Revision 64f5c90e client/python/hlrc_client/RobotController.py

View differences:

client/python/hlrc_client/RobotController.py
26 26 
"""
27 27 

  		




  28
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import logging


  		




  29
  
  
    
try:


  		




  30
  
  
    
    import rsb


  		




  31
  
  
    
    import rst


  		




  32
  
  
    
    import rstsandbox


  		




  33
  
  
    
    from rst.robot.EmotionState_pb2 import EmotionState


  		




  34
  
  
    
    from rst.robot.Animation_pb2    import Animation


  		




  35
  
  
    
    from rst.robot.GazeTarget_pb2   import GazeTarget


  		




  36
  
  
    
    from rst.robot.MouthTarget_pb2  import MouthTarget


  		




  37
  
  
    
except ImportError, e:


  		




  38
  
  
    
    print("Warning, RSB import error: ")


  		




  39
  
  
    
    print e


  		




  40
  
  
    
    RSB_SUPPORT = False


  		




  41
  
  
    
else:


  		




  42
  
  
    
	from MiddlewareRSB import *


  		




  43
  
  
    
	RSB_SUPPORT = True


  		




  44
  
  
    

  		




  45
  
  
    
from MiddlewareROS import *


  		




  46
  29
  
    
import sys


  		




  
  30
  
    
import errno


  		




  47
  31
  
    

  		




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class RobotController:


  		




  49
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	def __init__(self, mw_name, scope, loglevel=logging.WARNING):


  		




  ......




  66
  50
  
    
		


  		




  67
  51
  
    
				


  		




  68
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		if (self.mw.upper() == "RSB"):


  		




  69
  
  
    
			if (not RSB_SUPPORT):


  		




  70
  
  
    
				self.logger.error("ERROR: no RSB support detected")


  		




  
  53
  
    
			self.logger.info("creating new middleware connection via RSB")


  		




  
  54
  
    
			try:


  		




  
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				from MiddlewareRSB import MiddlewareRSB


  		




  
  56
  
    
			except ImportError, e:


  		




  
  57
  
    
				self.logger.error("failed to import RSB or the necessary data types: {}".format(e))


  		




  71
  58
  
    
				sys.exit(errno.EINVAL)


  		




  72
  
  
    
			else:


  		




  73
  
  
    
				self.logger.info("creating new middleware connection via RSB")


  		




  74
  
  
    
				self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  
  59
  
    

  		




  
  60
  
    
			#import worked, safe to intantiate RSB mw now


  		




  
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			self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  
  62
  
    

  		




  75
  63
  
    
		elif (self.mw.upper() == "ROS"):


  		




  76
  64
  
    
			self.logger.info("creating new middleware connection via ROS")


  		




  
  65
  
    
			try:


  		




  
  66
  
    
				from MiddlewareROS import MiddlewareROS


  		




  
  67
  
    
			except ImportError, e:


  		




  
  68
  
    
                                self.logger.error("failed to import ROS or the necessary data types: {}".format(e))


  		




  
  69
  
    
                                sys.exit(errno.EINVAL)


  		




  
  70
  
    

  		




  
  71
  
    
			#import worked, safe to intantiate RSB mw now


  		




  77
  72
  
    
			self.middleware = MiddlewareROS(self.scope, self.loglevel)


  		




  78
  73
  
    
		else:


  		




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			self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))


  		












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