Revision ba6302b1

View differences:

client/cpp/include/MiddlewareROS.h
50 50 
class MiddlewareROS : public Middleware{
51 51 
#ifndef ROS_SUPPORT
52 52 
public:
53 
    MiddlewareRSB(std::string scope){
53 
    MiddlewareRSB(std::string scope) : Middleware(scope){
54 54 
        printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");
55 55 
        exit(EXIT_FAILURE);
56 56 
    }
client/cpp/include/MiddlewareRSB.h
42 42 
class MiddlewareRSB : public Middleware{
43 43 
#ifndef RSB_SUPPORT
44 44 
public:
45 
    MiddlewareRSB(std::string scope){
45 
    MiddlewareRSB(std::string scope) : Middleware(scope){
46 46 
        printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");
47 47 
        exit(EXIT_FAILURE);
48 48 
    }
client/python/hlrc_client/MiddlewareRSB.py
28 28 
from Middleware import *
29 29 
import errno
30 30 

  		




  31
  
  
    
try:


  		




  32
  
  
    
    import rsb


  		




  33
  
  
    
    import rsb.converter


  		




  34
  
  
    
    import rst


  		




  35
  
  
    
    import rstsandbox


  		




  36
  
  
    
    from   rst.robot.EmotionState_pb2 import EmotionState


  		




  37
  
  
    
    from   rst.robot.Animation_pb2    import Animation


  		




  38
  
  
    
    from   rst.robot.GazeTarget_pb2   import GazeTarget


  		




  39
  
  
    
    from   rst.robot.MouthTarget_pb2  import MouthTarget


  		




  
  31
  
    
import rsb


  		




  
  32
  
    
import rsb.converter


  		




  
  33
  
    
import rst


  		




  
  34
  
    
import rstsandbox


  		




  
  35
  
    
from   rst.robot.EmotionState_pb2 import EmotionState


  		




  
  36
  
    
from   rst.robot.Animation_pb2    import Animation


  		




  
  37
  
    
from   rst.robot.GazeTarget_pb2   import GazeTarget


  		




  
  38
  
    
from   rst.robot.MouthTarget_pb2  import MouthTarget


  		




  40
  39
  
    
    


  		




  41
  
  
    
except ImportError as exception:


  		




  42
  
  
    
    sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))


  		




  43
  
  
    
    sys.exit(errno.ENOPKG)


  		




  
  40
  
    
#except ImportError as exception:


  		




  
  41
  
    
#    sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))


  		




  
  42
  
    
#    sys.exit(errno.ENOPKG)


  		




  44
  43
  
    

  		




  45
  44
  
    
class MiddlewareRSB(Middleware):


  		




  46
  45
  
    
	#######################################################################


  		




  ......




  285
  284
  
    
			return EmotionState().FEAR


  		




  286
  285
  
    
		else:


  		




  287
  286
  
    
			self.logger.error("invalid emotion type %d\n" % (value))


  		




  288
  
  
    
			return  EmotionState().NEUTRAL


  		




  
  287
  
    
			return  EmotionState().NEUTRAL


  		












  

    
      client/python/hlrc_client/RobotController.py
    
  





  26
  26
  
    
"""


  		




  27
  27
  
    

  		




  28
  28
  
    
import logging


  		




  29
  
  
    
from MiddlewareRSB import *


  		




  
  29
  
    
try:


  		




  
  30
  
    
	import rsb


  		




  
  31
  
    
except ImportError:


  		




  
  32
  
    
	RSB_SUPPORT = False


  		




  
  33
  
    
else:


  		




  
  34
  
    
	from MiddlewareRSB import *


  		




  
  35
  
    
	RSB_SUPPORT = True


  		




  
  36
  
    

  		




  30
  37
  
    
from MiddlewareROS import *


  		




  
  38
  
    
import sys


  		




  31
  39
  
    

  		




  32
  40
  
    
class RobotController:


  		




  33
  41
  
    
	def __init__(self, mw_name, scope, loglevel=logging.WARNING):


  		




  ......




  50
  58
  
    
		


  		




  51
  59
  
    
				


  		




  52
  60
  
    
		if (self.mw.upper() == "RSB"):


  		




  53
  
  
    
			self.logger.info("creating new middleware connection via RSB")


  		




  54
  
  
    
			self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  
  61
  
    
			if (not RSB_SUPPORT):


  		




  
  62
  
    
				self.logger.error("ERROR: no RSB support detected")


  		




  
  63
  
    
				sys.exit(errno.EINVAL)


  		




  
  64
  
    
			else:


  		




  
  65
  
    
				self.logger.info("creating new middleware connection via RSB")


  		




  
  66
  
    
				self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  55
  67
  
    
		elif (self.mw.upper() == "ROS"):


  		




  56
  68
  
    
			self.logger.info("creating new middleware connection via ROS")


  		




  57
  69
  
    
			self.middleware = MiddlewareROS(self.scope, self.loglevel)


  		












  

    
      client/python/hlrc_client/__init__.py
    
  





  1
  1
  
    
from Middleware import Middleware


  		




  2
  
  
    
from MiddlewareRSB import MiddlewareRSB


  		




  3
  
  
    
from MiddlewareROS import MiddlewareROS


  		




  4
  2
  
    
from RobotEmotion import RobotEmotion


  		




  5
  3
  
    
from RobotController import RobotController


  		




  6
  4
  
    
from RobotGaze import RobotGaze


  		












  

    
      client/python/hlrc_client/hlrc_test_gui.py
    
  





  38
  38
  
    
from PyQt4 import QtGui, QtCore


  		




  39
  39
  
    
from PyQt4.QtCore import SIGNAL


  		




  40
  40
  
    

  		




  41
  
  
    
#from hlrc_speak_utterance import hlrc_utterance


  		




  42
  
  
    
#from hlrc_play_animation import hlrc_animation


  		




  43
  
  
    
#from hlrc_set_emotion import hlrc_emotion


  		




  44
  
  
    

  		




  45
  41
  
    
class HLRCExample(QtGui.QWidget):


  		




  46
  42
  
    
    


  		




  47
  43
  
    
	def __init__(self, scope, mw):


  		












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