hlrc / client / python / hlrc_client / MiddlewareROS.py @ 41ba2651
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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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from Middleware import * |
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import errno |
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import roslib; |
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import rospy |
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import actionlib |
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from hlrc_server.msg import * |
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class MiddlewareROS(Middleware): |
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#default timeout to wait in case of blocking calls
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ROS_ACTION_CALL_TIMEOUT = 30.0
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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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#init base settings
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Middleware.__init__(self,scope,loglevel)
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#call mw init
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self.init_middleware()
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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 MiddlewareROS called") |
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#######################################################################
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def init_middleware(self): |
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"""initialise middleware
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"""
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self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope)) |
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rospy.init_node('hlrc_client', anonymous=True) |
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self.logger.info("creating action clients") |
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self.logger.debug("creating speech action client") |
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self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
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self.speech_client.wait_for_server()
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self.logger.debug("creating default emotion action client") |
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self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
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self.default_emotion_client.wait_for_server()
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self.logger.debug("creating current emotion action client") |
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self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
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self.current_emotion_client.wait_for_server()
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self.logger.debug("creating animation action client") |
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self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
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self.animation_client.wait_for_server()
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self.logger.debug("creating gazetarget action client") |
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self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
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self.gazetarget_client.wait_for_server()
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self.logger.debug("creating mouthtarget action client") |
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self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
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self.mouthtarget_client.wait_for_server()
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self.logger.info("MiddlewareROS initialised") |
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#######################################################################
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def publish_emotion(self, em_type, emotion, blocking): |
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"""publish an emotion via mw
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:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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:param emotion: emotion 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.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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#create a goal to send to the action server.
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goal = emotionstateGoal() |
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goal.value = self.convert_emotiontype_to_rosval(emotion.value)
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goal.duration = int(emotion.time_ms)
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#which client do we use?
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if (em_type == RobotEmotion.TYPE_DEFAULT):
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client = self.default_emotion_client
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else:
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client = self.current_emotion_client
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#send the goal to the server
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client.send_goal(goal) |
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#wait for the server to finish
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if (blocking):
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timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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if (timed_out):
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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def publish_default_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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def publish_current_emotion(self, emotion, blocking): |
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self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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def publish_head_animation(self, animation, blocking): |
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"""publish an head animation via mw
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:param animation: animation 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.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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#create a goal to send to the action server.
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goal = animationGoal() |
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goal.target = self.convert_animationtype_to_rosval(animation.value)
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goal.repetitions = animation.repetitions |
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goal.duration_each = int(animation.time_ms)
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goal.scale = animation.scale |
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#send the goal to the server
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self.animation_client.send_goal(goal)
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#wait for the server to finish
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if (blocking):
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timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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if (timed_out):
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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self.logger.debug("animation rpc done") |
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def publish_gaze_target(self, gaze, blocking): |
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"""publish a gaze target via mw
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:param gaze: gaze 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.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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#create a goal to send to the action server.
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goal = gazetargetGoal() |
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goal.pan = gaze.pan |
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goal.tilt = gaze.tilt |
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goal.roll = gaze.roll |
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goal.vergence = gaze.vergence |
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goal.pan_offset = gaze.pan_offset |
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goal.tilt_offset = gaze.tilt_offset |
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#type
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if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE):
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goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
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else:
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goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
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goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
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#send the goal to the server
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self.gazetarget_client.send_goal(goal)
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#wait for the server to finish
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if (blocking):
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timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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if (timed_out):
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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self.logger.debug("gaze rpc done") |
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def publish_mouth_target(self, mouth, blocking): |
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"""publish a mouth target via mw
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:param mouth: mouth value 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.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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#create a goal to send to the action server.
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goal = mouthtargetGoal() |
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goal.opening_left = mouth.opening_left |
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goal.opening_center = mouth.opening_center |
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goal.opening_right = mouth.opening_right |
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goal.position_left = mouth.position_left |
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goal.position_center = mouth.position_center |
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goal.position_right = mouth.position_right |
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#send the goal to the server
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self.mouthtarget_client.send_goal(goal)
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#wait for the server to finish
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if (blocking):
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timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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if (timed_out):
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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self.logger.debug("mouth rpc done") |
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def publish_speech(self, text_, blocking): |
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"""publish a tts request via mw
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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.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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#create a goal to send to the action server.
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goal = speechGoal(text=text_) |
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#send the goal to the server
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self.speech_client.send_goal(goal)
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#wait for the server to finish
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if (blocking):
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timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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if (timed_out):
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self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name)) |
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self.logger.debug("speech rpc done") |
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#######################################################################
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# some helpers
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def convert_animationtype_to_rosval(self, value): |
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"""convert RobotAnimation.value to ROS animation value
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:param value: RobotAnimation.* id to convert to rsb id
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"""
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#NOTE: this convertion is important as the actual integer values of
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# thy python api and the protobuf might be different
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if (value == RobotAnimation.IDLE):
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return animationGoal.IDLE
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elif (value == RobotAnimation.HEAD_NOD):
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return animationGoal.HEAD_NOD
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elif (value == RobotAnimation.HEAD_SHAKE):
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return animationGoal.HEAD_SHAKE
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elif (value == RobotAnimation.EYEBLINK_L):
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return animationGoal.EYEBLINK_L
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elif (value == RobotAnimation.EYEBLINK_R):
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return animationGoal.EYEBLINK_R
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elif (value == RobotAnimation.EYEBLINK_BOTH):
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return animationGoal.EYEBLINK_BOTH
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elif (value == RobotAnimation.EYEBROWS_RAISE):
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return animationGoal.EYEBROWS_RAISE
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elif (value == RobotAnimation.EYEBROWS_LOWER):
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return animationGoal.EYEBROWS_LOWER
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else:
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self.logger.error("invalid animation type %d\n" % (value)) |
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return animationGoal.NEUTRAL
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def convert_emotiontype_to_rosval(self, value): |
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"""convert RobotEmotion.value to ROS animation value
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:param value: RobotEmotion.* id to convert to ros id
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"""
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#NOTE: this convertion is important as the actual integer values of
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# thy python api and the protobuf might be different
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if (value == RobotEmotion.NEUTRAL):
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return emotionstateGoal.NEUTRAL
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elif (value == RobotEmotion.HAPPY):
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return emotionstateGoal.HAPPY
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elif (value == RobotEmotion.SAD):
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return emotionstateGoal.SAD
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elif (value == RobotEmotion.ANGRY):
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return emotionstateGoal.ANGRY
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elif (value == RobotEmotion.SURPRISED):
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return emotionstateGoal.SURPRISED
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elif (value == RobotEmotion.FEAR):
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return emotionstateGoal.FEAR
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else:
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self.logger.error("invalid emotion type %d\n" % (value)) |
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return emotionstateGoal.NEUTRAL
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