Revision 465c7ad7 client/python/hlrc_client/RobotController.py
| 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) |
| 43 | 43 |
|
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#store |
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# store
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| 45 | 45 |
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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| 51 |
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| 52 | 51 |
if (self.mw.upper() == "RSB"): |
| 53 | 52 |
self.logger.info("creating new middleware connection via RSB")
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| 54 | 53 |
try: |
| ... | ... | |
| 57 | 56 |
self.logger.error("failed to import RSB or the necessary data types: {}".format(e))
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| 58 | 57 |
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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| 61 | 60 |
self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
| 62 | 61 |
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| 63 | 62 |
elif (self.mw.upper() == "ROS"): |
| ... | ... | |
| 68 | 67 |
self.logger.error("failed to import ROS or the necessary data types: {}".format(e))
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| 69 | 68 |
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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| 72 | 71 |
self.middleware = MiddlewareROS(self.scope, self.loglevel) |
| 73 | 72 |
else: |
| 74 | 73 |
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 |
|
| 96 |
def set_current_emotion(self, robot_emotion, blocking = False):
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def set_current_emotion(self, robot_emotion, blocking=False):
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| 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):
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| 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):
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| 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) |
|
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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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| 137 |
def set_head_animation(self, robot_animation, blocking=False):
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| 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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| 145 |
def set_speak(self, text, blocking=False):
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| 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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