hlrc

	super(HLRCExample, self).__init__()

	self.scope = scope

	self.mw = mw

	self.initUI()

	self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG)

	def initUtteranceUI(self):

	    groupBox = QtGui.QGroupBox("utterances")

	    hello = QtGui.QPushButton("hello...")

	    hello.clicked.connect(self.utterance_button_clicked)

	    count = QtGui.QPushButton("12345...")

	    count.clicked.connect(self.utterance_button_clicked)

	    vbox = QtGui.QVBoxLayout()

	    vbox.addWidget(hello)

	    vbox.addWidget(count)

	    vbox.addStretch(1)

	    groupBox.setLayout(vbox)

	    return groupBox

	def initSpinbox(self, _min, _max, _init, double):

	    if (double):

		s = QtGui.QDoubleSpinBox()

		else:

		    s = QtGui.QSpinBox()

		    s.setMinimum(_min)

		    s.setMaximum(_max)

		    s.setValue(_init)

		    return s

		def initPushButton(self, base_layout, text, action):

		    button = QtGui.QPushButton(text)

		    button.clicked.connect(action)

		    base_layout.addWidget(button)

		    def initEmotionUI(self):

			vbox = QtGui.QVBoxLayout()

			self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0)

			vbox.addWidget(self.duration_spinbox)

			#self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)

			self.initPushButton(vbox, "neutral",  self.emotion_button_clicked)

			self.initPushButton(vbox, "surprise", self.emotion_button_clicked)

			self.initPushButton(vbox, "angry",    self.emotion_button_clicked)

			self.initPushButton(vbox, "happy",    self.emotion_button_clicked)

			self.initPushButton(vbox, "sad",      self.emotion_button_clicked)

			self.initPushButton(vbox, "fear",     self.emotion_button_clicked)

			vbox.addStretch(1)

			groupBox = QtGui.QGroupBox("emotion")

			groupBox.setLayout(vbox)

			return groupBox

		    def initAnimationButton(self, base_layout, name):

			b = QtGui.QPushButton(name)

			b.clicked.connect(self.animation_button_clicked)

			base_layout.addWidget(b)

			def initAnimUI(self):

			    groupBox = QtGui.QGroupBox("animations")

			    #options

			    options = QtGui.QHBoxLayout()

			    vbox_r = QtGui.QVBoxLayout()

			    vbox_r.addWidget(QtGui.QLabel("repetitions"))

			    self.repetitions_spinbox = self.initSpinbox(1,10,1,0)

			    vbox_r.addWidget(self.repetitions_spinbox)

			    vbox_d = QtGui.QVBoxLayout()

			    vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))

			    self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0)

			    vbox_d.addWidget(self.duration_each_spinbox)

			    vbox_s = QtGui.QVBoxLayout()

			    vbox_s.addWidget(QtGui.QLabel("scale"))

			    self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1)

			    vbox_s.addWidget(self.scale_spinbox)

			    options.addLayout(vbox_r)

			    options.addLayout(vbox_d)

			    options.addLayout(vbox_s)

			    #buttons

			    vbox = QtGui.QVBoxLayout()

			    vbox.addLayout(options)

			    self.initAnimationButton(vbox, "head shake")

			    self.initAnimationButton(vbox, "head nod")

			    self.initAnimationButton(vbox, "eyeblink left")

			    self.initAnimationButton(vbox, "eyeblink right")

			    self.initAnimationButton(vbox, "eyeblink both")

			    self.initAnimationButton(vbox, "eyebrows raise")

			    self.initAnimationButton(vbox, "eyebrows lower")

			    vbox.addStretch(1)

			    groupBox.setLayout(vbox)

			    return groupBox

			def initUI(self):

			    vbox = QtGui.QVBoxLayout()

			    hboxl = QtGui.QHBoxLayout()

			    hboxl.addWidget(QtGui.QLabel("base scope: "))

			    hboxl.addWidget(QtGui.QLabel(self.scope))

			    vbox.addLayout(hboxl)

			    hbox = QtGui.QHBoxLayout()

			    vbox.addLayout(hbox)

			    #emotion

			    hbox.addWidget(self.initEmotionUI())

			    #utterance:

				hbox.addWidget(self.initUtteranceUI())

				#animations:

				    hbox.addWidget(self.initAnimUI())

				    self.setLayout(vbox)

				    #sld.valueChanged.connect(lcd.display)

				    self.setGeometry(400, 100, 250, 150)

				    self.setWindowTitle("HLRC Server test GUI - %s" % self.scope)

				    self.show()

				    def utterance_button_clicked(self):

					button = self.sender().text()

					if (button == "12345..."):

					    self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False)

					    elif (button == "hello..."):

						self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False)

						else:

						    self.robot_controller.set_speak("invalid button name", False)

						    print "invalid button '%s'" % (button)

						    def emotion_button_clicked(self):

							button = self.sender().text()

							re = RobotEmotion()

							re.time_ms = self.duration_spinbox.value()

							if (button == "angry"):

							    re.value = RobotEmotion.ANGRY

							    elif (button == "neutral"):

								re.value = RobotEmotion.NEUTRAL

								elif (button == "happy"):

								    re.value = RobotEmotion.HAPPY

								    elif (button == "sad"):

									re.value = RobotEmotion.SAD

									elif (button == "surprise"):

									    re.value = RobotEmotion.SURPRISED

									    elif (button == "fear"):

										re.value = RobotEmotion.FEAR

										else:

										    print "invalid emotion id '%s'" % (button)

										    return

										self.robot_controller.set_current_emotion(re, False)

										def animation_button_clicked(self):

										    button = self.sender().text()

										    ra = RobotAnimation()

										    ra.time_ms =  self.duration_each_spinbox.value()

										    ra.repetitions = self.repetitions_spinbox.value()

										    ra.scale = self.scale_spinbox.value()

										    if (button == "head nod"):

											ra.value = RobotAnimation.HEAD_NOD

											elif (button == "head shake"):

											    ra.value = RobotAnimation.HEAD_SHAKE

											    elif (button == "eyeblink left"):

												ra.value = RobotAnimation.EYEBLINK_L

												elif (button == "eyeblink right"):

												    ra.value = RobotAnimation.EYEBLINK_R

												    elif (button == "eyeblink both"):

													ra.value = RobotAnimation.EYEBLINK_BOTH

													elif (button == "eyebrows raise"):

													    ra.value = RobotAnimation.EYEBROWS_RAISE

													    elif (button == "eyebrows lower"):

														ra.value = RobotAnimation.EYEBROWS_LOWER

														else:

														    print "invalid button '%s'" % (button)

														    return

														self.robot_controller.set_head_animation(ra, False)

														def main():

														    if (len(sys.argv) != 3):

															print("usage:   hlrc_test_gui.py <middleware> <scope>\n\n")

															print("example: hlrc_test_gui.py ROS /flobi\n\n")

															sys.exit(errno.EINVAL)

															scope = sys.argv[1]

															mw    = sys.argv[2]

															app = QtGui.QApplication(sys.argv)

															ex = HLRCExample(mw, scope)

															sys.exit(app.exec_())

															if __name__ == '__main__':

															    main()