hlrc

#!/usr/bin/python

#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/

import sys

import logging

import errno

try:

    import rsb

    import rsb.converter

    import rst

    import rstsandbox

    from rst.robot.EmotionState_pb2 import EmotionState

except ImportError as exception:

    sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))

    sys.exit(errno.ENOPKG)

class hlrc_emotion():

    def __init__(self, _base_scope):

        #print "> registering rst converter"

        converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState)

        rsb.converter.registerGlobalConverter(converter)

        self.set_scope( _base_scope);

    def set_scope(self, scope):

        self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call

        print "> setting scope to '%s'" % self.base_scope

        try:

            self.server = rsb.createRemoteServer(self.base_scope + '/set')

        except ValueError:

            print "> invalid scope given. server deactivated"

            self.server.deactivate()

    def set_emotion(self, emotion_id, duration_each, blocking):

        if (self.server is None):

            print("> invalid server")

            return

        #create emotion & fill it with values:

        em = EmotionState()

        #select ani

        em.value    = emotion_id

        em.duration = duration_each

        with rsb.createRemoteServer(self.base_scope + '/set') as server:

            if (blocking):

                #blocking:

                print "> calling the emotion rpc (blocking until we finished talking)..."

                print '> server reply: "%s"' % server.currentEmotion(em)

            else:

               print "> calling the animation rpc (NON-BLOCKING)..."

               future = server.currentEmotion.async(em)

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

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

        print "> done"

def main():

    if (len(sys.argv) != 4):

        print "> usage: %s <base scope> <emotion id> <duration>\n>     example: %s /flobi1 1 1000" % (sys.argv[0] , sys.argv[0])

        sys.exit(0)

    # Pacify logger.

    #logging.basicConfig()

    em_id = int(sys.argv[2])

    dur    = int(sys.argv[3])

    base   = sys.argv[1]

    hlrc_emotion(base).set_emotion(em_id, dur, 1)

if __name__ == '__main__':

    main()