hlrc

"""

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 time

class RobotTimestamp:

    def __init__(self):

        seconds = time.time()

        self.secs  = int(seconds)

        self.nsecs = int((seconds - self.secs) * 1000000000)

    @classmethod

    def from_sec_nsec(cls, _sec, _nsec):

        cls.sec  = _sec

        cls.nsec = _nsec

    def to_seconds(self):

        return self.secs + ((float(self.nsec)) / 1000000000)

    def __str__(self):

        return "%f" % self.to_seconds()

#!/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 sys

import random

if __name__ == "__main__":

    random.seed()

    r = RobotController("ROS", "/flobi", logging.DEBUG)

    g = RobotGaze()

    #create a relative gaze request at the current timestamp

    #this will be sent multiple times, but as the 

    #internal logic will resolve the motor positions

    #at this specific time, it should only resolve to ONE

    #target gaze:

    g.gaze_type = RobotGaze.GAZETARGET_RELATIVE

    g.gaze_timestamp = RobotTimestamp()

    g.pan = random.uniform(-20, 20)

    while(r.is_running()):

        r.set_gaze_target(g)

        time.sleep(1.0 / 50.0)