hlrc

    def publish_speech(self, text, blocking):

        """publish a tts request via mw

        :param text: text to synthesize and speak

        :param blocking: True if this call should block until execution finished on robot

        """

        self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))

        if (blocking):

            # blocking:

            result = self.server.speech(text)

            self.logger.debug("server reply: '%s'" % result)

        else:

            future = self.server.speech.async(text)

            # we can block here for a incoming result with a timeout in s

            #print '> server reply: "%s"' % future.get(timeout = 10);

        self.logger.debug("speech rpc done")

    #######################################################################

    def is_running(self):

        return True

    #######################################################################

    # some helpers

    def convert_HeadAnimationtype_to_rsbval(self, value):

        """convert RobotHeadAnimation.value to RSB HeadAnimation value

        :param value: RobotHeadAnimation.* id to convert to rsb id

        """

        # NOTE: this convertion is important as the actual integer values of

        #      thy python api and the protobuf might be different

        if (value == RobotHeadAnimation.IDLE):

            return HeadAnimation().IDLE

        elif (value == RobotHeadAnimation.HEAD_NOD):

            return HeadAnimation().HEAD_NOD

        elif (value == RobotHeadAnimation.HEAD_SHAKE):

            return HeadAnimation().HEAD_SHAKE

        elif (value == RobotHeadAnimation.EYEBLINK_L):

            return HeadAnimation().EYEBLINK_L

        elif (value == RobotHeadAnimation.EYEBLINK_R):

            return HeadAnimation().EYEBLINK_R

        elif (value == RobotHeadAnimation.EYEBLINK_BOTH):

            return HeadAnimation().EYEBLINK_BOTH

        elif (value == RobotHeadAnimation.EYEBROWS_RAISE):

            return HeadAnimation().EYEBROWS_RAISE

        elif (value == RobotHeadAnimation.EYEBROWS_LOWER):

            return HeadAnimation().EYEBROWS_LOWER

        else:

            self.logger.error("invalid HeadAnimation type %d\n" % (value))

            return HeadAnimation().NEUTRAL

    def convert_emotiontype_to_rsbval(self, value):

        """convert RobotEmotion.value to RSB HeadAnimation value

        :param value: RobotEmotion.* id to convert to rsb id

        """

        # NOTE: this convertion is important as the actual integer values of

        #      thy python api and the protobuf might be different

        if (value == RobotEmotion.NEUTRAL):

            return EmotionExpression().NEUTRAL

        elif (value == RobotEmotion.HAPPY):

            return EmotionExpression().HAPPY

        elif (value == RobotEmotion.SAD):

            return EmotionExpression().SAD

        elif (value == RobotEmotion.ANGRY):

            return EmotionExpression().ANGRY

        elif (value == RobotEmotion.SURPRISED):

            return EmotionExpression().SURPRISED

        elif (value == RobotEmotion.FEAR):

            return EmotionExpression().FEAR

        else:

            self.logger.error("invalid emotion type %d\n" % (value))

            return EmotionExpression().NEUTRAL

    def publish_mouth_target(self, mouth, blocking):

        publish a mouth target via mw

        :param mouth: mouth value to set

        :param blocking: True if this call should block until execution finished on robot

        self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))

        #create mouth state & fill it with values:

        rsb_mouth = MouthTarget()

        #fill proto

        rsb_mouth.opening_left   = mouth.opening_left

        rsb_mouth.opening_center = mouth.opening_center

        rsb_mouth.opening_right  = mouth.opening_right

        rsb_mouth.position_left  = mouth.position_left

        rsb_mouth.position_center = mouth.position_center

        rsb_mouth.position_right = mouth.position_right

        if (blocking):

            #blocking:

            result = self.server.mouth(rsb_mouth)

            self.logger.debug("server reply: '%s'" % result)

        else:

            future = self.server.mouth.async(rsb_mouth)

            #we can block here for a incoming result with a timeout in s

            #print '> server reply: "%s"' % future.get(timeout = 10);

        self.logger.debug("mouth rpc done")

    """