hlrc

#!/usr/bin/python

"""

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.,

51 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 logging

from hlrc_client import *

import time

import sys

import random

import errno

def main():

    random.seed()

    if (len(sys.argv) != 2):

        print("ERROR: invalid parameter count.\nusage: %s <scope>\n\n" % (str(sys.argv[0])));

        sys.exit(errno.EACCES)

    scope = str(sys.argv[1])

    r = RobotController("ROS", scope, logging.DEBUG)

    g = RobotGaze()

    #create a relative gaze request at the current timestamp

    #this will be sent multiple times, but as the 

    #internal logic will resolve the motor positions

    #at this specific time, it should only resolve to ONE

    #target gaze:

    g.gaze_type = RobotGaze.GAZETARGET_RELATIVE

    while(r.is_running()):

        g.gaze_timestamp = RobotTimestamp()

        #add some delazy to make it realistic

        time.sleep(1.0 / 50.0)

        print(g)

        g.pan = random.uniform(-20, 20)

        for t in range(50):

            r.set_gaze_target(g, True)

            time.sleep(1.0 / 50.0)

if __name__ == '__main__':

    main()