hlrc

"""

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

try:

    import rsb

    import rst

    import rstsandbox

    from rst.robot.EmotionState_pb2 import EmotionState

    from rst.robot.Animation_pb2    import Animation

    from rst.robot.GazeTarget_pb2   import GazeTarget

    from rst.robot.MouthTarget_pb2  import MouthTarget

except ImportError, e:

    print("Warning, RSB import error: ")

    print e

    RSB_SUPPORT = False

else:

        from MiddlewareRSB import *

        RSB_SUPPORT = True

from MiddlewareROS import *

import sys

class RobotController:

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

                """initialise

                :param mw_name: which mw to use, currentyl ROS and RSB are supported

                :param scope: base scope we want to listen on 

                :param  loglevel: optional log level

                """

                self.logger = logging.getLogger(__name__)

                # create nice and actually usable formatter and add it to the handler

                self.config_logger(loglevel)

                #store 

                self.scope = scope

                self.mw = mw_name

                self.loglevel = loglevel

                self.middleware = None

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

                        if (not RSB_SUPPORT):

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

                                sys.exit(errno.EINVAL)

                        else:

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

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

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

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

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

                else:

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

                        sys.exit(errno.EINVAL)

        def __del__(self):

                """destructor

                """

                self.logger.debug("destructor of RobotController called")

        def config_logger(self, level):

                """initialise a nice logger formatting

                :param  level: log level

                """

                formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')

                ch = logging.StreamHandler()

                #ch.setLevel(level)

                ch.setFormatter(formatter)

                self.logger.setLevel(level)

                self.logger.addHandler(ch)

        def set_current_emotion(self, robot_emotion, blocking = False):

                """set the current emotion

                :param robot_emotion: a RobotEmotion object

                :param blocking: should this call block during execution?

                """

                self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_current_emotion(robot_emotion, blocking)

        def set_default_emotion(self, robot_emotion, blocking = False):

                """set the default emotion

                :param robot_emotion: a RobotEmotion object

                :param blocking: should this call block during execution?

                """

                self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_default_emotion(robot_emotion, blocking)

        def set_gaze_target(self, robot_gaze, blocking = False):

                """set a gaze target

                :param robot_gaze: a RobotGaze object

                :param blocking: should this call block during execution?

                """

                self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_gaze_target(robot_gaze, blocking)

        def set_mouth_target(self, robot_mouth, blocking = False):

                """set a mouth target

                :param robot_mouth: a RobotMouth object

                :param blocking: should this call block during execution?

                """                

                self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_mouth_target(robot_mouth, blocking)

        def set_head_animation(self, robot_animation, blocking = False):

                """set a head animation

                :param robot_animation: a RobotAnimation object

                :param blocking: should this call block during execution?

                """                

                self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_head_animation(robot_animation, blocking)

        def set_speak(self, text, blocking = False):

                """request the robot to say something using tts

                :param text: text to synthesize

                :param blocking: should this call block during execution?

                """

                self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))

                self.middleware.set_speak(text, blocking)

        #def get_gaze_target(self):

        #        result = self.middleware.get_gaze_target()

        #        self.logger.debug("get_gaze_target() returned %s" % (result))

        #        return self.middleware.get_gaze_target()