hlrc / client / python / hlrc_client / RobotController.py @ 47de207d
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1 | 0c286af0 | Simon Schulz | """
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2 | This file is part of hlrc
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3 |
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4 | Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | http://opensource.cit-ec.de/projects/hlrc
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6 |
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7 | This file may be licensed under the terms of the
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8 | GNU General Public License Version 3 (the ``GPL''),
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9 | or (at your option) any later version.
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10 |
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11 | Software distributed under the License is distributed
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12 | on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | express or implied. See the GPL for the specific language
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14 | governing rights and limitations.
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15 |
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16 | You should have received a copy of the GPL along with this
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17 | program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | or write to the Free Software Foundation, Inc.,
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19 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 |
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21 | The development of this software was supported by the
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22 | Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | Forschungsgemeinschaft (DFG) in the context of the German
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25 | Excellence Initiative.
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26 | """
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27 | |||
28 | import logging |
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29 | ba6302b1 | Simon Schulz | import sys |
30 | 64f5c90e | Simon Schulz | import errno |
31 | 0c286af0 | Simon Schulz | |
32 | class RobotController: |
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33 | def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
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34 | f8fa1217 | Simon Schulz | """initialise
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35 | :param mw_name: which mw to use, currentyl ROS and RSB are supported
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36 | :param scope: base scope we want to listen on
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37 | :param loglevel: optional log level
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38 | """
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39 | 0c286af0 | Simon Schulz | self.logger = logging.getLogger(__name__)
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40 | |||
41 | # create nice and actually usable formatter and add it to the handler
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42 | self.config_logger(loglevel)
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43 | |||
44 | f8fa1217 | Simon Schulz | #store
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45 | 0c286af0 | Simon Schulz | self.scope = scope
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46 | f8fa1217 | Simon Schulz | self.mw = mw_name
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47 | self.loglevel = loglevel
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48 | 0c286af0 | Simon Schulz | |
49 | f8fa1217 | Simon Schulz | self.middleware = None |
50 | |||
51 | |||
52 | if (self.mw.upper() == "RSB"): |
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53 | 64f5c90e | Simon Schulz | self.logger.info("creating new middleware connection via RSB") |
54 | try:
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55 | from MiddlewareRSB import MiddlewareRSB |
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56 | except ImportError, e: |
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57 | self.logger.error("failed to import RSB or the necessary data types: {}".format(e)) |
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58 | ba6302b1 | Simon Schulz | sys.exit(errno.EINVAL) |
59 | 64f5c90e | Simon Schulz | |
60 | #import worked, safe to intantiate RSB mw now
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61 | self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
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62 | |||
63 | f8fa1217 | Simon Schulz | elif (self.mw.upper() == "ROS"): |
64 | 0c286af0 | Simon Schulz | self.logger.info("creating new middleware connection via ROS") |
65 | 64f5c90e | Simon Schulz | try:
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66 | from MiddlewareROS import MiddlewareROS |
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67 | except ImportError, e: |
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68 | self.logger.error("failed to import ROS or the necessary data types: {}".format(e)) |
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69 | sys.exit(errno.EINVAL) |
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70 | |||
71 | #import worked, safe to intantiate RSB mw now
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72 | f8fa1217 | Simon Schulz | self.middleware = MiddlewareROS(self.scope, self.loglevel) |
73 | 0c286af0 | Simon Schulz | else:
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74 | f8fa1217 | Simon Schulz | self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw)) |
75 | 0c286af0 | Simon Schulz | sys.exit(errno.EINVAL) |
76 | |||
77 | f8fa1217 | Simon Schulz | def __del__(self): |
78 | """destructor
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79 | """
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80 | self.logger.debug("destructor of RobotController called") |
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81 | |||
82 | 0c286af0 | Simon Schulz | def config_logger(self, level): |
83 | f8fa1217 | Simon Schulz | """initialise a nice logger formatting
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84 | :param level: log level
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85 | """
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86 | 0c286af0 | Simon Schulz | formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
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87 | ch = logging.StreamHandler() |
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88 | #ch.setLevel(level)
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89 | ch.setFormatter(formatter) |
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90 | self.logger.setLevel(level)
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91 | self.logger.addHandler(ch)
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92 | |||
93 | def set_current_emotion(self, robot_emotion, blocking = False): |
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94 | f8fa1217 | Simon Schulz | """set the current emotion
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95 | :param robot_emotion: a RobotEmotion object
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96 | :param blocking: should this call block during execution?
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97 | """
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98 | 0c286af0 | Simon Schulz | self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
99 | self.middleware.set_current_emotion(robot_emotion, blocking)
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100 | |||
101 | def set_default_emotion(self, robot_emotion, blocking = False): |
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102 | f8fa1217 | Simon Schulz | """set the default emotion
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103 | :param robot_emotion: a RobotEmotion object
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104 | :param blocking: should this call block during execution?
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105 | """
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106 | 0c286af0 | Simon Schulz | self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
107 | self.middleware.set_default_emotion(robot_emotion, blocking)
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108 | |||
109 | def set_gaze_target(self, robot_gaze, blocking = False): |
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110 | f8fa1217 | Simon Schulz | """set a gaze target
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111 | :param robot_gaze: a RobotGaze object
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112 | :param blocking: should this call block during execution?
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113 | """
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114 | |||
115 | 0c286af0 | Simon Schulz | self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
116 | self.middleware.set_gaze_target(robot_gaze, blocking)
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117 | |||
118 | def set_mouth_target(self, robot_mouth, blocking = False): |
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119 | f8fa1217 | Simon Schulz | """set a mouth target
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120 | :param robot_mouth: a RobotMouth object
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121 | :param blocking: should this call block during execution?
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122 | """
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123 | 0c286af0 | Simon Schulz | self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
124 | self.middleware.set_mouth_target(robot_mouth, blocking)
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125 | |||
126 | def set_head_animation(self, robot_animation, blocking = False): |
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127 | f8fa1217 | Simon Schulz | """set a head animation
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128 | :param robot_animation: a RobotAnimation object
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129 | :param blocking: should this call block during execution?
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130 | """
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131 | 0c286af0 | Simon Schulz | self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
132 | self.middleware.set_head_animation(robot_animation, blocking)
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133 | |||
134 | def set_speak(self, text, blocking = False): |
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135 | f8fa1217 | Simon Schulz | """request the robot to say something using tts
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136 | :param text: text to synthesize
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137 | :param blocking: should this call block during execution?
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138 | """
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139 | 0c286af0 | Simon Schulz | self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING"))) |
140 | self.middleware.set_speak(text, blocking)
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141 | |||
142 | f8fa1217 | Simon Schulz | #def get_gaze_target(self):
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143 | # result = self.middleware.get_gaze_target()
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144 | # self.logger.debug("get_gaze_target() returned %s" % (result))
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145 | # return self.middleware.get_gaze_target() |