupBox = QGroupBox("emotion")

        groupBox.setLayout(vbox)

        return groupBox

    def initAnimationButton(self, base_layout, name):

        b = QPushButton(name)

        b.clicked.connect(self.animation_button_clicked)

        base_layout.addWidget(b)

    def initAnimUI(self):

        groupBox = QGroupBox("animations")

        #options

        options = QHBoxLayout()

        vbox_r = QVBoxLayout()

        vbox_r.addWidget(QLabel("repetitions"))

        self.repetitions_spinbox = self.initSpinbox(1,10,1,0)

        vbox_r.addWidget(self.repetitions_spinbox)

        vbox_d = QVBoxLayout()

        vbox_d.addWidget(QLabel("duration/ms (each)"))

        self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0)

        vbox_d.addWidget(self.duration_each_spinbox)

        vbox_s = QVBoxLayout()

        vbox_s.addWidget(QLabel("scale"))

        self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1)

        vbox_s.addWidget(self.scale_spinbox)

        options.addLayout(vbox_r)

        options.addLayout(vbox_d)

        options.addLayout(vbox_s)

        #buttons

        vbox = QVBoxLayout()

        vbox.addLayout(options)

        self.initAnimationButton(vbox, "head shake")

        self.initAnimationButton(vbox, "head nod")

        self.initAnimationButton(vbox, "eyeblink left")

        self.initAnimationButton(vbox, "eyeblink right")

        self.initAnimationButton(vbox, "eyeblink both")

        self.initAnimationButton(vbox, "eyebrows raise")

        self.initAnimationButton(vbox, "eyebrows lower")

        vbox.addStretch(1)

        groupBox.setLayout(vbox)

        return groupBox

    def initUI(self):

        vbox = QVBoxLayout()

        hboxl = QHBoxLayout()

        hboxl.addWidget(QLabel("base scope: "))

        hboxl.addWidget(QLabel(self.scope))

        vbox.addLayout(hboxl)

        hbox = QHBoxLayout()

        vbox.addLayout(hbox)

        #emotion

        hbox.addWidget(self.initEmotionUI())

        #utterance:

        hbox.addWidget(self.initUtteranceUI())

        #animations:

        hbox.addWidget(self.initAnimUI())

        self.setLayout(vbox)

        #sld.valueChanged.connect(lcd.display)

        self.setGeometry(400, 100, 250, 150)

        self.setWindowTitle("HLRC Server test GUI - %s" % self.scope)

        self.show()

    def utterance_button_clicked(self):

        button = self.sender().text()

        if (button == "12345..."):

            self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False)

        elif (button == "hello..."):

            self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False)

        else:

            self.robot_controller.set_speak("invalid button name", False)

            print("invalid button '%s'" % (button))

    def emotion_button_clicked(self):

        button = self.sender().text()

        re = RobotEmotion()

        re.time_ms = self.duration_spinbox.value()

        if (button == "angry"):

            re.value = RobotEmotion.ANGRY

        elif (button == "neutral"):

            re.value = RobotEmotion.NEUTRAL

        elif (button == "happy"):

            re.value = RobotEmotion.HAPPY

        elif (button == "sad"):

            re.value = RobotEmotion.SAD

        elif (button == "surprise"):

            re.value = RobotEmotion.SURPRISED

        elif (button == "fear"):

            re.value = RobotEmotion.FEAR

        else:

            print("invalid emotion id '%s'" % (button))

            return

        self.robot_controller.set_current_emotion(re, False)

    def animation_button_clicked(self):

        button = self.sender().text()

        ra = RobotAnimation()

        ra.time_ms =  self.duration_each_spinbox.value()

        ra.repetitions = self.repetitions_spinbox.value()

        ra.scale = self.scale_spinbox.value()

        if (button == "head nod"):

            ra.value = RobotAnimation.HEAD_NOD

        elif (button == "head shake"):

            ra.value = RobotAnimation.HEAD_SHAKE

        elif (button == "eyeblink left"):

            ra.value = RobotAnimation.EYEBLINK_L

        elif (button == "eyeblink right"):

            ra.value = RobotAnimation.EYEBLINK_R

        elif (button == "eyeblink both"):

            ra.value = RobotAnimation.EYEBLINK_BOTH

        elif (button == "eyebrows raise"):

            ra.value = RobotAnimation.EYEBROWS_RAISE

        elif (button == "eyebrows lower"):

            ra.value = RobotAnimation.EYEBROWS_LOWER

        else:

            print("invalid button '%s'" % (button))

            return

        self.robot_controller.set_head_animation(ra, False)

def main():

    if (len(sys.argv) != 3):

        print("usage:   hlrc_test_gui.py <middleware> <scope>\n\n")

        print("example: hlrc_test_gui.py ROS /flobi\n\n")

        sys.exit(errno.EINVAL)

    scope = sys.argv[1]

    mw    = sys.argv[2]

    app = QApplication(sys.argv)

    ex = HLRCExample(mw, scope)

    sys.exit(app.exec_())

if __name__ == '__main__':

    main()