hlrc / client / python / hlrc_client / MiddlewareRSB.py @ c827824f
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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 | 64f5c90e | Simon Schulz | import rst |
34 | c827824f | fl | |
35 | #This is untested for now (flier), RST has been refactored during "GGB", so these are the new types (names and packages)
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36 | from rstsandbox.animation.EmotionExpression_pb2 import EmotionExpression as EmotionState |
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37 | from rstsandbox.animation.HeadAnimation_pb2 import HeadAnimation as Animation |
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38 | from rstsandbox.robot.HumotionGazeTarget_pb2 import HumotionGazeTarget as GazeTarget |
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39 | from rstsandbox.robot.MouthTarget_pb2 import MouthTarget |
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40 | |||
41 | 0c286af0 | Simon Schulz | |
42 | class MiddlewareRSB(Middleware): |
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43 | 3877047d | Simon Schulz | #######################################################################
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44 | def __init__(self, scope, loglevel=logging.WARNING): |
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45 | 70c54617 | Simon Schulz | """initialise
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46 | :param scope: base scope we want to listen on
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47 | """
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48 | #init base settings
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49 | Middleware.__init__(self,scope,loglevel)
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50 | #call mw init
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51 | self.init_middleware()
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52 | |||
53 | def __del__(self): |
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54 | """destructor
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55 | """
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56 | self.logger.debug("destructor of MiddlewareROS called") |
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57 | |||
58 | #######################################################################
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59 | def init_middleware(self): |
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60 | """initialise middleware
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61 | """
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62 | #mute rsb logging:
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63 | logging.getLogger("rsb").setLevel(logging.ERROR)
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64 | |||
65 | #initialise RSB stuff
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66 | self.logger.info("initialising RSB middleware connection on scope %s, registering rst converters..." % (self.base_scope)) |
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67 | |||
68 | self.emotionstate_converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState)
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69 | rsb.converter.registerGlobalConverter(self.emotionstate_converter)
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70 | |||
71 | self.animation_converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation)
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72 | rsb.converter.registerGlobalConverter(self.animation_converter)
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73 | |||
74 | self.gaze_converter = rsb.converter.ProtocolBufferConverter(messageClass = GazeTarget)
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75 | rsb.converter.registerGlobalConverter(self.gaze_converter)
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76 | |||
77 | self.mouth_converter = rsb.converter.ProtocolBufferConverter(messageClass = MouthTarget)
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78 | rsb.converter.registerGlobalConverter(self.mouth_converter)
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79 | |||
80 | try:
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81 | self.server = rsb.createRemoteServer(self.base_scope + '/set') |
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82 | except ValueError: |
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83 | self.logger.error("ERROR: invalid scope given. server deactivated") |
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84 | self.server.deactivate()
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85 | sys.exit(errno.EINVAL) |
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86 | |||
87 | #######################################################################
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88 | def publish_emotion(self, em_type, emotion, blocking): |
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89 | """publish an emotion via mw
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90 | :param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
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91 | :param emotion: emotion to set
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92 | :param blocking: True if this call should block until execution finished on robot
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93 | """
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94 | |||
95 | #create emotion & fill it with values:
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96 | rsb_em = EmotionState() |
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97 | |||
98 | #set value
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99 | rsb_em.value = self.convert_emotiontype_to_rsbval(emotion.value)
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100 | |||
101 | #set duration
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102 | rsb_em.duration = int(emotion.time_ms)
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103 | |||
104 | with rsb.createRemoteServer(self.base_scope + '/set') as server: |
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105 | self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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106 | |||
107 | if (blocking):
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108 | #blocking rpc call:
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109 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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110 | result = server.defaultEmotion(rsb_em) |
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111 | else:
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112 | result = server.currentEmotion(rsb_em) |
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113 | |||
114 | self.logger.debug("server reply: '%s'" % result) |
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115 | else:
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116 | if (em_type == RobotEmotion.TYPE_DEFAULT):
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117 | future = server.defaultEmotion.async(rsb_em) |
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118 | else:
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119 | future = server.currentEmotion.async(rsb_em) |
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120 | |||
121 | #we could block here for a incoming result with a timeout in s
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122 | #print '> server reply: "%s"' % future.get(timeout = 10);
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123 | self.logger.debug("emotion rpc done") |
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124 | |||
125 | def publish_head_animation(self, animation, blocking): |
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126 | """publish an head animation via mw
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127 | :param animation: animation to set
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128 | :param blocking: True if this call should block until execution finished on robot
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129 | """
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130 | |||
131 | self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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132 | |||
133 | #create animation & fill it with values:
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134 | rsb_ani = Animation() |
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135 | |||
136 | #select ani
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137 | rsb_ani.target = self.convert_animationtype_to_rsbval(animation.value)
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138 | rsb_ani.repetitions = animation.repetitions |
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139 | rsb_ani.duration_each = animation.time_ms |
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140 | rsb_ani.scale = animation.scale |
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141 | |||
142 | if (blocking):
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143 | #blocking:
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144 | result = self.server.animation(rsb_ani)
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145 | self.logger.debug("server reply: '%s'" % result) |
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146 | else:
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147 | future = self.server.animation.async(rsb_ani)
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148 | #we can block here for a incoming result with a timeout in s
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149 | #print '> server reply: "%s"' % future.get(timeout = 10);
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150 | |||
151 | self.logger.debug("animation rpc done") |
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152 | |||
153 | def publish_default_emotion(self, emotion, blocking): |
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154 | self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking)
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155 | |||
156 | def publish_current_emotion(self, emotion, blocking): |
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157 | self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking)
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158 | |||
159 | def publish_gaze_target(self, gaze, blocking): |
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160 | """publish a gaze target via mw
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161 | :param gaze: gaze to set
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162 | :param blocking: True if this call should block until execution finished on robot
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163 | """
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164 | self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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165 | |||
166 | #create gaze target & fill it with values:
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167 | rsb_gaze = GazeTarget() |
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168 | |||
169 | #fill proto
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170 | rsb_gaze.pan = gaze.pan |
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171 | rsb_gaze.tilt = gaze.tilt |
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172 | rsb_gaze.roll = gaze.roll |
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173 | rsb_gaze.vergence = gaze.vergence |
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174 | rsb_gaze.pan_offset = gaze.pan_offset |
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175 | rsb_gaze.tilt_offset = gaze.tilt_offset |
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176 | |||
177 | if (blocking):
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178 | #blocking:
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179 | result = self.server.gaze(rsb_gaze)
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180 | self.logger.debug("server reply: '%s'" % result) |
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181 | else:
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182 | future = self.server.gaze.async(rsb_gaze)
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183 | #we can block here for a incoming result with a timeout in s
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184 | #print '> server reply: "%s"' % future.get(timeout = 10);
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185 | |||
186 | self.logger.debug("gaze rpc done") |
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187 | |||
188 | def publish_mouth_target(self, mouth, blocking): |
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189 | """publish a mouth target via mw
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190 | :param mouth: mouth value to set
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191 | :param blocking: True if this call should block until execution finished on robot
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192 | """
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193 | self.logger.debug("calling the mouth rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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194 | |||
195 | #create mouth state & fill it with values:
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196 | rsb_mouth = MouthTarget() |
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197 | |||
198 | #fill proto
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199 | rsb_mouth.opening_left = mouth.opening_left |
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200 | rsb_mouth.opening_center = mouth.opening_center |
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201 | rsb_mouth.opening_right = mouth.opening_right |
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202 | rsb_mouth.position_left = mouth.position_left |
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203 | rsb_mouth.position_center = mouth.position_center |
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204 | rsb_mouth.position_right = mouth.position_right |
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205 | |||
206 | if (blocking):
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207 | #blocking:
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208 | result = self.server.mouth(rsb_mouth)
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209 | self.logger.debug("server reply: '%s'" % result) |
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210 | else:
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211 | future = self.server.mouth.async(rsb_mouth)
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212 | #we can block here for a incoming result with a timeout in s
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213 | #print '> server reply: "%s"' % future.get(timeout = 10);
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214 | |||
215 | self.logger.debug("mouth rpc done") |
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216 | |||
217 | def publish_speech(self, text, blocking): |
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218 | """publish a tts request via mw
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219 | :param text: text to synthesize and speak
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220 | :param blocking: True if this call should block until execution finished on robot
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221 | """
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222 | self.logger.debug("calling the speech rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING")) |
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223 | |||
224 | if (blocking):
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225 | #blocking:
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226 | result = self.server.speech(text)
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227 | self.logger.debug("server reply: '%s'" % result) |
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228 | else:
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229 | future = self.server.speech.async(text)
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230 | #we can block here for a incoming result with a timeout in s
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231 | #print '> server reply: "%s"' % future.get(timeout = 10);
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232 | |||
233 | self.logger.debug("speech rpc done") |
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234 | 02fc76ae | Simon Schulz | #######################################################################
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235 | def is_running(self): |
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236 | return True |
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237 | 70c54617 | Simon Schulz | |
238 | #######################################################################
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239 | # some helpers
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240 | def convert_animationtype_to_rsbval(self, value): |
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241 | """convert RobotAnimation.value to RSB animation value
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242 | :param value: RobotAnimation.* id to convert to rsb id
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243 | """
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244 | #NOTE: this convertion is important as the actual integer values of
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245 | # thy python api and the protobuf might be different
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246 | |||
247 | if (value == RobotAnimation.IDLE):
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248 | return Animation().IDLE
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249 | elif (value == RobotAnimation.HEAD_NOD):
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250 | return Animation().HEAD_NOD
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251 | elif (value == RobotAnimation.HEAD_SHAKE):
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252 | return Animation().HEAD_SHAKE
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253 | elif (value == RobotAnimation.EYEBLINK_L):
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254 | return Animation().EYEBLINK_L
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255 | elif (value == RobotAnimation.EYEBLINK_R):
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256 | return Animation().EYEBLINK_R
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257 | elif (value == RobotAnimation.EYEBLINK_BOTH):
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258 | return Animation().EYEBLINK_BOTH
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259 | elif (value == RobotAnimation.EYEBROWS_RAISE):
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260 | return Animation().EYEBROWS_RAISE
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261 | elif (value == RobotAnimation.EYEBROWS_LOWER):
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262 | return Animation().EYEBROWS_LOWER
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263 | else:
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264 | self.logger.error("invalid animation type %d\n" % (value)) |
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265 | return Animation().NEUTRAL
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266 | |||
267 | def convert_emotiontype_to_rsbval(self, value): |
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268 | """convert RobotEmotion.value to RSB animation value
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269 | :param value: RobotEmotion.* id to convert to rsb id
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270 | """
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271 | #NOTE: this convertion is important as the actual integer values of
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272 | # thy python api and the protobuf might be different
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273 | |||
274 | if (value == RobotEmotion.NEUTRAL):
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275 | return EmotionState().NEUTRAL
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276 | elif (value == RobotEmotion.HAPPY):
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277 | return EmotionState().HAPPY
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278 | elif (value == RobotEmotion.SAD):
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279 | return EmotionState().SAD
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280 | elif (value == RobotEmotion.ANGRY):
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281 | return EmotionState().ANGRY
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282 | elif (value == RobotEmotion.SURPRISED):
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283 | return EmotionState().SURPRISED
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284 | elif (value == RobotEmotion.FEAR):
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285 | return EmotionState().FEAR
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286 | else:
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287 | self.logger.error("invalid emotion type %d\n" % (value)) |
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288 | return EmotionState().NEUTRAL |