Revision 70c54617
| client/python/hlrc_client/Middleware.py | ||
|---|---|---|
| 35 | 35 |
class Middleware: |
| 36 | 36 |
####################################################################### |
| 37 | 37 |
def __init__(self, scope, loglevel=logging.WARNING): |
| 38 |
"""initialise |
|
| 39 |
:param scope: base scope we want to listen on |
|
| 40 |
""" |
|
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self.base_scope = scope |
|
| 42 |
|
|
| 43 |
self.logger = logging.getLogger(__name__) |
|
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|
|
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# create nice and actually usable formatter and add it to the handler |
|
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self.config_logger(loglevel) |
|
| 47 |
|
|
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#initialise defaults |
|
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self.default_emotion = RobotEmotion() |
|
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self.current_emotion = RobotEmotion() |
|
| 51 |
self.gaze_target = RobotGaze() |
|
| 52 |
self.mouth_target = RobotMouth() |
|
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self.robot_animation = RobotAnimation() |
|
| 54 |
|
|
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def __del__(self): |
|
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"""destructor |
|
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""" |
|
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self.logger.debug("destructor of Middleware called")
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def config_logger(self, level): |
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formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
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ch = logging.StreamHandler() |
|
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#ch.setLevel(level) |
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ch.setFormatter(formatter) |
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self.logger.setLevel(level) |
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self.logger.addHandler(ch) |
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|
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####################################################################### |
|
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#abstract/virtual functions |
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def die_virtual(self, funcname): |
|
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raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
|
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|
|
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def init_middleware(self): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
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|
|
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def publish_default_emotion(self, emotion, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
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|
|
| 79 |
def publish_current_emotion(self, emotion, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
|
| 81 |
|
|
| 82 |
def publish_gaze_target(self, gaze, blocking): |
|
| 83 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 84 |
|
|
| 85 |
def publish_mouth_target(self, mouth, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
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| 87 |
|
|
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def publish_head_animation(self, animation, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
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def publish_speech(self, text, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
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| 93 |
|
|
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####################################################################### |
|
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#finally some implemented functions |
|
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def set_default_emotion(self, emotion, blocking): |
|
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"""set the default emotion |
|
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:param emotion: RobotEmotion to set |
|
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.default_emotion = emotion |
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self.publish_default_emotion(emotion, blocking) |
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def set_current_emotion(self, emotion, blocking): |
|
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"""set a temporary emotion (duration: see emotion.time_ms) |
|
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:param emotion: RobotEmotion to set temporarily |
|
| 107 |
:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.current_emotion = emotion |
|
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self.publish_current_emotion(emotion, blocking) |
|
| 111 |
|
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def set_head_animation(self, animation, blocking): |
|
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"""trigger a head animation |
|
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:param animation: RobotAnimation to set |
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:param blocking: True if this call should block until execution finished on robot |
|
| 116 |
""" |
|
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self.animation = animation |
|
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self.publish_head_animation(animation, blocking) |
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|
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| 120 |
def set_mouth_target(self, mouth, blocking): |
|
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"""set a mouth target |
|
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:param mouth: RobotMouth to set |
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.mouth_target = mouth |
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self.publish_mouth_target(mouth, blocking) |
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|
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def set_speak(self, text, blocking): |
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"""trigger a tts speech output |
|
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:param text: text to synthesize and speak |
|
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.publish_speech(text, blocking) |
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|
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def set_gaze_target(self, gaze, blocking): |
|
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"""set a new gaze |
|
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:param gaze: RobotGaze to set |
|
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.gaze_target = gaze |
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self.publish_gaze_target(gaze, blocking) |
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####################################################################### |
|
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#some get methods |
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#def get_current_emotion(self): |
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# return self.current_emotion |
|
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# |
|
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#def get_default_emotion(self): |
|
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# return self.default_emotion |
|
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# |
|
| 38 |
"""initialise |
|
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:param scope: base scope we want to listen on |
|
| 40 |
""" |
|
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self.base_scope = scope |
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|
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| 43 |
self.logger = logging.getLogger(__name__) |
|
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|
|
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# create nice and actually usable formatter and add it to the handler |
|
| 46 |
self.config_logger(loglevel) |
|
| 47 |
|
|
| 48 |
#initialise defaults |
|
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self.default_emotion = RobotEmotion() |
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self.current_emotion = RobotEmotion() |
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self.gaze_target = RobotGaze() |
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self.mouth_target = RobotMouth() |
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self.robot_animation = RobotAnimation() |
|
| 54 |
|
|
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def __del__(self): |
|
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"""destructor |
|
| 57 |
""" |
|
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self.logger.debug("destructor of Middleware called")
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|
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def config_logger(self, level): |
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formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
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| 62 |
ch = logging.StreamHandler() |
|
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#ch.setLevel(level) |
|
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ch.setFormatter(formatter) |
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self.logger.setLevel(level) |
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| 66 |
self.logger.addHandler(ch) |
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|
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####################################################################### |
|
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#abstract/virtual functions |
|
| 70 |
def die_virtual(self, funcname): |
|
| 71 |
raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
|
| 72 |
|
|
| 73 |
def init_middleware(self): |
|
| 74 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 75 |
|
|
| 76 |
def publish_default_emotion(self, emotion, blocking): |
|
| 77 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 78 |
|
|
| 79 |
def publish_current_emotion(self, emotion, blocking): |
|
| 80 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 81 |
|
|
| 82 |
def publish_gaze_target(self, gaze, blocking): |
|
| 83 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 84 |
|
|
| 85 |
def publish_mouth_target(self, mouth, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
|
| 87 |
|
|
| 88 |
def publish_head_animation(self, animation, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
|
| 90 |
|
|
| 91 |
def publish_speech(self, text, blocking): |
|
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self.die_virtual(sys._getframe().f_code.co_name) |
|
| 93 |
|
|
| 94 |
####################################################################### |
|
| 95 |
#finally some implemented functions |
|
| 96 |
def set_default_emotion(self, emotion, blocking): |
|
| 97 |
"""set the default emotion |
|
| 98 |
:param emotion: RobotEmotion to set |
|
| 99 |
:param blocking: True if this call should block until execution finished on robot |
|
| 100 |
""" |
|
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self.default_emotion = emotion |
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self.publish_default_emotion(emotion, blocking) |
|
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|
|
| 104 |
def set_current_emotion(self, emotion, blocking): |
|
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"""set a temporary emotion (duration: see emotion.time_ms) |
|
| 106 |
:param emotion: RobotEmotion to set temporarily |
|
| 107 |
:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
| 109 |
self.current_emotion = emotion |
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self.publish_current_emotion(emotion, blocking) |
|
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|
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def set_head_animation(self, animation, blocking): |
|
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"""trigger a head animation |
|
| 114 |
:param animation: RobotAnimation to set |
|
| 115 |
:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.animation = animation |
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self.publish_head_animation(animation, blocking) |
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|
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def set_mouth_target(self, mouth, blocking): |
|
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"""set a mouth target |
|
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:param mouth: RobotMouth to set |
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
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self.mouth_target = mouth |
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self.publish_mouth_target(mouth, blocking) |
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|
|
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def set_speak(self, text, blocking): |
|
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"""trigger a tts speech output |
|
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:param text: text to synthesize and speak |
|
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:param blocking: True if this call should block until execution finished on robot |
|
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""" |
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self.publish_speech(text, blocking) |
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|
|
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def set_gaze_target(self, gaze, blocking): |
|
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"""set a new gaze |
|
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:param gaze: RobotGaze to set |
|
| 138 |
:param blocking: True if this call should block until execution finished on robot |
|
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""" |
|
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self.gaze_target = gaze |
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self.publish_gaze_target(gaze, blocking) |
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|
|
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####################################################################### |
|
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#some get methods |
|
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#def get_current_emotion(self): |
|
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# return self.current_emotion |
|
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# |
|
| 148 |
#def get_default_emotion(self): |
|
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# return self.default_emotion |
|
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# |
|
| client/python/hlrc_client/MiddlewareROS.py | ||
|---|---|---|
| 28 | 28 |
from Middleware import * |
| 29 | 29 |
import errno |
| 30 | 30 |
|
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import roslib;
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import rospy
|
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import roslib; |
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import rospy |
|
| 33 | 33 |
import actionlib |
| 34 | 34 |
from hlrc_server.msg import * |
| 35 | 35 |
|
| ... | ... | |
| 39 | 39 |
|
| 40 | 40 |
####################################################################### |
| 41 | 41 |
def __init__(self, scope, loglevel=logging.WARNING): |
| 42 |
"""initialise |
|
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:param scope: base scope we want to listen on |
|
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""" |
|
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#init base settings |
|
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Middleware.__init__(self,scope,loglevel) |
|
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#call mw init |
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self.init_middleware() |
|
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|
|
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def __del__(self): |
|
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"""destructor |
|
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""" |
|
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self.logger.debug("destructor of MiddlewareROS called")
|
|
| 54 |
|
|
| 55 |
####################################################################### |
|
| 56 |
def init_middleware(self): |
|
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"""initialise middleware |
|
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""" |
|
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self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope))
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| 60 |
|
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rospy.init_node('hlrc_client', anonymous=True)
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| 62 |
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self.logger.info("creating action clients")
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| 64 |
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self.logger.debug("creating speech action client")
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self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
|
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self.speech_client.wait_for_server() |
|
| 68 |
|
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self.logger.debug("creating default emotion action client")
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|
| 70 |
self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
|
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self.default_emotion_client.wait_for_server() |
|
| 72 |
|
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| 73 |
self.logger.debug("creating current emotion action client")
|
|
| 74 |
self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
|
| 75 |
self.current_emotion_client.wait_for_server() |
|
| 76 |
|
|
| 77 |
self.logger.debug("creating animation action client")
|
|
| 78 |
self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
|
| 79 |
self.animation_client.wait_for_server() |
|
| 80 |
|
|
| 81 |
self.logger.debug("creating gazetarget action client")
|
|
| 82 |
self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
|
| 83 |
self.gazetarget_client.wait_for_server() |
|
| 84 |
|
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| 85 |
self.logger.debug("creating mouthtarget action client")
|
|
| 86 |
self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
|
| 87 |
self.mouthtarget_client.wait_for_server() |
|
| 88 |
|
|
| 89 |
self.logger.info("MiddlewareROS initialised")
|
|
| 90 |
|
|
| 91 |
|
|
| 92 |
####################################################################### |
|
| 93 |
def publish_emotion(self, em_type, emotion, blocking): |
|
| 94 |
"""publish an emotion via mw |
|
| 95 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
|
| 96 |
:param emotion: emotion to set |
|
| 97 |
:param blocking: True if this call should block until execution finished on robot |
|
| 98 |
""" |
|
| 99 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 100 |
|
|
| 101 |
#create a goal to send to the action server. |
|
| 102 |
goal = emotionstateGoal() |
|
| 103 |
goal.value = self.convert_emotiontype_to_rosval(emotion.value) |
|
| 104 |
goal.duration = int(emotion.time_ms) |
|
| 105 |
|
|
| 106 |
#which client do we use? |
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 108 |
client = self.default_emotion_client |
|
| 109 |
else: |
|
| 110 |
client = self.current_emotion_client |
|
| 111 |
|
|
| 112 |
#send the goal to the server |
|
| 113 |
client.send_goal(goal) |
|
| 114 |
|
|
| 115 |
#wait for the server to finish |
|
| 116 |
if (blocking): |
|
| 117 |
timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 118 |
if (timed_out): |
|
| 119 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 120 |
|
|
| 121 |
def publish_default_emotion(self, emotion, blocking): |
|
| 122 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
|
| 123 |
|
|
| 124 |
def publish_current_emotion(self, emotion, blocking): |
|
| 125 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
|
| 126 |
|
|
| 127 |
def publish_head_animation(self, animation, blocking): |
|
| 128 |
"""publish an head animation via mw |
|
| 129 |
:param animation: animation to set |
|
| 130 |
:param blocking: True if this call should block until execution finished on robot |
|
| 131 |
""" |
|
| 132 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 133 |
|
|
| 134 |
#create a goal to send to the action server. |
|
| 135 |
goal = animationGoal() |
|
| 136 |
goal.target = self.convert_animationtype_to_rosval(animation.value) |
|
| 137 |
goal.repetitions = animation.repetitions |
|
| 138 |
goal.duration_each = int(animation.time_ms) |
|
| 139 |
goal.scale = animation.scale |
|
| 140 |
|
|
| 141 |
#send the goal to the server |
|
| 142 |
self.animation_client.send_goal(goal) |
|
| 143 |
|
|
| 144 |
#wait for the server to finish |
|
| 145 |
if (blocking): |
|
| 146 |
timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 147 |
if (timed_out): |
|
| 148 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 149 |
|
|
| 150 |
self.logger.debug("animation rpc done")
|
|
| 151 |
|
|
| 152 |
def publish_gaze_target(self, gaze, blocking): |
|
| 153 |
"""publish a gaze target via mw |
|
| 154 |
:param gaze: gaze to set |
|
| 155 |
:param blocking: True if this call should block until execution finished on robot |
|
| 156 |
""" |
|
| 157 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 158 |
|
|
| 159 |
#create a goal to send to the action server. |
|
| 160 |
goal = gazetargetGoal() |
|
| 161 |
goal.pan = gaze.pan |
|
| 162 |
goal.tilt = gaze.tilt |
|
| 163 |
goal.roll = gaze.roll |
|
| 164 |
goal.vergence = gaze.vergence |
|
| 165 |
goal.pan_offset = gaze.pan_offset |
|
| 166 |
goal.tilt_offset = gaze.tilt_offset |
|
| 167 |
|
|
| 168 |
#type |
|
| 169 |
if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE): |
|
| 170 |
goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
|
| 171 |
else: |
|
| 172 |
goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
|
| 173 |
|
|
| 174 |
goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
|
| 175 |
|
|
| 176 |
#send the goal to the server |
|
| 177 |
self.gazetarget_client.send_goal(goal) |
|
| 178 |
|
|
| 179 |
#wait for the server to finish |
|
| 180 |
if (blocking): |
|
| 181 |
timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 182 |
if (timed_out): |
|
| 183 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 184 |
|
|
| 185 |
|
|
| 186 |
self.logger.debug("gaze rpc done")
|
|
| 187 |
|
|
| 188 |
def publish_mouth_target(self, mouth, blocking): |
|
| 189 |
"""publish a mouth target via mw |
|
| 190 |
:param mouth: mouth value to set |
|
| 191 |
:param blocking: True if this call should block until execution finished on robot |
|
| 192 |
""" |
|
| 193 |
self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 194 |
|
|
| 195 |
#create a goal to send to the action server. |
|
| 196 |
goal = mouthtargetGoal() |
|
| 197 |
goal.opening_left = mouth.opening_left |
|
| 198 |
goal.opening_center = mouth.opening_center |
|
| 199 |
goal.opening_right = mouth.opening_right |
|
| 200 |
goal.position_left = mouth.position_left |
|
| 201 |
goal.position_center = mouth.position_center |
|
| 202 |
goal.position_right = mouth.position_right |
|
| 203 |
|
|
| 204 |
#send the goal to the server |
|
| 205 |
self.mouthtarget_client.send_goal(goal) |
|
| 206 |
|
|
| 207 |
#wait for the server to finish |
|
| 208 |
if (blocking): |
|
| 209 |
timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 210 |
if (timed_out): |
|
| 211 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 212 |
|
|
| 213 |
self.logger.debug("mouth rpc done")
|
|
| 214 |
|
|
| 215 |
def publish_speech(self, text_, blocking): |
|
| 216 |
"""publish a tts request via mw |
|
| 217 |
:param text_: text to synthesize and speak |
|
| 218 |
:param blocking: True if this call should block until execution finished on robot |
|
| 219 |
""" |
|
| 220 |
self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 221 |
|
|
| 222 |
#create a goal to send to the action server. |
|
| 223 |
goal = speechGoal(text=text_) |
|
| 224 |
|
|
| 225 |
#send the goal to the server |
|
| 226 |
self.speech_client.send_goal(goal) |
|
| 227 |
|
|
| 228 |
#wait for the server to finish |
|
| 229 |
if (blocking): |
|
| 230 |
timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 231 |
if (timed_out): |
|
| 232 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 233 |
|
|
| 234 |
self.logger.debug("speech rpc done")
|
|
| 235 |
|
|
| 236 |
####################################################################### |
|
| 237 |
# some helpers |
|
| 238 |
def convert_animationtype_to_rosval(self, value): |
|
| 239 |
"""convert RobotAnimation.value to ROS animation value |
|
| 240 |
:param value: RobotAnimation.* id to convert to rsb id |
|
| 241 |
""" |
|
| 242 |
#NOTE: this convertion is important as the actual integer values of |
|
| 243 |
# thy python api and the protobuf might be different |
|
| 244 |
if (value == RobotAnimation.IDLE): |
|
| 245 |
return animationGoal.IDLE |
|
| 246 |
elif (value == RobotAnimation.HEAD_NOD): |
|
| 247 |
return animationGoal.HEAD_NOD |
|
| 248 |
elif (value == RobotAnimation.HEAD_SHAKE): |
|
| 249 |
return animationGoal.HEAD_SHAKE |
|
| 250 |
elif (value == RobotAnimation.EYEBLINK_L): |
|
| 251 |
return animationGoal.EYEBLINK_L |
|
| 252 |
elif (value == RobotAnimation.EYEBLINK_R): |
|
| 253 |
return animationGoal.EYEBLINK_R |
|
| 254 |
elif (value == RobotAnimation.EYEBLINK_BOTH): |
|
| 255 |
return animationGoal.EYEBLINK_BOTH |
|
| 256 |
elif (value == RobotAnimation.EYEBROWS_RAISE): |
|
| 257 |
return animationGoal.EYEBROWS_RAISE |
|
| 258 |
elif (value == RobotAnimation.EYEBROWS_LOWER): |
|
| 259 |
return animationGoal.EYEBROWS_LOWER |
|
| 260 |
else: |
|
| 261 |
self.logger.error("invalid animation type %d\n" % (value))
|
|
| 262 |
return animationGoal.NEUTRAL |
|
| 263 |
|
|
| 264 |
def convert_emotiontype_to_rosval(self, value): |
|
| 265 |
"""convert RobotEmotion.value to ROS animation value |
|
| 266 |
:param value: RobotEmotion.* id to convert to ros id |
|
| 267 |
""" |
|
| 268 |
#NOTE: this convertion is important as the actual integer values of |
|
| 269 |
# thy python api and the protobuf might be different |
|
| 270 |
|
|
| 271 |
if (value == RobotEmotion.NEUTRAL): |
|
| 272 |
return emotionstateGoal.NEUTRAL |
|
| 273 |
elif (value == RobotEmotion.HAPPY): |
|
| 274 |
return emotionstateGoal.HAPPY |
|
| 275 |
elif (value == RobotEmotion.SAD): |
|
| 276 |
return emotionstateGoal.SAD |
|
| 277 |
elif (value == RobotEmotion.ANGRY): |
|
| 278 |
return emotionstateGoal.ANGRY |
|
| 279 |
elif (value == RobotEmotion.SURPRISED): |
|
| 280 |
return emotionstateGoal.SURPRISED |
|
| 281 |
elif (value == RobotEmotion.FEAR): |
|
| 282 |
return emotionstateGoal.FEAR |
|
| 283 |
else: |
|
| 284 |
self.logger.error("invalid emotion type %d\n" % (value))
|
|
| 285 |
return emotionstateGoal.NEUTRAL |
|
| 42 |
"""initialise |
|
| 43 |
:param scope: base scope we want to listen on |
|
| 44 |
""" |
|
| 45 |
#init base settings |
|
| 46 |
Middleware.__init__(self,scope,loglevel) |
|
| 47 |
#call mw init |
|
| 48 |
self.init_middleware() |
|
| 49 |
|
|
| 50 |
def __del__(self): |
|
| 51 |
"""destructor |
|
| 52 |
""" |
|
| 53 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 54 |
|
|
| 55 |
####################################################################### |
|
| 56 |
def init_middleware(self): |
|
| 57 |
"""initialise middleware |
|
| 58 |
""" |
|
| 59 |
self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope))
|
|
| 60 |
|
|
| 61 |
rospy.init_node('hlrc_client', anonymous=True)
|
|
| 62 |
|
|
| 63 |
self.logger.info("creating action clients")
|
|
| 64 |
|
|
| 65 |
self.logger.debug("creating speech action client")
|
|
| 66 |
self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
|
| 67 |
self.speech_client.wait_for_server() |
|
| 68 |
|
|
| 69 |
self.logger.debug("creating default emotion action client")
|
|
| 70 |
self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
|
| 71 |
self.default_emotion_client.wait_for_server() |
|
| 72 |
|
|
| 73 |
self.logger.debug("creating current emotion action client")
|
|
| 74 |
self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
|
| 75 |
self.current_emotion_client.wait_for_server() |
|
| 76 |
|
|
| 77 |
self.logger.debug("creating animation action client")
|
|
| 78 |
self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
|
| 79 |
self.animation_client.wait_for_server() |
|
| 80 |
|
|
| 81 |
self.logger.debug("creating gazetarget action client")
|
|
| 82 |
self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
|
| 83 |
self.gazetarget_client.wait_for_server() |
|
| 84 |
|
|
| 85 |
self.logger.debug("creating mouthtarget action client")
|
|
| 86 |
self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
|
| 87 |
self.mouthtarget_client.wait_for_server() |
|
| 88 |
|
|
| 89 |
self.logger.info("MiddlewareROS initialised")
|
|
| 90 |
|
|
| 91 |
|
|
| 92 |
####################################################################### |
|
| 93 |
def publish_emotion(self, em_type, emotion, blocking): |
|
| 94 |
"""publish an emotion via mw |
|
| 95 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
|
| 96 |
:param emotion: emotion to set |
|
| 97 |
:param blocking: True if this call should block until execution finished on robot |
|
| 98 |
""" |
|
| 99 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 100 |
|
|
| 101 |
#create a goal to send to the action server. |
|
| 102 |
goal = emotionstateGoal() |
|
| 103 |
goal.value = self.convert_emotiontype_to_rosval(emotion.value) |
|
| 104 |
goal.duration = int(emotion.time_ms) |
|
| 105 |
|
|
| 106 |
#which client do we use? |
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 108 |
client = self.default_emotion_client |
|
| 109 |
else: |
|
| 110 |
client = self.current_emotion_client |
|
| 111 |
|
|
| 112 |
#send the goal to the server |
|
| 113 |
client.send_goal(goal) |
|
| 114 |
|
|
| 115 |
#wait for the server to finish |
|
| 116 |
if (blocking): |
|
| 117 |
timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 118 |
if (timed_out): |
|
| 119 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 120 |
|
|
| 121 |
def publish_default_emotion(self, emotion, blocking): |
|
| 122 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
|
| 123 |
|
|
| 124 |
def publish_current_emotion(self, emotion, blocking): |
|
| 125 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
|
| 126 |
|
|
| 127 |
def publish_head_animation(self, animation, blocking): |
|
| 128 |
"""publish an head animation via mw |
|
| 129 |
:param animation: animation to set |
|
| 130 |
:param blocking: True if this call should block until execution finished on robot |
|
| 131 |
""" |
|
| 132 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 133 |
|
|
| 134 |
#create a goal to send to the action server. |
|
| 135 |
goal = animationGoal() |
|
| 136 |
goal.target = self.convert_animationtype_to_rosval(animation.value) |
|
| 137 |
goal.repetitions = animation.repetitions |
|
| 138 |
goal.duration_each = int(animation.time_ms) |
|
| 139 |
goal.scale = animation.scale |
|
| 140 |
|
|
| 141 |
#send the goal to the server |
|
| 142 |
self.animation_client.send_goal(goal) |
|
| 143 |
|
|
| 144 |
#wait for the server to finish |
|
| 145 |
if (blocking): |
|
| 146 |
timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 147 |
if (timed_out): |
|
| 148 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 149 |
|
|
| 150 |
self.logger.debug("animation rpc done")
|
|
| 151 |
|
|
| 152 |
def publish_gaze_target(self, gaze, blocking): |
|
| 153 |
"""publish a gaze target via mw |
|
| 154 |
:param gaze: gaze to set |
|
| 155 |
:param blocking: True if this call should block until execution finished on robot |
|
| 156 |
""" |
|
| 157 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 158 |
|
|
| 159 |
#create a goal to send to the action server. |
|
| 160 |
goal = gazetargetGoal() |
|
| 161 |
goal.pan = gaze.pan |
|
| 162 |
goal.tilt = gaze.tilt |
|
| 163 |
goal.roll = gaze.roll |
|
| 164 |
goal.vergence = gaze.vergence |
|
| 165 |
goal.pan_offset = gaze.pan_offset |
|
| 166 |
goal.tilt_offset = gaze.tilt_offset |
|
| 167 |
|
|
| 168 |
#type |
|
| 169 |
if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE): |
|
| 170 |
goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
|
| 171 |
else: |
|
| 172 |
goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
|
| 173 |
|
|
| 174 |
goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
|
| 175 |
|
|
| 176 |
#send the goal to the server |
|
| 177 |
self.gazetarget_client.send_goal(goal) |
|
| 178 |
|
|
| 179 |
#wait for the server to finish |
|
| 180 |
if (blocking): |
|
| 181 |
timed_out = self.gazetarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 182 |
if (timed_out): |
|
| 183 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 184 |
|
|
| 185 |
|
|
| 186 |
self.logger.debug("gaze rpc done")
|
|
| 187 |
|
|
| 188 |
def publish_mouth_target(self, mouth, blocking): |
|
| 189 |
"""publish a mouth target via mw |
|
| 190 |
:param mouth: mouth value to set |
|
| 191 |
:param blocking: True if this call should block until execution finished on robot |
|
| 192 |
""" |
|
| 193 |
self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 194 |
|
|
| 195 |
#create a goal to send to the action server. |
|
| 196 |
goal = mouthtargetGoal() |
|
| 197 |
goal.opening_left = mouth.opening_left |
|
| 198 |
goal.opening_center = mouth.opening_center |
|
| 199 |
goal.opening_right = mouth.opening_right |
|
| 200 |
goal.position_left = mouth.position_left |
|
| 201 |
goal.position_center = mouth.position_center |
|
| 202 |
goal.position_right = mouth.position_right |
|
| 203 |
|
|
| 204 |
#send the goal to the server |
|
| 205 |
self.mouthtarget_client.send_goal(goal) |
|
| 206 |
|
|
| 207 |
#wait for the server to finish |
|
| 208 |
if (blocking): |
|
| 209 |
timed_out = self.mouthtarget_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 210 |
if (timed_out): |
|
| 211 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 212 |
|
|
| 213 |
self.logger.debug("mouth rpc done")
|
|
| 214 |
|
|
| 215 |
def publish_speech(self, text_, blocking): |
|
| 216 |
"""publish a tts request via mw |
|
| 217 |
:param text_: text to synthesize and speak |
|
| 218 |
:param blocking: True if this call should block until execution finished on robot |
|
| 219 |
""" |
|
| 220 |
self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 221 |
|
|
| 222 |
#create a goal to send to the action server. |
|
| 223 |
goal = speechGoal(text=text_) |
|
| 224 |
|
|
| 225 |
#send the goal to the server |
|
| 226 |
self.speech_client.send_goal(goal) |
|
| 227 |
|
|
| 228 |
#wait for the server to finish |
|
| 229 |
if (blocking): |
|
| 230 |
timed_out = self.speech_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 231 |
if (timed_out): |
|
| 232 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 233 |
|
|
| 234 |
self.logger.debug("speech rpc done")
|
|
| 235 |
|
|
| 236 |
####################################################################### |
|
| 237 |
# some helpers |
|
| 238 |
def convert_animationtype_to_rosval(self, value): |
|
| 239 |
"""convert RobotAnimation.value to ROS animation value |
|
| 240 |
:param value: RobotAnimation.* id to convert to rsb id |
|
| 241 |
""" |
|
| 242 |
#NOTE: this convertion is important as the actual integer values of |
|
| 243 |
# thy python api and the protobuf might be different |
|
| 244 |
if (value == RobotAnimation.IDLE): |
|
| 245 |
return animationGoal.IDLE |
|
| 246 |
elif (value == RobotAnimation.HEAD_NOD): |
|
| 247 |
return animationGoal.HEAD_NOD |
|
| 248 |
elif (value == RobotAnimation.HEAD_SHAKE): |
|
| 249 |
return animationGoal.HEAD_SHAKE |
|
| 250 |
elif (value == RobotAnimation.EYEBLINK_L): |
|
| 251 |
return animationGoal.EYEBLINK_L |
|
| 252 |
elif (value == RobotAnimation.EYEBLINK_R): |
|
| 253 |
return animationGoal.EYEBLINK_R |
|
| 254 |
elif (value == RobotAnimation.EYEBLINK_BOTH): |
|
| 255 |
return animationGoal.EYEBLINK_BOTH |
|
| 256 |
elif (value == RobotAnimation.EYEBROWS_RAISE): |
|
| 257 |
return animationGoal.EYEBROWS_RAISE |
|
| 258 |
elif (value == RobotAnimation.EYEBROWS_LOWER): |
|
| 259 |
return animationGoal.EYEBROWS_LOWER |
|
| 260 |
else: |
|
| 261 |
self.logger.error("invalid animation type %d\n" % (value))
|
|
| 262 |
return animationGoal.NEUTRAL |
|
| 263 |
|
|
| 264 |
def convert_emotiontype_to_rosval(self, value): |
|
| 265 |
"""convert RobotEmotion.value to ROS animation value |
|
| 266 |
:param value: RobotEmotion.* id to convert to ros id |
|
| 267 |
""" |
|
| 268 |
#NOTE: this convertion is important as the actual integer values of |
|
| 269 |
# thy python api and the protobuf might be different |
|
| 270 |
|
|
| 271 |
if (value == RobotEmotion.NEUTRAL): |
|
| 272 |
return emotionstateGoal.NEUTRAL |
|
| 273 |
elif (value == RobotEmotion.HAPPY): |
|
| 274 |
return emotionstateGoal.HAPPY |
|
| 275 |
elif (value == RobotEmotion.SAD): |
|
| 276 |
return emotionstateGoal.SAD |
|
| 277 |
elif (value == RobotEmotion.ANGRY): |
|
| 278 |
return emotionstateGoal.ANGRY |
|
| 279 |
elif (value == RobotEmotion.SURPRISED): |
|
| 280 |
return emotionstateGoal.SURPRISED |
|
| 281 |
elif (value == RobotEmotion.FEAR): |
|
| 282 |
return emotionstateGoal.FEAR |
|
| 283 |
else: |
|
| 284 |
self.logger.error("invalid emotion type %d\n" % (value))
|
|
| 285 |
return emotionstateGoal.NEUTRAL |
|
| client/python/hlrc_client/MiddlewareRSB.py | ||
|---|---|---|
| 40 | 40 |
class MiddlewareRSB(Middleware): |
| 41 | 41 |
####################################################################### |
| 42 | 42 |
def __init__(self, scope, loglevel=logging.WARNING): |
| 43 |
"""initialise |
|
| 44 |
:param scope: base scope we want to listen on |
|
| 45 |
""" |
|
| 46 |
#init base settings |
|
| 47 |
Middleware.__init__(self,scope,loglevel) |
|
| 48 |
#call mw init |
|
| 49 |
self.init_middleware() |
|
| 50 |
|
|
| 51 |
def __del__(self): |
|
| 52 |
"""destructor |
|
| 53 |
""" |
|
| 54 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 55 |
|
|
| 56 |
####################################################################### |
|
| 57 |
def init_middleware(self): |
|
| 58 |
"""initialise middleware |
|
| 59 |
""" |
|
| 60 |
#mute rsb logging: |
|
| 61 |
logging.getLogger("rsb").setLevel(logging.ERROR)
|
|
| 62 |
|
|
| 63 |
#initialise RSB stuff |
|
| 64 |
self.logger.info("initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope))
|
|
| 65 |
|
|
| 66 |
self.emotionstate_converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState) |
|
| 67 |
rsb.converter.registerGlobalConverter(self.emotionstate_converter) |
|
| 68 |
|
|
| 69 |
self.animation_converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation) |
|
| 70 |
rsb.converter.registerGlobalConverter(self.animation_converter) |
|
| 71 |
|
|
| 72 |
self.gaze_converter = rsb.converter.ProtocolBufferConverter(messageClass = GazeTarget) |
|
| 73 |
rsb.converter.registerGlobalConverter(self.gaze_converter) |
|
| 74 |
|
|
| 75 |
self.mouth_converter = rsb.converter.ProtocolBufferConverter(messageClass = MouthTarget) |
|
| 76 |
rsb.converter.registerGlobalConverter(self.mouth_converter) |
|
| 77 |
|
|
| 78 |
try: |
|
| 79 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 80 |
except ValueError: |
|
| 81 |
self.logger.error("ERROR: invalid scope given. server deactivated")
|
|
| 82 |
self.server.deactivate() |
|
| 83 |
sys.exit(errno.EINVAL) |
|
| 84 |
|
|
| 85 |
####################################################################### |
|
| 86 |
def publish_emotion(self, em_type, emotion, blocking): |
|
| 87 |
"""publish an emotion via mw |
|
| 88 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
|
| 89 |
:param emotion: emotion to set |
|
| 90 |
:param blocking: True if this call should block until execution finished on robot |
|
| 91 |
""" |
|
| 92 |
|
|
| 93 |
#create emotion & fill it with values: |
|
| 94 |
rsb_em = EmotionState() |
|
| 95 |
|
|
| 96 |
#set value |
|
| 97 |
rsb_em.value = self.convert_emotiontype_to_rsbval(emotion.value) |
|
| 98 |
|
|
| 99 |
#set duration |
|
| 100 |
rsb_em.duration = int(emotion.time_ms) |
|
| 101 |
|
|
| 102 |
with rsb.createRemoteServer(self.base_scope + '/set') as server: |
|
| 103 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 104 |
|
|
| 105 |
if (blocking): |
|
| 106 |
#blocking rpc call: |
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 108 |
result = server.defaultEmotion(rsb_em) |
|
| 109 |
else: |
|
| 110 |
result = server.currentEmotion(rsb_em) |
|
| 111 |
|
|
| 112 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 113 |
else: |
|
| 114 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 115 |
future = server.defaultEmotion.async(rsb_em) |
|
| 116 |
else: |
|
| 117 |
future = server.currentEmotion.async(rsb_em) |
|
| 118 |
|
|
| 119 |
#we could block here for a incoming result with a timeout in s |
|
| 120 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 121 |
self.logger.debug("emotion rpc done")
|
|
| 122 |
|
|
| 123 |
def publish_head_animation(self, animation, blocking): |
|
| 124 |
"""publish an head animation via mw |
|
| 125 |
:param animation: animation to set |
|
| 126 |
:param blocking: True if this call should block until execution finished on robot |
|
| 127 |
""" |
|
| 128 |
|
|
| 129 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 130 |
|
|
| 131 |
#create animation & fill it with values: |
|
| 132 |
rsb_ani = Animation() |
|
| 133 |
|
|
| 134 |
#select ani |
|
| 135 |
rsb_ani.target = self.convert_animationtype_to_rsbval(animation.value) |
|
| 136 |
rsb_ani.repetitions = animation.repetitions |
|
| 137 |
rsb_ani.duration_each = animation.time_ms |
|
| 138 |
rsb_ani.scale = animation.scale |
|
| 139 |
|
|
| 140 |
if (blocking): |
|
| 141 |
#blocking: |
|
| 142 |
result = self.server.animation(rsb_ani) |
|
| 143 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 144 |
else: |
|
| 145 |
future = self.server.animation.async(rsb_ani) |
|
| 146 |
#we can block here for a incoming result with a timeout in s |
|
| 147 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 148 |
|
|
| 149 |
self.logger.debug("animation rpc done")
|
|
| 150 |
|
|
| 151 |
def publish_default_emotion(self, emotion, blocking): |
|
| 152 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
|
| 153 |
|
|
| 154 |
def publish_current_emotion(self, emotion, blocking): |
|
| 155 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
|
| 156 |
|
|
| 157 |
def publish_gaze_target(self, gaze, blocking): |
|
| 158 |
"""publish a gaze target via mw |
|
| 159 |
:param gaze: gaze to set |
|
| 160 |
:param blocking: True if this call should block until execution finished on robot |
|
| 161 |
""" |
|
| 162 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 163 |
|
|
| 164 |
#create gaze target & fill it with values: |
|
| 165 |
rsb_gaze = GazeTarget() |
|
| 166 |
|
|
| 167 |
#fill proto |
|
| 168 |
rsb_gaze.pan = gaze.pan |
|
| 169 |
rsb_gaze.tilt = gaze.tilt |
|
| 170 |
rsb_gaze.roll = gaze.roll |
|
| 171 |
rsb_gaze.vergence = gaze.vergence |
|
| 172 |
rsb_gaze.pan_offset = gaze.pan_offset |
|
| 173 |
rsb_gaze.tilt_offset = gaze.tilt_offset |
|
| 174 |
|
|
| 175 |
if (blocking): |
|
| 176 |
#blocking: |
|
| 177 |
result = self.server.gaze(rsb_gaze) |
|
| 178 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 179 |
else: |
|
| 180 |
future = self.server.gaze.async(rsb_gaze) |
|
| 181 |
#we can block here for a incoming result with a timeout in s |
|
| 182 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 183 |
|
|
| 184 |
self.logger.debug("gaze rpc done")
|
|
| 185 |
|
|
| 186 |
def publish_mouth_target(self, mouth, blocking): |
|
| 187 |
"""publish a mouth target via mw |
|
| 188 |
:param mouth: mouth value to set |
|
| 189 |
:param blocking: True if this call should block until execution finished on robot |
|
| 190 |
""" |
|
| 191 |
self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 192 |
|
|
| 193 |
#create mouth state & fill it with values: |
|
| 194 |
rsb_mouth = MouthTarget() |
|
| 195 |
|
|
| 196 |
#fill proto |
|
| 197 |
rsb_mouth.opening_left = mouth.opening_left |
|
| 198 |
rsb_mouth.opening_center = mouth.opening_center |
|
| 199 |
rsb_mouth.opening_right = mouth.opening_right |
|
| 200 |
rsb_mouth.position_left = mouth.position_left |
|
| 201 |
rsb_mouth.position_center = mouth.position_center |
|
| 202 |
rsb_mouth.position_right = mouth.position_right |
|
| 203 |
|
|
| 204 |
if (blocking): |
|
| 205 |
#blocking: |
|
| 206 |
result = self.server.mouth(rsb_mouth) |
|
| 207 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 208 |
else: |
|
| 209 |
future = self.server.mouth.async(rsb_mouth) |
|
| 210 |
#we can block here for a incoming result with a timeout in s |
|
| 211 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 212 |
|
|
| 213 |
self.logger.debug("mouth rpc done")
|
|
| 214 |
|
|
| 215 |
def publish_speech(self, text, blocking): |
|
| 216 |
"""publish a tts request via mw |
|
| 217 |
:param text: text to synthesize and speak |
|
| 218 |
:param blocking: True if this call should block until execution finished on robot |
|
| 219 |
""" |
|
| 220 |
self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 221 |
|
|
| 222 |
if (blocking): |
|
| 223 |
#blocking: |
|
| 224 |
result = self.server.speech(text) |
|
| 225 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 226 |
else: |
|
| 227 |
future = self.server.speech.async(text) |
|
| 228 |
#we can block here for a incoming result with a timeout in s |
|
| 229 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 230 |
|
|
| 231 |
self.logger.debug("speech rpc done")
|
|
| 232 |
|
|
| 233 |
####################################################################### |
|
| 234 |
# some helpers |
|
| 235 |
def convert_animationtype_to_rsbval(self, value): |
|
| 236 |
"""convert RobotAnimation.value to RSB animation value |
|
| 237 |
:param value: RobotAnimation.* id to convert to rsb id |
|
| 238 |
""" |
|
| 239 |
#NOTE: this convertion is important as the actual integer values of |
|
| 240 |
# thy python api and the protobuf might be different |
|
| 241 |
|
|
| 242 |
if (value == RobotAnimation.IDLE): |
|
| 243 |
return Animation().IDLE |
|
| 244 |
elif (value == RobotAnimation.HEAD_NOD): |
|
| 245 |
return Animation().HEAD_NOD |
|
| 246 |
elif (value == RobotAnimation.HEAD_SHAKE): |
|
| 247 |
return Animation().HEAD_SHAKE |
|
| 248 |
elif (value == RobotAnimation.EYEBLINK_L): |
|
| 249 |
return Animation().EYEBLINK_L |
|
| 250 |
elif (value == RobotAnimation.EYEBLINK_R): |
|
| 251 |
return Animation().EYEBLINK_R |
|
| 252 |
elif (value == RobotAnimation.EYEBLINK_BOTH): |
|
| 253 |
return Animation().EYEBLINK_BOTH |
|
| 254 |
elif (value == RobotAnimation.EYEBROWS_RAISE): |
|
| 255 |
return Animation().EYEBROWS_RAISE |
|
| 256 |
elif (value == RobotAnimation.EYEBROWS_LOWER): |
|
| 257 |
return Animation().EYEBROWS_LOWER |
|
| 258 |
else: |
|
| 259 |
self.logger.error("invalid animation type %d\n" % (value))
|
|
| 260 |
return Animation().NEUTRAL |
|
| 261 |
|
|
| 262 |
def convert_emotiontype_to_rsbval(self, value): |
|
| 263 |
"""convert RobotEmotion.value to RSB animation value |
|
| 264 |
:param value: RobotEmotion.* id to convert to rsb id |
|
| 265 |
""" |
|
| 266 |
#NOTE: this convertion is important as the actual integer values of |
|
| 267 |
# thy python api and the protobuf might be different |
|
| 268 |
|
|
| 269 |
if (value == RobotEmotion.NEUTRAL): |
|
| 270 |
return EmotionState().NEUTRAL |
|
| 271 |
elif (value == RobotEmotion.HAPPY): |
|
| 272 |
return EmotionState().HAPPY |
|
| 273 |
elif (value == RobotEmotion.SAD): |
|
| 274 |
return EmotionState().SAD |
|
| 275 |
elif (value == RobotEmotion.ANGRY): |
|
| 276 |
return EmotionState().ANGRY |
|
| 277 |
elif (value == RobotEmotion.SURPRISED): |
|
| 278 |
return EmotionState().SURPRISED |
|
| 279 |
elif (value == RobotEmotion.FEAR): |
|
| 280 |
return EmotionState().FEAR |
|
| 281 |
else: |
|
| 282 |
self.logger.error("invalid emotion type %d\n" % (value))
|
|
| 283 |
return EmotionState().NEUTRAL |
|
| 43 |
"""initialise |
|
| 44 |
:param scope: base scope we want to listen on |
|
| 45 |
""" |
|
| 46 |
#init base settings |
|
| 47 |
Middleware.__init__(self,scope,loglevel) |
|
| 48 |
#call mw init |
|
| 49 |
self.init_middleware() |
|
| 50 |
|
|
| 51 |
def __del__(self): |
|
| 52 |
"""destructor |
|
| 53 |
""" |
|
| 54 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 55 |
|
|
| 56 |
####################################################################### |
|
| 57 |
def init_middleware(self): |
|
| 58 |
"""initialise middleware |
|
| 59 |
""" |
|
| 60 |
#mute rsb logging: |
|
| 61 |
logging.getLogger("rsb").setLevel(logging.ERROR)
|
|
| 62 |
|
|
| 63 |
#initialise RSB stuff |
|
| 64 |
self.logger.info("initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope))
|
|
| 65 |
|
|
| 66 |
self.emotionstate_converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState) |
|
| 67 |
rsb.converter.registerGlobalConverter(self.emotionstate_converter) |
|
| 68 |
|
|
| 69 |
self.animation_converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation) |
|
| 70 |
rsb.converter.registerGlobalConverter(self.animation_converter) |
|
| 71 |
|
|
| 72 |
self.gaze_converter = rsb.converter.ProtocolBufferConverter(messageClass = GazeTarget) |
|
| 73 |
rsb.converter.registerGlobalConverter(self.gaze_converter) |
|
| 74 |
|
|
| 75 |
self.mouth_converter = rsb.converter.ProtocolBufferConverter(messageClass = MouthTarget) |
|
| 76 |
rsb.converter.registerGlobalConverter(self.mouth_converter) |
|
| 77 |
|
|
| 78 |
try: |
|
| 79 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 80 |
except ValueError: |
|
| 81 |
self.logger.error("ERROR: invalid scope given. server deactivated")
|
|
| 82 |
self.server.deactivate() |
|
| 83 |
sys.exit(errno.EINVAL) |
|
| 84 |
|
|
| 85 |
####################################################################### |
|
| 86 |
def publish_emotion(self, em_type, emotion, blocking): |
|
| 87 |
"""publish an emotion via mw |
|
| 88 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
|
| 89 |
:param emotion: emotion to set |
|
| 90 |
:param blocking: True if this call should block until execution finished on robot |
|
| 91 |
""" |
|
| 92 |
|
|
| 93 |
#create emotion & fill it with values: |
|
| 94 |
rsb_em = EmotionState() |
|
| 95 |
|
|
| 96 |
#set value |
|
| 97 |
rsb_em.value = self.convert_emotiontype_to_rsbval(emotion.value) |
|
| 98 |
|
|
| 99 |
#set duration |
|
| 100 |
rsb_em.duration = int(emotion.time_ms) |
|
| 101 |
|
|
| 102 |
with rsb.createRemoteServer(self.base_scope + '/set') as server: |
|
| 103 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 104 |
|
|
| 105 |
if (blocking): |
|
| 106 |
#blocking rpc call: |
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 108 |
result = server.defaultEmotion(rsb_em) |
|
| 109 |
else: |
|
| 110 |
result = server.currentEmotion(rsb_em) |
|
| 111 |
|
|
| 112 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 113 |
else: |
|
| 114 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 115 |
future = server.defaultEmotion.async(rsb_em) |
|
| 116 |
else: |
|
| 117 |
future = server.currentEmotion.async(rsb_em) |
|
| 118 |
|
|
| 119 |
#we could block here for a incoming result with a timeout in s |
|
| 120 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 121 |
self.logger.debug("emotion rpc done")
|
|
| 122 |
|
|
| 123 |
def publish_head_animation(self, animation, blocking): |
|
| 124 |
"""publish an head animation via mw |
|
| 125 |
:param animation: animation to set |
|
| 126 |
:param blocking: True if this call should block until execution finished on robot |
|
| 127 |
""" |
|
| 128 |
|
|
| 129 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 130 |
|
|
| 131 |
#create animation & fill it with values: |
|
| 132 |
rsb_ani = Animation() |
|
| 133 |
|
|
| 134 |
#select ani |
|
| 135 |
rsb_ani.target = self.convert_animationtype_to_rsbval(animation.value) |
|
| 136 |
rsb_ani.repetitions = animation.repetitions |
|
| 137 |
rsb_ani.duration_each = animation.time_ms |
|
| 138 |
rsb_ani.scale = animation.scale |
|
| 139 |
|
|
| 140 |
if (blocking): |
|
| 141 |
#blocking: |
|
| 142 |
result = self.server.animation(rsb_ani) |
|
| 143 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 144 |
else: |
|
| 145 |
future = self.server.animation.async(rsb_ani) |
|
| 146 |
#we can block here for a incoming result with a timeout in s |
|
| 147 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 148 |
|
|
| 149 |
self.logger.debug("animation rpc done")
|
|
| 150 |
|
|
| 151 |
def publish_default_emotion(self, emotion, blocking): |
|
| 152 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
|
| 153 |
|
|
| 154 |
def publish_current_emotion(self, emotion, blocking): |
|
| 155 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
|
| 156 |
|
|
| 157 |
def publish_gaze_target(self, gaze, blocking): |
|
| 158 |
"""publish a gaze target via mw |
|
| 159 |
:param gaze: gaze to set |
|
| 160 |
:param blocking: True if this call should block until execution finished on robot |
|
| 161 |
""" |
|
| 162 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 163 |
|
|
| 164 |
#create gaze target & fill it with values: |
|
| 165 |
rsb_gaze = GazeTarget() |
|
| 166 |
|
|
| 167 |
#fill proto |
|
| 168 |
rsb_gaze.pan = gaze.pan |
|
| 169 |
rsb_gaze.tilt = gaze.tilt |
|
| 170 |
rsb_gaze.roll = gaze.roll |
|
| 171 |
rsb_gaze.vergence = gaze.vergence |
|
| 172 |
rsb_gaze.pan_offset = gaze.pan_offset |
|
| 173 |
rsb_gaze.tilt_offset = gaze.tilt_offset |
|
| 174 |
|
|
| 175 |
if (blocking): |
|
| 176 |
#blocking: |
|
| 177 |
result = self.server.gaze(rsb_gaze) |
|
| 178 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 179 |
else: |
|
| 180 |
future = self.server.gaze.async(rsb_gaze) |
|
| 181 |
#we can block here for a incoming result with a timeout in s |
|
| 182 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 183 |
|
|
| 184 |
self.logger.debug("gaze rpc done")
|
|
| 185 |
|
|
| 186 |
def publish_mouth_target(self, mouth, blocking): |
|
| 187 |
"""publish a mouth target via mw |
|
| 188 |
:param mouth: mouth value to set |
|
| 189 |
:param blocking: True if this call should block until execution finished on robot |
|
| 190 |
""" |
|
| 191 |
self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 192 |
|
|
| 193 |
#create mouth state & fill it with values: |
|
| 194 |
rsb_mouth = MouthTarget() |
|
| 195 |
|
|
| 196 |
#fill proto |
|
| 197 |
rsb_mouth.opening_left = mouth.opening_left |
|
| 198 |
rsb_mouth.opening_center = mouth.opening_center |
|
| 199 |
rsb_mouth.opening_right = mouth.opening_right |
|
| 200 |
rsb_mouth.position_left = mouth.position_left |
|
| 201 |
rsb_mouth.position_center = mouth.position_center |
|
| 202 |
rsb_mouth.position_right = mouth.position_right |
|
| 203 |
|
|
| 204 |
if (blocking): |
|
| 205 |
#blocking: |
|
| 206 |
result = self.server.mouth(rsb_mouth) |
|
| 207 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 208 |
else: |
|
| 209 |
future = self.server.mouth.async(rsb_mouth) |
|
| 210 |
#we can block here for a incoming result with a timeout in s |
|
| 211 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 212 |
|
|
| 213 |
self.logger.debug("mouth rpc done")
|
|
| 214 |
|
|
| 215 |
def publish_speech(self, text, blocking): |
|
| 216 |
"""publish a tts request via mw |
|
| 217 |
:param text: text to synthesize and speak |
|
| 218 |
:param blocking: True if this call should block until execution finished on robot |
|
| 219 |
""" |
|
| 220 |
self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 221 |
|
|
| 222 |
if (blocking): |
|
| 223 |
#blocking: |
|
| 224 |
result = self.server.speech(text) |
|
| 225 |
self.logger.debug("server reply: '%s'" % result)
|
|
| 226 |
else: |
|
| 227 |
future = self.server.speech.async(text) |
|
| 228 |
#we can block here for a incoming result with a timeout in s |
|
| 229 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 230 |
|
|
| 231 |
self.logger.debug("speech rpc done")
|
|
| 232 |
|
|
| 233 |
####################################################################### |
|
| 234 |
# some helpers |
|
| 235 |
def convert_animationtype_to_rsbval(self, value): |
|
| 236 |
"""convert RobotAnimation.value to RSB animation value |
|
| 237 |
:param value: RobotAnimation.* id to convert to rsb id |
|
| 238 |
""" |
|
| 239 |
#NOTE: this convertion is important as the actual integer values of |
|
| 240 |
# thy python api and the protobuf might be different |
|
| 241 |
|
|
| 242 |
if (value == RobotAnimation.IDLE): |
|
| 243 |
return Animation().IDLE |
|
| 244 |
elif (value == RobotAnimation.HEAD_NOD): |
|
| 245 |
return Animation().HEAD_NOD |
|
| 246 |
elif (value == RobotAnimation.HEAD_SHAKE): |
|
| 247 |
return Animation().HEAD_SHAKE |
|
| 248 |
elif (value == RobotAnimation.EYEBLINK_L): |
|
| 249 |
return Animation().EYEBLINK_L |
|
| 250 |
elif (value == RobotAnimation.EYEBLINK_R): |
|
| 251 |
return Animation().EYEBLINK_R |
|
| 252 |
elif (value == RobotAnimation.EYEBLINK_BOTH): |
|
| 253 |
return Animation().EYEBLINK_BOTH |
|
| 254 |
elif (value == RobotAnimation.EYEBROWS_RAISE): |
|
| 255 |
return Animation().EYEBROWS_RAISE |
|
| 256 |
elif (value == RobotAnimation.EYEBROWS_LOWER): |
|
| 257 |
return Animation().EYEBROWS_LOWER |
|
| 258 |
else: |
|
| 259 |
self.logger.error("invalid animation type %d\n" % (value))
|
|
| 260 |
return Animation().NEUTRAL |
|
| 261 |
|
|
| 262 |
def convert_emotiontype_to_rsbval(self, value): |
|
| 263 |
"""convert RobotEmotion.value to RSB animation value |
|
| 264 |
:param value: RobotEmotion.* id to convert to rsb id |
|
| 265 |
""" |
|
| 266 |
#NOTE: this convertion is important as the actual integer values of |
|
| 267 |
# thy python api and the protobuf might be different |
|
| 268 |
|
|
| 269 |
if (value == RobotEmotion.NEUTRAL): |
|
| 270 |
return EmotionState().NEUTRAL |
|
| 271 |
elif (value == RobotEmotion.HAPPY): |
|
| 272 |
return EmotionState().HAPPY |
|
| 273 |
elif (value == RobotEmotion.SAD): |
|
| 274 |
return EmotionState().SAD |
|
| 275 |
elif (value == RobotEmotion.ANGRY): |
|
| 276 |
return EmotionState().ANGRY |
|
| 277 |
elif (value == RobotEmotion.SURPRISED): |
|
| 278 |
return EmotionState().SURPRISED |
|
| 279 |
elif (value == RobotEmotion.FEAR): |
|
| 280 |
return EmotionState().FEAR |
|
| 281 |
else: |
|
| 282 |
self.logger.error("invalid emotion type %d\n" % (value))
|
|
| 283 |
return EmotionState().NEUTRAL |
|
| client/python/hlrc_client/RobotAnimation.py | ||
|---|---|---|
| 36 | 36 |
EYEBROWS_LOWER = 7 |
| 37 | 37 |
|
| 38 | 38 |
def __init__(self, v = IDLE): |
| 39 |
self.value = v |
|
| 40 |
self.time_ms = 1000 |
|
| 41 |
self.repetitions = 1 |
|
| 42 |
self.scale = 1.0 |
|
| 43 |
|
|
| 44 |
def value_as_str(self): |
|
| 45 |
if (self.value == RobotAnimation.IDLE): |
|
| 46 |
return "idle" |
|
| 47 |
elif (self.value == RobotAnimation.HEAD_NOD): |
|
| 48 |
return "head nod" |
|
| 49 |
elif (self.value == RobotAnimation.HEAD_SHAKE): |
|
| 50 |
return "head shake" |
|
| 51 |
elif (self.value == RobotAnimation.EYEBLINK_L): |
|
| 52 |
return "eyeblink l" |
|
| 53 |
elif (self.value == RobotAnimation.EYEBLINK_R): |
|
| 54 |
return "eyeblink r" |
|
| 55 |
elif (self.value == RobotAnimation.EYEBROWS_RAISE): |
|
| 56 |
return "eyebrows raise" |
|
| 57 |
elif (self.value == RobotAnimation.EYEBROWS_LOWER): |
|
| 58 |
return "eyebrows lower" |
|
| 59 |
else: |
|
| 60 |
return "INVALID ANIMATION TYPE" |
|
| 61 |
|
|
| 62 |
def __str__(self): |
|
| 63 |
return "RobotAnimation = { value='%s', time_ms=%d repetitions=%d scale=%6.2f }" % \
|
|
| 64 |
(self.value_as_str(), self.time_ms, self.repetitions, self.scale) |
|
| 39 |
self.value = v |
|
| 40 |
self.time_ms = 1000 |
|
| 41 |
self.repetitions = 1 |
|
| 42 |
self.scale = 1.0 |
|
| 65 | 43 |
|
| 44 |
def value_as_str(self): |
|
| 45 |
if (self.value == RobotAnimation.IDLE): |
|
| 46 |
return "idle" |
|
| 47 |
elif (self.value == RobotAnimation.HEAD_NOD): |
|
| 48 |
return "head nod" |
|
| 49 |
elif (self.value == RobotAnimation.HEAD_SHAKE): |
|
| 50 |
return "head shake" |
|
| 51 |
elif (self.value == RobotAnimation.EYEBLINK_L): |
|
| 52 |
return "eyeblink l" |
|
| 53 |
elif (self.value == RobotAnimation.EYEBLINK_R): |
|
| 54 |
return "eyeblink r" |
|
| 55 |
elif (self.value == RobotAnimation.EYEBROWS_RAISE): |
|
| 56 |
return "eyebrows raise" |
|
| 57 |
elif (self.value == RobotAnimation.EYEBROWS_LOWER): |
|
| 58 |
return "eyebrows lower" |
|
| 59 |
else: |
|
| 60 |
return "INVALID ANIMATION TYPE" |
|
| 66 | 61 |
|
| 62 |
def __str__(self): |
|
| 63 |
return "RobotAnimation = { value='%s', time_ms=%d repetitions=%d scale=%6.2f }" % \
|
|
| 64 |
(self.value_as_str(), self.time_ms, self.repetitions, self.scale) |
|
| client/python/hlrc_client/RobotController.py | ||
|---|---|---|
| 31 | 31 |
|
| 32 | 32 |
class RobotController: |
| 33 | 33 |
def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
| 34 |
"""initialise |
|
| 35 |
:param mw_name: which mw to use, currentyl ROS and RSB are supported |
|
| 36 |
:param scope: base scope we want to listen on |
|
| 37 |
:param loglevel: optional log level |
|
| 38 |
""" |
|
| 39 |
self.logger = logging.getLogger(__name__) |
|
| 40 |
|
|
| 41 |
# create nice and actually usable formatter and add it to the handler |
|
| 42 |
self.config_logger(loglevel) |
|
| 43 |
|
|
| 44 |
#store |
|
| 45 |
self.scope = scope |
|
| 46 |
self.mw = mw_name |
|
| 47 |
self.loglevel = loglevel |
|
| 48 |
|
|
| 49 |
self.middleware = None |
|
| 50 |
|
|
| 51 |
|
|
| 52 |
if (self.mw.upper() == "RSB"): |
|
| 53 |
self.logger.info("creating new middleware connection via RSB")
|
|
| 54 |
try: |
|
| 55 |
from MiddlewareRSB import MiddlewareRSB |
|
| 56 |
except ImportError, e: |
|
| 57 |
self.logger.error("failed to import RSB or the necessary data types: {}".format(e))
|
|
| 58 |
sys.exit(errno.EINVAL) |
|
| 59 |
|
|
| 60 |
#import worked, safe to intantiate RSB mw now |
|
| 61 |
self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
|
| 62 |
|
|
| 63 |
elif (self.mw.upper() == "ROS"): |
|
| 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 |
|
| 72 |
self.middleware = MiddlewareROS(self.scope, self.loglevel) |
|
| 73 |
else: |
|
| 74 |
self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
|
|
| 75 |
sys.exit(errno.EINVAL) |
|
| 76 |
|
|
| 77 |
def __del__(self): |
|
| 78 |
"""destructor |
|
| 79 |
""" |
|
| 80 |
self.logger.debug("destructor of RobotController called")
|
|
| 81 |
|
|
| 82 |
def config_logger(self, level): |
|
| 83 |
"""initialise a nice logger formatting |
|
| 84 |
:param level: log level |
|
| 85 |
""" |
|
| 86 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
|
| 87 |
ch = logging.StreamHandler() |
|
| 88 |
#ch.setLevel(level) |
|
| 89 |
ch.setFormatter(formatter) |
|
| 90 |
self.logger.setLevel(level) |
|
| 91 |
self.logger.addHandler(ch) |
|
| 92 |
|
|
| 93 |
def set_current_emotion(self, robot_emotion, blocking = False): |
|
| 94 |
"""set the current emotion |
|
| 95 |
:param robot_emotion: a RobotEmotion object |
|
| 96 |
:param blocking: should this call block during execution? |
|
| 97 |
""" |
|
| 98 |
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) |
|
| 100 |
|
|
| 101 |
def set_default_emotion(self, robot_emotion, blocking = False): |
|
| 102 |
"""set the default emotion |
|
| 103 |
:param robot_emotion: a RobotEmotion object |
|
| 104 |
:param blocking: should this call block during execution? |
|
| 105 |
""" |
|
| 106 |
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) |
|
| 108 |
|
|
| 109 |
def set_gaze_target(self, robot_gaze, blocking = False): |
|
| 110 |
"""set a gaze target |
|
| 111 |
:param robot_gaze: a RobotGaze object |
|
| 112 |
:param blocking: should this call block during execution? |
|
| 113 |
""" |
|
| 114 |
|
|
| 115 |
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) |
|
| 117 |
|
|
| 118 |
def set_mouth_target(self, robot_mouth, blocking = False): |
|
| 119 |
"""set a mouth target |
|
| 120 |
:param robot_mouth: a RobotMouth object |
|
| 121 |
:param blocking: should this call block during execution? |
|
| 122 |
""" |
|
| 123 |
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) |
|
| 125 |
|
|
| 126 |
def set_head_animation(self, robot_animation, blocking = False): |
|
| 127 |
"""set a head animation |
|
| 128 |
:param robot_animation: a RobotAnimation object |
|
| 129 |
:param blocking: should this call block during execution? |
|
| 130 |
""" |
|
| 131 |
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) |
|
| 133 |
|
|
| 134 |
def set_speak(self, text, blocking = False): |
|
| 135 |
"""request the robot to say something using tts |
|
| 136 |
:param text: text to synthesize |
|
| 137 |
:param blocking: should this call block during execution? |
|
| 138 |
""" |
|
| 139 |
self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
|
| 140 |
self.middleware.set_speak(text, blocking) |
|
| 141 |
|
|
| 142 |
#def get_gaze_target(self): |
|
| 143 |
# result = self.middleware.get_gaze_target() |
|
| 144 |
# self.logger.debug("get_gaze_target() returned %s" % (result))
|
|
| 145 |
# return self.middleware.get_gaze_target() |
|
| 34 |
"""initialise |
|
| 35 |
:param mw_name: which mw to use, currentyl ROS and RSB are supported |
|
| 36 |
:param scope: base scope we want to listen on |
|
| 37 |
:param loglevel: optional log level |
|
| 38 |
""" |
|
| 39 |
self.logger = logging.getLogger(__name__) |
|
| 40 |
|
|
| 41 |
# create nice and actually usable formatter and add it to the handler |
|
| 42 |
self.config_logger(loglevel) |
|
| 43 |
|
|
| 44 |
#store |
|
| 45 |
self.scope = scope |
|
| 46 |
self.mw = mw_name |
|
| 47 |
self.loglevel = loglevel |
|
| 48 |
|
|
| 49 |
self.middleware = None |
|
| 50 |
|
|
| 51 |
|
|
| 52 |
if (self.mw.upper() == "RSB"): |
|
| 53 |
self.logger.info("creating new middleware connection via RSB")
|
|
| 54 |
try: |
|
| 55 |
from MiddlewareRSB import MiddlewareRSB |
|
| 56 |
except ImportError, e: |
|
| 57 |
self.logger.error("failed to import RSB or the necessary data types: {}".format(e))
|
|
| 58 |
sys.exit(errno.EINVAL) |
|
| 59 |
|
|
| 60 |
#import worked, safe to intantiate RSB mw now |
|
| 61 |
self.middleware = MiddlewareRSB(self.scope, self.loglevel) |
|
| 62 |
|
|
| 63 |
elif (self.mw.upper() == "ROS"): |
|
| 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 |
|
| 72 |
self.middleware = MiddlewareROS(self.scope, self.loglevel) |
|
| 73 |
else: |
|
| 74 |
self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
|
|
| 75 |
sys.exit(errno.EINVAL) |
|
| 76 |
|
|
| 77 |
def __del__(self): |
|
| 78 |
"""destructor |
|
| 79 |
""" |
|
| 80 |
self.logger.debug("destructor of RobotController called")
|
|
| 81 |
|
|
| 82 |
def config_logger(self, level): |
|
| 83 |
"""initialise a nice logger formatting |
|
| 84 |
:param level: log level |
|
| 85 |
""" |
|
| 86 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
|
| 87 |
ch = logging.StreamHandler() |
|
| 88 |
#ch.setLevel(level) |
|
| 89 |
ch.setFormatter(formatter) |
|
| 90 |
self.logger.setLevel(level) |
|
| 91 |
self.logger.addHandler(ch) |
|
| 92 |
|
|
| 93 |
def set_current_emotion(self, robot_emotion, blocking = False): |
|
| 94 |
"""set the current emotion |
|
| 95 |
:param robot_emotion: a RobotEmotion object |
|
| 96 |
:param blocking: should this call block during execution? |
|
| 97 |
""" |
|
| 98 |
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) |
|
| 100 |
|
|
| 101 |
def set_default_emotion(self, robot_emotion, blocking = False): |
|
| 102 |
"""set the default emotion |
|
| 103 |
:param robot_emotion: a RobotEmotion object |
|
| 104 |
:param blocking: should this call block during execution? |
|
| 105 |
""" |
|
| 106 |
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) |
|
| 108 |
|
|
| 109 |
def set_gaze_target(self, robot_gaze, blocking = False): |
|
| 110 |
"""set a gaze target |
|
| 111 |
:param robot_gaze: a RobotGaze object |
|
| 112 |
:param blocking: should this call block during execution? |
|
| 113 |
""" |
|
| 114 |
|
|
| 115 |
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) |
|
| 117 |
|
|
Also available in: Unified diff