/client/python/hlrc_client/Middleware.py - Annotate - hlrc - Research for Cognitive Interaction

hlrc / client / python / hlrc_client / Middleware.py @ d81c4f8b

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+"""
 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.,
 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 sys
 import logging
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+from .RobotEmotion import *
 from .RobotGaze import *
 from .RobotMouth import *
 from .RobotAnimation import *
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+            Simon Schulz
 class Middleware:
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+    #######################################################################
     def __init__(self, scope, loglevel=logging.WARNING):
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+        """initialise
         :param scope: base scope we want to listen on
         """
         self.base_scope = scope
         self.logger = logging.getLogger(__name__)
         # create nice and actually usable formatter and add it to the handler
         self.config_logger(loglevel)
         #initialise defaults
         self.default_emotion = RobotEmotion()
         self.current_emotion = RobotEmotion()
         self.gaze_target = RobotGaze()
         self.mouth_target = RobotMouth()
         self.robot_animation = RobotAnimation()
     def __del__(self):
         """destructor
         """
         self.logger.debug("destructor of Middleware called")
     def config_logger(self, 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)
     #######################################################################
     #abstract/virtual functions
     def die_virtual(self, funcname):
         raise NotImplementedError(funcname + "() is virtual, must be overwritten")
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+    def is_running(self):
         self.die_virtual(sys._getframe().f_code.co_name)
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+    def init_middleware(self):
         self.die_virtual(sys._getframe().f_code.co_name)
     def publish_default_emotion(self, emotion, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
     def publish_current_emotion(self, emotion, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
     def publish_gaze_target(self, gaze, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
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+    def publish_lookat_target(self, x, y, z, blocking, frame_id, roll):
         self.die_virtual(sys._getframe().f_code.co_name)
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+    def publish_mouth_target(self, mouth, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
     def publish_head_animation(self, animation, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
     def publish_speech(self, text, blocking):
         self.die_virtual(sys._getframe().f_code.co_name)
     #######################################################################
     #finally some implemented functions
     def set_default_emotion(self, emotion, blocking):
         """set the default emotion
         :param emotion: RobotEmotion to set
         :param blocking: True if this call should block until execution finished on robot
         """
         self.default_emotion = emotion
         self.publish_default_emotion(emotion, blocking)
     def set_current_emotion(self, emotion, blocking):
         """set a temporary emotion (duration: see emotion.time_ms)
         :param emotion: RobotEmotion to set temporarily
         :param blocking: True if this call should block until execution finished on robot
         """
         self.current_emotion = emotion
         self.publish_current_emotion(emotion, blocking)
     def set_head_animation(self, animation, blocking):
         """trigger a head animation
         :param animation: RobotAnimation to set
         :param blocking: True if this call should block until execution finished on robot
         """
         self.animation = animation
         self.publish_head_animation(animation, blocking)
     def set_mouth_target(self, mouth, blocking):
         """set a mouth target
         :param mouth: RobotMouth to set
         :param blocking: True if this call should block until execution finished on robot
         """
         self.mouth_target = mouth
         self.publish_mouth_target(mouth, blocking)
     def set_speak(self, text, blocking):
         """trigger a tts speech output
         :param text: text to synthesize and speak
         :param blocking: True if this call should block until execution finished on robot
         """
         self.publish_speech(text, blocking)
     def set_gaze_target(self, gaze, blocking):
         """set a new gaze
         :param gaze: RobotGaze to set
         :param blocking: True if this call should block until execution finished on robot
         """
         self.gaze_target = gaze
         self.publish_gaze_target(gaze, blocking)
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+    def set_lookat_target(self, x, y, z, blocking=False, frame_id='', roll=0.0):
         """set a gaze at a Cartesian position
         :param x,y,z: position to look at (in eyes frame or frame_id)
         :param roll: side-ways motion of head
         :param blocking: True if this call should block until execution finished on robot
         """
         self.publish_lookat_target(x, y, z, blocking, frame_id, roll)
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+    #######################################################################
     #some get methods
     #def get_current_emotion(self):
     #       return self.current_emotion
+    #
     #def get_default_emotion(self):
     #       return self.default_emotion
+    #