hlrc

#!/usr/bin/python

"""

This file is part of hlrc

Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

http://opensource.cit-ec.de/projects/hlrc

This file may be licensed under the terms of the

GNU General Public License Version 3 (the ``GPL''),

or (at your option) any later version.

Software distributed under the License is distributed

on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

express or implied. See the GPL for the specific language

governing rights and limitations.

You should have received a copy of the GPL along with this

program. If not, go to http://www.gnu.org/licenses/gpl.html

or write to the Free Software Foundation, Inc.,

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

The development of this software was supported by the

Excellence Cluster EXC 277 Cognitive Interaction Technology.

The Excellence Cluster EXC 277 is a grant of the Deutsche

Forschungsgemeinschaft (DFG) in the context of the German

Excellence Initiative.

"""

import logging

from hlrc_client import *

import time

import errno

import sys

import os.path

from PyQt4 import QtGui, QtCore

from PyQt4.QtCore import SIGNAL

#from hlrc_speak_utterance import hlrc_utterance

#from hlrc_play_animation import hlrc_animation

#from hlrc_set_emotion import hlrc_emotion

class HLRCExample(QtGui.QWidget):

        def __init__(self, scope, mw):

                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(100, 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(100,10000,1000,0)

                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()