hlrc / client / python / hlrc_client / MiddlewareROS.py @ b47687f8
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1 | 0c286af0 | Simon Schulz | """
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2 | This file is part of hlrc
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3 |
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4 | Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | http://opensource.cit-ec.de/projects/hlrc
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6 |
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7 | This file may be licensed under the terms of the
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8 | GNU General Public License Version 3 (the ``GPL''),
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9 | or (at your option) any later version.
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10 |
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11 | Software distributed under the License is distributed
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12 | on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | express or implied. See the GPL for the specific language
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14 | governing rights and limitations.
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15 |
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16 | You should have received a copy of the GPL along with this
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17 | program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | or write to the Free Software Foundation, Inc.,
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19 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 |
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21 | The development of this software was supported by the
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22 | Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | Forschungsgemeinschaft (DFG) in the context of the German
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25 | Excellence Initiative.
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26 | """
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27 | |||
28 | from Middleware import * |
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29 | import errno |
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30 | |||
31 | 70c54617 | Simon Schulz | import roslib; |
32 | import rospy |
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33 | 64f5c90e | Simon Schulz | import actionlib |
34 | from hlrc_server.msg import * |
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35 | 2126781b | Simon Schulz | from actionlib_msgs.msg import GoalStatus |
36 | 0c286af0 | Simon Schulz | |
37 | class MiddlewareROS(Middleware): |
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38 | 3877047d | Simon Schulz | #default timeout to wait in case of blocking calls
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39 | ROS_ACTION_CALL_TIMEOUT = 30.0
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40 | |||
41 | #######################################################################
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42 | def __init__(self, scope, loglevel=logging.WARNING): |
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43 | 70c54617 | Simon Schulz | """initialise
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44 | :param scope: base scope we want to listen on
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45 | """
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46 | #init base settings
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47 | Middleware.__init__(self,scope,loglevel)
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48 | #call mw init
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49 | self.init_middleware()
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50 | |||
51 | def __del__(self): |
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52 | """destructor
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53 | """
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54 | self.logger.debug("destructor of MiddlewareROS called") |
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55 | |||
56 | #######################################################################
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57 | def init_middleware(self): |
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58 | """initialise middleware
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59 | """
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60 | self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope)) |
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61 | |||
62 | 67f533d7 | Robert Haschke | try:
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63 | rospy.init_node('hlrc_client', anonymous=True) |
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64 | except rospy.exceptions.ROSException as e: |
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65 | print e
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66 | 70c54617 | Simon Schulz | |
67 | self.logger.info("creating action clients") |
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68 | |||
69 | self.logger.debug("creating speech action client") |
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70 | self.speech_client = actionlib.SimpleActionClient(self.base_scope + "/set/speech", speechAction) |
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71 | self.speech_client.wait_for_server()
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72 | |||
73 | self.logger.debug("creating default emotion action client") |
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74 | self.default_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/defaultEmotion", emotionstateAction) |
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75 | self.default_emotion_client.wait_for_server()
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76 | |||
77 | self.logger.debug("creating current emotion action client") |
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78 | self.current_emotion_client = actionlib.SimpleActionClient(self.base_scope + "/set/currentEmotion", emotionstateAction) |
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79 | self.current_emotion_client.wait_for_server()
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80 | |||
81 | self.logger.debug("creating animation action client") |
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82 | self.animation_client = actionlib.SimpleActionClient(self.base_scope + "/set/animation", animationAction) |
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83 | self.animation_client.wait_for_server()
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84 | |||
85 | self.logger.debug("creating gazetarget action client") |
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86 | self.gazetarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/gaze", gazetargetAction) |
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87 | self.gazetarget_client.wait_for_server()
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88 | |||
89 | self.logger.debug("creating mouthtarget action client") |
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90 | self.mouthtarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/mouth", mouthtargetAction) |
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91 | self.mouthtarget_client.wait_for_server()
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92 | |||
93 | self.logger.info("MiddlewareROS initialised") |
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94 | |||
95 | 02fc76ae | Simon Schulz | #######################################################################
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96 | def is_running(self): |
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97 | return not rospy.is_shutdown() |
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98 | 70c54617 | Simon Schulz | |
99 | #######################################################################
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100 | def publish_emotion(self, em_type, emotion, blocking): |
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101 | """publish an emotion via mw
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102 | :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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103 | :param emotion: emotion to set
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104 | :param blocking: True if this call should block until execution finished on robot
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105 | """
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106 | self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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107 | |||
108 | #create a goal to send to the action server.
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109 | goal = emotionstateGoal() |
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110 | goal.value = self.convert_emotiontype_to_rosval(emotion.value)
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111 | goal.duration = int(emotion.time_ms)
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112 | |||
113 | #which client do we use?
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114 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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115 | client = self.default_emotion_client
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116 | else:
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117 | client = self.current_emotion_client
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118 | |||
119 | #send the goal to the server
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120 | if (blocking):
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121 | 2126781b | Simon Schulz | #send and wait:
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122 | state = client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
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123 | if (state != GoalStatus.SUCCEEDED):
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124 | self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name)) |
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125 | else:
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126 | #non blocking, fire & forget
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127 | client.send_goal(goal) |
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128 | |||
129 | self.logger.debug("emotion rpc done") |
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130 | 70c54617 | Simon Schulz | |
131 | def publish_default_emotion(self, emotion, blocking): |
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132 | self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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133 | |||
134 | def publish_current_emotion(self, emotion, blocking): |
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135 | self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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136 | |||
137 | def publish_head_animation(self, animation, blocking): |
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138 | """publish an head animation via mw
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139 | :param animation: animation to set
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140 | :param blocking: True if this call should block until execution finished on robot
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141 | """
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142 | self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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143 | |||
144 | #create a goal to send to the action server.
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145 | goal = animationGoal() |
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146 | goal.target = self.convert_animationtype_to_rosval(animation.value)
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147 | goal.repetitions = animation.repetitions |
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148 | goal.duration_each = int(animation.time_ms)
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149 | goal.scale = animation.scale |
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150 | |||
151 | #send the goal to the server
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152 | if (blocking):
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153 | 2126781b | Simon Schulz | #send and wait:
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154 | state = self.animation_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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155 | if (state != GoalStatus.SUCCEEDED):
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156 | self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name)) |
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157 | else:
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158 | #non blocking, fire & forget
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159 | self.animation_client.send_goal(goal)
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160 | 70c54617 | Simon Schulz | |
161 | self.logger.debug("animation rpc done") |
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162 | |||
163 | def publish_gaze_target(self, gaze, blocking): |
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164 | """publish a gaze target via mw
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165 | :param gaze: gaze to set
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166 | :param blocking: True if this call should block until execution finished on robot
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167 | """
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168 | self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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169 | |||
170 | #create a goal to send to the action server.
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171 | goal = gazetargetGoal() |
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172 | goal.pan = gaze.pan |
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173 | goal.tilt = gaze.tilt |
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174 | goal.roll = gaze.roll |
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175 | goal.vergence = gaze.vergence |
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176 | goal.pan_offset = gaze.pan_offset |
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177 | goal.tilt_offset = gaze.tilt_offset |
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178 | |||
179 | #type
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180 | if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE):
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181 | goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
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182 | else:
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183 | goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
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184 | |||
185 | 04cf2b6f | Sebastian Meyer zu Borgsen | goal.gaze_timestamp = rospy.Time.from_sec(gaze.gaze_timestamp.to_seconds()) |
186 | 70c54617 | Simon Schulz | |
187 | #send the goal to the server
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188 | if (blocking):
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189 | 2126781b | Simon Schulz | #send and wait:
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190 | state = self.gazetarget_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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191 | if (state != GoalStatus.SUCCEEDED):
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192 | self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name)) |
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193 | else:
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194 | #non blocking, fire & forget
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195 | self.gazetarget_client.send_goal(goal)
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196 | 70c54617 | Simon Schulz | |
197 | self.logger.debug("gaze rpc done") |
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198 | |||
199 | def publish_mouth_target(self, mouth, blocking): |
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200 | """publish a mouth target via mw
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201 | :param mouth: mouth value to set
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202 | :param blocking: True if this call should block until execution finished on robot
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203 | """
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204 | self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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205 | |||
206 | #create a goal to send to the action server.
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207 | goal = mouthtargetGoal() |
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208 | goal.opening_left = mouth.opening_left |
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209 | goal.opening_center = mouth.opening_center |
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210 | goal.opening_right = mouth.opening_right |
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211 | goal.position_left = mouth.position_left |
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212 | goal.position_center = mouth.position_center |
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213 | goal.position_right = mouth.position_right |
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214 | |||
215 | #send the goal to the server
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216 | if (blocking):
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217 | 2126781b | Simon Schulz | #send and wait:
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218 | state = self.mouthtarget_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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219 | if (state != GoalStatus.SUCCEEDED):
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220 | self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name)) |
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221 | else:
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222 | #non blocking, fire & forget
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223 | self.mouthtarget_client.send_goal(goal)
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224 | 70c54617 | Simon Schulz | |
225 | self.logger.debug("mouth rpc done") |
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226 | |||
227 | def publish_speech(self, text_, blocking): |
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228 | """publish a tts request via mw
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229 | :param text_: text to synthesize and speak
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230 | :param blocking: True if this call should block until execution finished on robot
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231 | """
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232 | self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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233 | |||
234 | #create a goal to send to the action server.
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235 | goal = speechGoal(text=text_) |
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236 | |||
237 | #send the goal to the server
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238 | if (blocking):
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239 | 2126781b | Simon Schulz | #send and wait:
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240 | state = self.speech_client.send_goal_and_wait(goal, execute_timeout = rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))
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241 | if (state != GoalStatus.SUCCEEDED):
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242 | self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name)) |
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243 | else:
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244 | #non blocking, fire & forget
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245 | self.speech_client.send_goal(goal)
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246 | 70c54617 | Simon Schulz | |
247 | self.logger.debug("speech rpc done") |
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248 | |||
249 | #######################################################################
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250 | # some helpers
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251 | def convert_animationtype_to_rosval(self, value): |
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252 | """convert RobotAnimation.value to ROS animation value
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253 | :param value: RobotAnimation.* id to convert to rsb id
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254 | """
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255 | #NOTE: this convertion is important as the actual integer values of
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256 | # thy python api and the protobuf might be different
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257 | if (value == RobotAnimation.IDLE):
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258 | return animationGoal.IDLE
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259 | elif (value == RobotAnimation.HEAD_NOD):
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260 | return animationGoal.HEAD_NOD
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261 | elif (value == RobotAnimation.HEAD_SHAKE):
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262 | return animationGoal.HEAD_SHAKE
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263 | elif (value == RobotAnimation.EYEBLINK_L):
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264 | return animationGoal.EYEBLINK_L
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265 | elif (value == RobotAnimation.EYEBLINK_R):
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266 | return animationGoal.EYEBLINK_R
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267 | elif (value == RobotAnimation.EYEBLINK_BOTH):
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268 | return animationGoal.EYEBLINK_BOTH
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269 | elif (value == RobotAnimation.EYEBROWS_RAISE):
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270 | return animationGoal.EYEBROWS_RAISE
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271 | elif (value == RobotAnimation.EYEBROWS_LOWER):
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272 | return animationGoal.EYEBROWS_LOWER
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273 | else:
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274 | self.logger.error("invalid animation type %d\n" % (value)) |
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275 | return animationGoal.NEUTRAL
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276 | |||
277 | def convert_emotiontype_to_rosval(self, value): |
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278 | """convert RobotEmotion.value to ROS animation value
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279 | :param value: RobotEmotion.* id to convert to ros id
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280 | """
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281 | #NOTE: this convertion is important as the actual integer values of
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282 | # thy python api and the protobuf might be different
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283 | |||
284 | if (value == RobotEmotion.NEUTRAL):
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285 | return emotionstateGoal.NEUTRAL
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286 | elif (value == RobotEmotion.HAPPY):
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287 | return emotionstateGoal.HAPPY
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288 | elif (value == RobotEmotion.SAD):
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289 | return emotionstateGoal.SAD
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290 | elif (value == RobotEmotion.ANGRY):
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291 | return emotionstateGoal.ANGRY
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292 | elif (value == RobotEmotion.SURPRISED):
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293 | return emotionstateGoal.SURPRISED
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294 | elif (value == RobotEmotion.FEAR):
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295 | return emotionstateGoal.FEAR
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296 | else:
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297 | self.logger.error("invalid emotion type %d\n" % (value)) |
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298 | return emotionstateGoal.NEUTRAL |