hlrc / client / python / hlrc_client / MiddlewareRSB.py @ bbd41216
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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 | ba6302b1 | Simon Schulz | import rsb |
32 | import rsb.converter |
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33 | 73f57e84 | fl | # import rst
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34 | c827824f | fl | |
35 | 78cc756c | Simon Schulz | from rstsandbox.animation.EmotionExpression_pb2 import EmotionExpression |
36 | from rstsandbox.animation.HeadAnimation_pb2 import HeadAnimation |
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37 | from rstsandbox.animation.BinocularHeadGaze_pb2 import BinocularHeadGaze |
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38 | from rstsandbox.geometry.SphericalDirectionFloat_pb2 import SphericalDirectionFloat |
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39 | c827824f | fl | |
40 | 0c286af0 | Simon Schulz | |
41 | class MiddlewareRSB(Middleware): |
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42 | 3877047d | Simon Schulz | #######################################################################
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43 | def __init__(self, scope, loglevel=logging.WARNING): |
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44 | 70c54617 | Simon Schulz | """initialise
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45 | :param scope: base scope we want to listen on
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46 | """
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47 | e3691d2d | fl | # init base settings
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48 | Middleware.__init__(self, scope, loglevel)
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49 | 73f57e84 | fl | self.EmotionExpression_converter = None |
50 | self.HeadAnimation_converter = None |
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51 | self.BinocularHeadGaze_converter = None |
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52 | 70c54617 | Simon Schulz | #call mw init
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53 | ee1e3286 | fl | self.server = None |
54 | 70c54617 | Simon Schulz | self.init_middleware()
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55 | |||
56 | def __del__(self): |
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57 | """destructor
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58 | """
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59 | self.logger.debug("destructor of MiddlewareROS called") |
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60 | |||
61 | #######################################################################
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62 | def init_middleware(self): |
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63 | """initialise middleware
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64 | """
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65 | e3691d2d | fl | # mute rsb logging:
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66 | 70c54617 | Simon Schulz | logging.getLogger("rsb").setLevel(logging.ERROR)
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67 | |||
68 | #initialise RSB stuff
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69 | e3691d2d | fl | self.logger.info(
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70 | "initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope)) |
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71 | 70c54617 | Simon Schulz | |
72 | e3691d2d | fl | self.EmotionExpression_converter = rsb.converter.ProtocolBufferConverter(messageClass=EmotionExpression)
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73 | 78cc756c | Simon Schulz | rsb.converter.registerGlobalConverter(self.EmotionExpression_converter)
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74 | 70c54617 | Simon Schulz | |
75 | e3691d2d | fl | self.HeadAnimation_converter = rsb.converter.ProtocolBufferConverter(messageClass=HeadAnimation)
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76 | 78cc756c | Simon Schulz | rsb.converter.registerGlobalConverter(self.HeadAnimation_converter)
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77 | 70c54617 | Simon Schulz | |
78 | e3691d2d | fl | self.BinocularHeadGaze_converter = rsb.converter.ProtocolBufferConverter(messageClass=BinocularHeadGaze)
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79 | 78cc756c | Simon Schulz | rsb.converter.registerGlobalConverter(self.BinocularHeadGaze_converter)
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80 | 70c54617 | Simon Schulz | |
81 | try:
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82 | self.server = rsb.createRemoteServer(self.base_scope + '/set') |
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83 | except ValueError: |
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84 | self.logger.error("ERROR: invalid scope given. server deactivated") |
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85 | self.server.deactivate()
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86 | sys.exit(errno.EINVAL) |
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87 | |||
88 | #######################################################################
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89 | def publish_emotion(self, em_type, emotion, blocking): |
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90 | """publish an emotion via mw
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91 | :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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92 | :param emotion: emotion to set
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93 | :param blocking: True if this call should block until execution finished on robot
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94 | """
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95 | |||
96 | e3691d2d | fl | # create emotion & fill it with values:
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97 | 78cc756c | Simon Schulz | rsb_em = EmotionExpression() |
98 | bbd41216 | fl | rsb_em.emotion = self.convert_emotiontype_to_rsbval(emotion.value)
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99 | 70c54617 | Simon Schulz | rsb_em.duration = int(emotion.time_ms)
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100 | |||
101 | with rsb.createRemoteServer(self.base_scope + '/set') as server: |
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102 | self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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103 | |||
104 | if (blocking):
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105 | #blocking rpc call:
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106 | 78cc756c | Simon Schulz | if (em_type == EmotionExpression.TYPE_DEFAULT):
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107 | 70c54617 | Simon Schulz | result = server.defaultEmotion(rsb_em) |
108 | else:
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109 | result = server.currentEmotion(rsb_em) |
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110 | |||
111 | self.logger.debug("server reply: '%s'" % result) |
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112 | else:
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113 | 78cc756c | Simon Schulz | if (em_type == EmotionExpression.TYPE_DEFAULT):
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114 | 70c54617 | Simon Schulz | future = server.defaultEmotion.async(rsb_em) |
115 | else:
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116 | future = server.currentEmotion.async(rsb_em) |
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117 | |||
118 | e3691d2d | fl | #we could block here for a incoming result with a timeout in s
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119 | #print '> server reply: "%s"' % future.get(timeout = 10);
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120 | 70c54617 | Simon Schulz | self.logger.debug("emotion rpc done") |
121 | |||
122 | 78cc756c | Simon Schulz | def publish_head_HeadAnimation(self, HeadAnimation, blocking): |
123 | """publish an head HeadAnimation via mw
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124 | :param HeadAnimation: HeadAnimation to set
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125 | 70c54617 | Simon Schulz | :param blocking: True if this call should block until execution finished on robot
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126 | """
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127 | |||
128 | 78cc756c | Simon Schulz | self.logger.debug("calling the HeadAnimation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
129 | 70c54617 | Simon Schulz | |
130 | e3691d2d | fl | # create HeadAnimation & fill it with values:
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131 | 78cc756c | Simon Schulz | rsb_ani = HeadAnimation() |
132 | 70c54617 | Simon Schulz | |
133 | #select ani
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134 | 78cc756c | Simon Schulz | rsb_ani.target = self.convert_HeadAnimationtype_to_rsbval(HeadAnimation.value)
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135 | rsb_ani.repetitions = HeadAnimation.repetitions |
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136 | rsb_ani.duration_each = HeadAnimation.time_ms |
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137 | e3691d2d | fl | rsb_ani.scale = HeadAnimation.scale |
138 | 70c54617 | Simon Schulz | |
139 | 73f57e84 | fl | if blocking:
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140 | 70c54617 | Simon Schulz | #blocking:
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141 | 78cc756c | Simon Schulz | result = self.server.HeadAnimation(rsb_ani)
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142 | 70c54617 | Simon Schulz | self.logger.debug("server reply: '%s'" % result) |
143 | else:
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144 | 78cc756c | Simon Schulz | future = self.server.HeadAnimation.async(rsb_ani)
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145 | 70c54617 | Simon Schulz | #we can block here for a incoming result with a timeout in s
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146 | #print '> server reply: "%s"' % future.get(timeout = 10);
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147 | |||
148 | 78cc756c | Simon Schulz | self.logger.debug("HeadAnimation rpc done") |
149 | 70c54617 | Simon Schulz | |
150 | def publish_default_emotion(self, emotion, blocking): |
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151 | self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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152 | |||
153 | def publish_current_emotion(self, emotion, blocking): |
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154 | self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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155 | |||
156 | def publish_gaze_target(self, gaze, blocking): |
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157 | """publish a gaze target via mw
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158 | :param gaze: gaze to set
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159 | :param blocking: True if this call should block until execution finished on robot
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160 | """
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161 | self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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162 | |||
163 | e3691d2d | fl | # create gaze target & fill it with values:
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164 | 73f57e84 | fl | hg = BinocularHeadGaze() |
165 | 70c54617 | Simon Schulz | |
166 | d076942c | fl | hg.target.elevation = gaze.tilt |
167 | hg.target.azimuth = gaze.pan |
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168 | 73f57e84 | fl | hg.eye_vergence = gaze.vergence |
169 | 78cc756c | Simon Schulz | |
170 | d076942c | fl | hg.offset.elevation = gaze.tilt_offset |
171 | hg.offset.azimuth = gaze.pan_offset |
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172 | 0b6329fb | fl | |
173 | 73f57e84 | fl | if blocking:
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174 | e3691d2d | fl | # blocking:
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175 | 73f57e84 | fl | result = self.server.gaze(hg)
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176 | ee1e3286 | fl | self.logger.debug("server reply blocking: '%s'" % result) |
177 | 70c54617 | Simon Schulz | else:
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178 | 73f57e84 | fl | future = self.server.gaze.async(hg)
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179 | ee1e3286 | fl | self.logger.debug("server reply non-blocking: '%s'" % future) |
180 | e3691d2d | fl | # we can block here for a incoming result with a timeout in s
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181 | 70c54617 | Simon Schulz | #print '> server reply: "%s"' % future.get(timeout = 10);
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182 | |||
183 | self.logger.debug("gaze rpc done") |
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184 | |||
185 | 5eb9025f | fl | def publish_speech(self, text, blocking): |
186 | """publish a tts request via mw
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187 | :param text: text to synthesize and speak
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188 | :param blocking: True if this call should block until execution finished on robot
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189 | """
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190 | self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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191 | 70c54617 | Simon Schulz | |
192 | 5eb9025f | fl | if (blocking):
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193 | # blocking:
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194 | result = self.server.speech(text)
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195 | self.logger.debug("server reply: '%s'" % result) |
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196 | else:
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197 | future = self.server.speech.async(text)
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198 | # we can block here for a incoming result with a timeout in s
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199 | #print '> server reply: "%s"' % future.get(timeout = 10);
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200 | 70c54617 | Simon Schulz | |
201 | 5eb9025f | fl | self.logger.debug("speech rpc done") |
202 | 70c54617 | Simon Schulz | |
203 | |||
204 | 5eb9025f | fl | #######################################################################
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205 | def is_running(self): |
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206 | return True |
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207 | 70c54617 | Simon Schulz | |
208 | |||
209 | 5eb9025f | fl | #######################################################################
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210 | # some helpers
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211 | def convert_HeadAnimationtype_to_rsbval(self, value): |
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212 | """convert RobotHeadAnimation.value to RSB HeadAnimation value
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213 | :param value: RobotHeadAnimation.* id to convert to rsb id
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214 | """
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215 | # NOTE: this convertion is important as the actual integer values of
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216 | # thy python api and the protobuf might be different
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217 | |||
218 | if (value == RobotHeadAnimation.IDLE):
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219 | return HeadAnimation().IDLE
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220 | elif (value == RobotHeadAnimation.HEAD_NOD):
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221 | return HeadAnimation().HEAD_NOD
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222 | elif (value == RobotHeadAnimation.HEAD_SHAKE):
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223 | return HeadAnimation().HEAD_SHAKE
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224 | elif (value == RobotHeadAnimation.EYEBLINK_L):
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225 | return HeadAnimation().EYEBLINK_L
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226 | elif (value == RobotHeadAnimation.EYEBLINK_R):
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227 | return HeadAnimation().EYEBLINK_R
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228 | elif (value == RobotHeadAnimation.EYEBLINK_BOTH):
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229 | return HeadAnimation().EYEBLINK_BOTH
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230 | elif (value == RobotHeadAnimation.EYEBROWS_RAISE):
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231 | return HeadAnimation().EYEBROWS_RAISE
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232 | elif (value == RobotHeadAnimation.EYEBROWS_LOWER):
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233 | return HeadAnimation().EYEBROWS_LOWER
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234 | else:
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235 | self.logger.error("invalid HeadAnimation type %d\n" % (value)) |
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236 | return HeadAnimation().NEUTRAL
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237 | 70c54617 | Simon Schulz | |
238 | 5eb9025f | fl | def convert_emotiontype_to_rsbval(self, value): |
239 | """convert RobotEmotion.value to RSB HeadAnimation value
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240 | :param value: RobotEmotion.* id to convert to rsb id
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241 | """
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242 | # NOTE: this convertion is important as the actual integer values of
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243 | # thy python api and the protobuf might be different
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244 | |||
245 | if (value == RobotEmotion.NEUTRAL):
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246 | return EmotionExpression().NEUTRAL
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247 | elif (value == RobotEmotion.HAPPY):
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248 | return EmotionExpression().HAPPY
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249 | elif (value == RobotEmotion.SAD):
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250 | return EmotionExpression().SAD
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251 | elif (value == RobotEmotion.ANGRY):
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252 | return EmotionExpression().ANGRY
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253 | elif (value == RobotEmotion.SURPRISED):
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254 | return EmotionExpression().SURPRISED
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255 | elif (value == RobotEmotion.FEAR):
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256 | return EmotionExpression().FEAR
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257 | else:
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258 | self.logger.error("invalid emotion type %d\n" % (value)) |
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259 | return EmotionExpression().NEUTRAL
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260 | e3691d2d | fl | |
261 | """
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262 | 5eb9025f | fl | def publish_mouth_target(self, mouth, blocking):
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263 | publish a mouth target via mw
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264 | :param mouth: mouth value to set
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265 | :param blocking: True if this call should block until execution finished on robot
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266 |
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267 | self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
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268 |
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269 | #create mouth state & fill it with values:
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270 | rsb_mouth = MouthTarget()
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271 |
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272 | #fill proto
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273 | rsb_mouth.opening_left = mouth.opening_left
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274 | rsb_mouth.opening_center = mouth.opening_center
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275 | rsb_mouth.opening_right = mouth.opening_right
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276 | rsb_mouth.position_left = mouth.position_left
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277 | rsb_mouth.position_center = mouth.position_center
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278 | rsb_mouth.position_right = mouth.position_right
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279 |
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280 | if (blocking):
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281 | #blocking:
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282 | result = self.server.mouth(rsb_mouth)
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283 | self.logger.debug("server reply: '%s'" % result)
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284 | else:
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285 | future = self.server.mouth.async(rsb_mouth)
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286 | #we can block here for a incoming result with a timeout in s
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287 | #print '> server reply: "%s"' % future.get(timeout = 10);
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288 |
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289 | self.logger.debug("mouth rpc done")
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290 | """ |