/client/python/hlrc_client/RobotController.py - Annotate - hlrc - Research for Cognitive Interaction

hlrc / client / python / hlrc_client / RobotController.py @ 831c27b2

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1	0c286af0	Simon Schulz	"""
2			This file is part of hlrc
3
4			Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
5			http://opensource.cit-ec.de/projects/hlrc
6
7			This file may be licensed under the terms of the
8			GNU General Public License Version 3 (the ``GPL''),
9			or (at your option) any later version.
10
11			Software distributed under the License is distributed
12			on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
13			express or implied. See the GPL for the specific language
14			governing rights and limitations.
15
16			You should have received a copy of the GPL along with this
17			program. If not, go to http://www.gnu.org/licenses/gpl.html
18			or write to the Free Software Foundation, Inc.,
19			51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
20
21			The development of this software was supported by the
22			Excellence Cluster EXC 277 Cognitive Interaction Technology.
23			The Excellence Cluster EXC 277 is a grant of the Deutsche
24			Forschungsgemeinschaft (DFG) in the context of the German
25			Excellence Initiative.
26			"""
27
28			import logging
29			from MiddlewareRSB import *
30			from MiddlewareROS import *
31
32			class RobotController:
33			def __init__(self, mw_name, scope, loglevel=logging.WARNING):
34	f8fa1217	Simon Schulz	"""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	0c286af0	Simon Schulz	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	f8fa1217	Simon Schulz	#store
45	0c286af0	Simon Schulz	self.scope = scope
46	f8fa1217	Simon Schulz	self.mw = mw_name
47			self.loglevel = loglevel
48	0c286af0	Simon Schulz
49	f8fa1217	Simon Schulz	self.middleware = None
50
51
52			if (self.mw.upper() == "RSB"):
53	0c286af0	Simon Schulz	self.logger.info("creating new middleware connection via RSB")
54	f8fa1217	Simon Schulz	self.middleware = MiddlewareRSB(self.scope, self.loglevel)
55			elif (self.mw.upper() == "ROS"):
56	0c286af0	Simon Schulz	self.logger.info("creating new middleware connection via ROS")
57	f8fa1217	Simon Schulz	self.middleware = MiddlewareROS(self.scope, self.loglevel)
58	0c286af0	Simon Schulz	else:
59	f8fa1217	Simon Schulz	self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
60	0c286af0	Simon Schulz	sys.exit(errno.EINVAL)
61
62	f8fa1217	Simon Schulz	def __del__(self):
63			"""destructor
64			"""
65			self.logger.debug("destructor of RobotController called")
66
67	0c286af0	Simon Schulz	def config_logger(self, level):
68	f8fa1217	Simon Schulz	"""initialise a nice logger formatting
69			:param level: log level
70			"""
71	0c286af0	Simon Schulz	formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
72			ch = logging.StreamHandler()
73			#ch.setLevel(level)
74			ch.setFormatter(formatter)
75			self.logger.setLevel(level)
76			self.logger.addHandler(ch)
77
78			def set_current_emotion(self, robot_emotion, blocking = False):
79	f8fa1217	Simon Schulz	"""set the current emotion
80			:param robot_emotion: a RobotEmotion object
81			:param blocking: should this call block during execution?
82			"""
83	0c286af0	Simon Schulz	self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
84			self.middleware.set_current_emotion(robot_emotion, blocking)
85
86			def set_default_emotion(self, robot_emotion, blocking = False):
87	f8fa1217	Simon Schulz	"""set the default emotion
88			:param robot_emotion: a RobotEmotion object
89			:param blocking: should this call block during execution?
90			"""
91	0c286af0	Simon Schulz	self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
92			self.middleware.set_default_emotion(robot_emotion, blocking)
93
94			def set_gaze_target(self, robot_gaze, blocking = False):
95	f8fa1217	Simon Schulz	"""set a gaze target
96			:param robot_gaze: a RobotGaze object
97			:param blocking: should this call block during execution?
98			"""
99
100	0c286af0	Simon Schulz	self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING")))
101			self.middleware.set_gaze_target(robot_gaze, blocking)
102
103			def set_mouth_target(self, robot_mouth, blocking = False):
104	f8fa1217	Simon Schulz	"""set a mouth target
105			:param robot_mouth: a RobotMouth object
106			:param blocking: should this call block during execution?
107			"""
108	0c286af0	Simon Schulz	self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING")))
109			self.middleware.set_mouth_target(robot_mouth, blocking)
110
111			def set_head_animation(self, robot_animation, blocking = False):
112	f8fa1217	Simon Schulz	"""set a head animation
113			:param robot_animation: a RobotAnimation object
114			:param blocking: should this call block during execution?
115			"""
116	0c286af0	Simon Schulz	self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING")))
117			self.middleware.set_head_animation(robot_animation, blocking)
118
119			def set_speak(self, text, blocking = False):
120	f8fa1217	Simon Schulz	"""request the robot to say something using tts
121			:param text: text to synthesize
122			:param blocking: should this call block during execution?
123			"""
124	0c286af0	Simon Schulz	self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))
125			self.middleware.set_speak(text, blocking)
126
127	f8fa1217	Simon Schulz	#def get_gaze_target(self):
128			# result = self.middleware.get_gaze_target()
129			# self.logger.debug("get_gaze_target() returned %s" % (result))
130			# return self.middleware.get_gaze_target()