Revision 465c7ad7
| client/python/hlrc_client/Middleware.py | ||
|---|---|---|
| 85 | 85 |
def publish_gaze_target(self, gaze, blocking): |
| 86 | 86 |
self.die_virtual(sys._getframe().f_code.co_name) |
| 87 | 87 |
|
| 88 |
def publish_lookat_target(self, x, y, z, blocking, frame_id, roll): |
|
| 89 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 90 |
|
|
| 88 | 91 |
def publish_mouth_target(self, mouth, blocking): |
| 89 | 92 |
self.die_virtual(sys._getframe().f_code.co_name) |
| 90 | 93 |
|
| ... | ... | |
| 143 | 146 |
self.gaze_target = gaze |
| 144 | 147 |
self.publish_gaze_target(gaze, blocking) |
| 145 | 148 |
|
| 149 |
def set_lookat_target(self, x, y, z, blocking=False, frame_id='', roll=0.0): |
|
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"""set a gaze at a Cartesian position |
|
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:param x,y,z: position to look at (in eyes frame or frame_id) |
|
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:param roll: side-ways motion of head |
|
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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.publish_lookat_target(x, y, z, blocking, frame_id, roll) |
|
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|
|
| 146 | 157 |
####################################################################### |
| 147 | 158 |
#some get methods |
| 148 | 159 |
#def get_current_emotion(self): |
| client/python/hlrc_client/MiddlewareROS.py | ||
|---|---|---|
| 28 | 28 |
from Middleware import * |
| 29 | 29 |
import errno |
| 30 | 30 |
|
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import roslib; |
|
| 32 | 31 |
import rospy |
| 33 | 32 |
import actionlib |
| 34 | 33 |
from hlrc_server.msg import * |
| 34 |
from geometry_msgs.msg import Point |
|
| 35 | 35 |
from actionlib_msgs.msg import GoalStatus |
| 36 | 36 |
|
| 37 | 37 |
class MiddlewareROS(Middleware): |
| ... | ... | |
| 86 | 86 |
self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
| 87 | 87 |
self.gazetarget_client.wait_for_server() |
| 88 | 88 |
|
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self.logger.debug("creating lookattarget action client")
|
|
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self.lookattarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/lookat", lookattargetAction) |
|
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self.lookattarget_client.wait_for_server() |
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|
|
| 89 | 93 |
self.logger.debug("creating mouthtarget action client")
|
| 90 | 94 |
self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
| 91 | 95 |
self.mouthtarget_client.wait_for_server() |
| ... | ... | |
| 196 | 200 |
|
| 197 | 201 |
self.logger.debug("gaze rpc done")
|
| 198 | 202 |
|
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def publish_lookat_target(self, x, y, z, blocking, frame_id='', roll=0.0): |
|
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"""publish a gaze target via mw |
|
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:param x,y,z: position to look at (in eyes frame or frame_id) |
|
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:param roll: side-ways motion of head |
|
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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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|
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# create a goal to send to the action server. |
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goal = lookattargetGoal() |
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goal.header.frame_id = frame_id |
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goal.header.stamp = rospy.Time.now() |
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|
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p = Point() |
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p.x = float(x) |
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p.y = float(y) |
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p.z = float(z) |
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goal.point = p |
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goal.roll = roll |
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|
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# send the goal to the server |
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if blocking: |
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# send and wait: |
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state = self.lookattarget_client.send_goal_and_wait(goal, execute_timeout=rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
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if state != GoalStatus.SUCCEEDED: |
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self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))
|
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else: |
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# non blocking, fire & forget |
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self.lookattarget_client.send_goal(goal) |
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|
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self.logger.debug("lookat rpc done")
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|
|
| 199 | 235 |
def publish_mouth_target(self, mouth, blocking): |
| 200 | 236 |
"""publish a mouth target via mw |
| 201 | 237 |
:param mouth: mouth value to set |
| client/python/hlrc_client/RobotController.py | ||
|---|---|---|
| 41 | 41 |
# create nice and actually usable formatter and add it to the handler |
| 42 | 42 |
self.config_logger(loglevel) |
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|
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#store |
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# store
|
|
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self.scope = scope |
| 46 | 46 |
self.mw = mw_name |
| 47 | 47 |
self.loglevel = loglevel |
| 48 | 48 |
|
| 49 | 49 |
self.middleware = None |
| 50 | 50 |
|
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|
|
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if (self.mw.upper() == "RSB"): |
| 53 | 52 |
self.logger.info("creating new middleware connection via RSB")
|
| 54 | 53 |
try: |
| ... | ... | |
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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) |
| 59 | 58 |
|
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#import worked, safe to intantiate RSB mw now |
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# import worked, safe to intantiate RSB mw now
|
|
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self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
| 62 | 61 |
|
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elif (self.mw.upper() == "ROS"): |
| ... | ... | |
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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) |
| 70 | 69 |
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#import worked, safe to intantiate RSB mw now |
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# import worked, safe to intantiate RSB mw now
|
|
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self.middleware = MiddlewareROS(self.scope, self.loglevel) |
| 73 | 72 |
else: |
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self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
|
| ... | ... | |
| 88 | 87 |
""" |
| 89 | 88 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
| 90 | 89 |
ch = logging.StreamHandler() |
| 91 |
#ch.setLevel(level) |
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# ch.setLevel(level)
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|
| 92 | 91 |
ch.setFormatter(formatter) |
| 93 | 92 |
self.logger.setLevel(level) |
| 94 | 93 |
self.logger.addHandler(ch) |
| 95 | 94 |
|
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def set_current_emotion(self, robot_emotion, blocking = False):
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def set_current_emotion(self, robot_emotion, blocking=False):
|
|
| 97 | 96 |
"""set the current emotion |
| 98 | 97 |
:param robot_emotion: a RobotEmotion object |
| 99 | 98 |
:param blocking: should this call block during execution? |
| ... | ... | |
| 101 | 100 |
self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 102 | 101 |
self.middleware.set_current_emotion(robot_emotion, blocking) |
| 103 | 102 |
|
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def set_default_emotion(self, robot_emotion, blocking = False):
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def set_default_emotion(self, robot_emotion, blocking=False):
|
|
| 105 | 104 |
"""set the default emotion |
| 106 | 105 |
:param robot_emotion: a RobotEmotion object |
| 107 | 106 |
:param blocking: should this call block during execution? |
| ... | ... | |
| 109 | 108 |
self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 110 | 109 |
self.middleware.set_default_emotion(robot_emotion, blocking) |
| 111 | 110 |
|
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def set_gaze_target(self, robot_gaze, blocking = False):
|
|
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def set_gaze_target(self, robot_gaze, blocking=False):
|
|
| 113 | 112 |
"""set a gaze target |
| 114 | 113 |
:param robot_gaze: a RobotGaze object |
| 115 | 114 |
:param blocking: should this call block during execution? |
| ... | ... | |
| 118 | 117 |
self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 119 | 118 |
self.middleware.set_gaze_target(robot_gaze, blocking) |
| 120 | 119 |
|
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def set_mouth_target(self, robot_mouth, blocking = False): |
|
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def set_lookat_target(self, x, y, z, blocking=False, frame_id='', roll=0.0): |
|
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"""set a gaze at a Cartesian position |
|
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:param x,y,z: position to look at (in eyes frame or frame_id) |
|
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:param roll: side-ways motion of head |
|
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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("set_lookat_target(%s) %s" % ((x,y,z), "BLOCKING" if blocking else "NON_BLOCKING"))
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self.middleware.set_lookat_target(x, y, z, blocking, frame_id, roll) |
|
| 128 |
|
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| 129 |
def set_mouth_target(self, robot_mouth, blocking=False): |
|
| 122 | 130 |
"""set a mouth target |
| 123 | 131 |
:param robot_mouth: a RobotMouth object |
| 124 | 132 |
:param blocking: should this call block during execution? |
| ... | ... | |
| 126 | 134 |
self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 127 | 135 |
self.middleware.set_mouth_target(robot_mouth, blocking) |
| 128 | 136 |
|
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def set_head_animation(self, robot_animation, blocking = False):
|
|
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def set_head_animation(self, robot_animation, blocking=False):
|
|
| 130 | 138 |
"""set a head animation |
| 131 | 139 |
:param robot_animation: a RobotAnimation object |
| 132 | 140 |
:param blocking: should this call block during execution? |
| ... | ... | |
| 134 | 142 |
self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 135 | 143 |
self.middleware.set_head_animation(robot_animation, blocking) |
| 136 | 144 |
|
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def set_speak(self, text, blocking = False):
|
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def set_speak(self, text, blocking=False):
|
|
| 138 | 146 |
"""request the robot to say something using tts |
| 139 | 147 |
:param text: text to synthesize |
| 140 | 148 |
:param blocking: should this call block during execution? |
| 141 | 149 |
""" |
| 142 | 150 |
self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 143 | 151 |
self.middleware.set_speak(text, blocking) |
| 144 |
|
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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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