hlrc / client / python / hlrc_client / hlrc_test_gui.py @ eb9b1b16
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1 | 0c286af0 | Simon Schulz | #!/usr/bin/python
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2 | f8fa1217 | Simon Schulz | |
3 | """
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4 | This file is part of hlrc
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5 |
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6 | Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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7 | http://opensource.cit-ec.de/projects/hlrc
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8 |
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9 | This file may be licensed under the terms of the
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10 | GNU General Public License Version 3 (the ``GPL''),
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11 | or (at your option) any later version.
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12 |
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13 | Software distributed under the License is distributed
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14 | on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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15 | express or implied. See the GPL for the specific language
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16 | governing rights and limitations.
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17 |
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18 | You should have received a copy of the GPL along with this
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19 | program. If not, go to http://www.gnu.org/licenses/gpl.html
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20 | or write to the Free Software Foundation, Inc.,
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21 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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22 |
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23 | The development of this software was supported by the
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24 | Excellence Cluster EXC 277 Cognitive Interaction Technology.
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25 | The Excellence Cluster EXC 277 is a grant of the Deutsche
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26 | Forschungsgemeinschaft (DFG) in the context of the German
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27 | Excellence Initiative.
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28 | """
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29 | |||
30 | |||
31 | import logging |
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32 | from hlrc_client import * |
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33 | import time |
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34 | import errno |
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35 | 0c286af0 | Simon Schulz | import sys |
36 | import os.path |
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37 | f8fa1217 | Simon Schulz | |
38 | 0c286af0 | Simon Schulz | from PyQt4 import QtGui, QtCore |
39 | from PyQt4.QtCore import SIGNAL |
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40 | |||
41 | f8fa1217 | Simon Schulz | class HLRCExample(QtGui.QWidget): |
42 | 0c286af0 | Simon Schulz | |
43 | f8fa1217 | Simon Schulz | def __init__(self, scope, mw): |
44 | super(HLRCExample, self).__init__() |
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45 | 0c286af0 | Simon Schulz | |
46 | f8fa1217 | Simon Schulz | self.scope = scope
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47 | self.mw = mw
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48 | self.initUI()
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49 | self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG) |
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50 | |||
51 | def initUtteranceUI(self): |
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52 | groupBox = QtGui.QGroupBox("utterances")
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53 | |||
54 | hello = QtGui.QPushButton("hello...")
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55 | hello.clicked.connect(self.utterance_button_clicked)
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56 | |||
57 | count = QtGui.QPushButton("12345...")
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58 | count.clicked.connect(self.utterance_button_clicked)
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59 | |||
60 | |||
61 | vbox = QtGui.QVBoxLayout() |
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62 | vbox.addWidget(hello) |
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63 | vbox.addWidget(count) |
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64 | vbox.addStretch(1)
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65 | groupBox.setLayout(vbox) |
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66 | |||
67 | return groupBox
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68 | |||
69 | def initSpinbox(self, _min, _max, _init, double): |
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70 | if (double):
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71 | s = QtGui.QDoubleSpinBox() |
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72 | else:
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73 | s = QtGui.QSpinBox() |
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74 | |||
75 | s.setMinimum(_min) |
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76 | s.setMaximum(_max) |
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77 | s.setValue(_init) |
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78 | return s
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79 | |||
80 | def initPushButton(self, base_layout, text, action): |
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81 | button = QtGui.QPushButton(text) |
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82 | button.clicked.connect(action) |
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83 | base_layout.addWidget(button) |
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84 | |||
85 | def initEmotionUI(self): |
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86 | vbox = QtGui.QVBoxLayout() |
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87 | 00c26660 | Simon Schulz | self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
88 | f8fa1217 | Simon Schulz | vbox.addWidget(self.duration_spinbox)
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89 | |||
90 | 7a4bc347 | Simon Schulz | #self.duration_spinbox = self.initSpinbox(50, 10000, 1000, 0)
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91 | f8fa1217 | Simon Schulz | self.initPushButton(vbox, "neutral", self.emotion_button_clicked) |
92 | self.initPushButton(vbox, "surprise", self.emotion_button_clicked) |
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93 | self.initPushButton(vbox, "angry", self.emotion_button_clicked) |
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94 | self.initPushButton(vbox, "happy", self.emotion_button_clicked) |
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95 | self.initPushButton(vbox, "sad", self.emotion_button_clicked) |
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96 | self.initPushButton(vbox, "fear", self.emotion_button_clicked) |
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97 | vbox.addStretch(1)
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98 | |||
99 | groupBox = QtGui.QGroupBox("emotion")
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100 | groupBox.setLayout(vbox) |
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101 | return groupBox
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102 | |||
103 | def initAnimationButton(self, base_layout, name): |
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104 | b = QtGui.QPushButton(name) |
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105 | b.clicked.connect(self.animation_button_clicked)
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106 | base_layout.addWidget(b) |
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107 | |||
108 | def initAnimUI(self): |
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109 | groupBox = QtGui.QGroupBox("animations")
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110 | 0c286af0 | Simon Schulz | |
111 | f8fa1217 | Simon Schulz | #options
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112 | options = QtGui.QHBoxLayout() |
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113 | vbox_r = QtGui.QVBoxLayout() |
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114 | vbox_r.addWidget(QtGui.QLabel("repetitions"))
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115 | self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
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116 | vbox_r.addWidget(self.repetitions_spinbox)
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117 | |||
118 | vbox_d = QtGui.QVBoxLayout() |
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119 | vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
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120 | 00c26660 | Simon Schulz | self.duration_each_spinbox = self.initSpinbox(50,10000,1000,0) |
121 | f8fa1217 | Simon Schulz | vbox_d.addWidget(self.duration_each_spinbox)
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122 | |||
123 | vbox_s = QtGui.QVBoxLayout() |
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124 | vbox_s.addWidget(QtGui.QLabel("scale"))
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125 | self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
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126 | vbox_s.addWidget(self.scale_spinbox)
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127 | |||
128 | |||
129 | options.addLayout(vbox_r) |
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130 | options.addLayout(vbox_d) |
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131 | options.addLayout(vbox_s) |
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132 | |||
133 | #buttons
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134 | vbox = QtGui.QVBoxLayout() |
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135 | vbox.addLayout(options) |
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136 | self.initAnimationButton(vbox, "head shake") |
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137 | self.initAnimationButton(vbox, "head nod") |
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138 | self.initAnimationButton(vbox, "eyeblink left") |
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139 | self.initAnimationButton(vbox, "eyeblink right") |
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140 | self.initAnimationButton(vbox, "eyeblink both") |
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141 | self.initAnimationButton(vbox, "eyebrows raise") |
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142 | self.initAnimationButton(vbox, "eyebrows lower") |
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143 | vbox.addStretch(1)
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144 | groupBox.setLayout(vbox) |
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145 | |||
146 | return groupBox
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147 | |||
148 | def initUI(self): |
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149 | vbox = QtGui.QVBoxLayout() |
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150 | |||
151 | hboxl = QtGui.QHBoxLayout() |
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152 | hboxl.addWidget(QtGui.QLabel("base scope: "))
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153 | hboxl.addWidget(QtGui.QLabel(self.scope))
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154 | vbox.addLayout(hboxl) |
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155 | |||
156 | hbox = QtGui.QHBoxLayout() |
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157 | vbox.addLayout(hbox) |
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158 | |||
159 | #emotion
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160 | hbox.addWidget(self.initEmotionUI())
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161 | |||
162 | #utterance:
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163 | hbox.addWidget(self.initUtteranceUI())
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164 | |||
165 | #animations:
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166 | hbox.addWidget(self.initAnimUI())
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167 | |||
168 | self.setLayout(vbox)
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169 | #sld.valueChanged.connect(lcd.display)
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170 | |||
171 | self.setGeometry(400, 100, 250, 150) |
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172 | self.setWindowTitle("HLRC Server test GUI - %s" % self.scope) |
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173 | self.show()
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174 | |||
175 | def utterance_button_clicked(self): |
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176 | button = self.sender().text()
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177 | |||
178 | |||
179 | if (button == "12345..."): |
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180 | self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False) |
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181 | elif (button == "hello..."): |
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182 | self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False) |
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183 | else:
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184 | self.robot_controller.set_speak("invalid button name", False) |
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185 | print "invalid button '%s'" % (button) |
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186 | |||
187 | def emotion_button_clicked(self): |
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188 | button = self.sender().text()
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189 | |||
190 | re = RobotEmotion() |
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191 | re.time_ms = self.duration_spinbox.value()
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192 | |||
193 | if (button == "angry"): |
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194 | re.value = RobotEmotion.ANGRY |
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195 | elif (button == "neutral"): |
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196 | re.value = RobotEmotion.NEUTRAL |
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197 | elif (button == "happy"): |
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198 | re.value = RobotEmotion.HAPPY |
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199 | elif (button == "sad"): |
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200 | re.value = RobotEmotion.SAD |
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201 | elif (button == "surprise"): |
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202 | re.value = RobotEmotion.SURPRISED |
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203 | elif (button == "fear"): |
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204 | re.value = RobotEmotion.FEAR |
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205 | else:
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206 | print "invalid emotion id '%s'" % (button) |
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207 | return
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208 | |||
209 | self.robot_controller.set_current_emotion(re, False) |
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210 | |||
211 | def animation_button_clicked(self): |
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212 | button = self.sender().text()
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213 | |||
214 | ra = RobotAnimation() |
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215 | ra.time_ms = self.duration_each_spinbox.value()
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216 | ra.repetitions = self.repetitions_spinbox.value()
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217 | ra.scale = self.scale_spinbox.value()
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218 | |||
219 | if (button == "head nod"): |
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220 | ra.value = RobotAnimation.HEAD_NOD |
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221 | elif (button == "head shake"): |
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222 | ra.value = RobotAnimation.HEAD_SHAKE |
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223 | elif (button == "eyeblink left"): |
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224 | ra.value = RobotAnimation.EYEBLINK_L |
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225 | elif (button == "eyeblink right"): |
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226 | ra.value = RobotAnimation.EYEBLINK_R |
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227 | elif (button == "eyeblink both"): |
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228 | ra.value = RobotAnimation.EYEBLINK_BOTH |
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229 | elif (button == "eyebrows raise"): |
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230 | ra.value = RobotAnimation.EYEBROWS_RAISE |
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231 | elif (button == "eyebrows lower"): |
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232 | ra.value = RobotAnimation.EYEBROWS_LOWER |
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233 | else:
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234 | print "invalid button '%s'" % (button) |
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235 | return
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236 | |||
237 | self.robot_controller.set_head_animation(ra, False) |
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238 | 0c286af0 | Simon Schulz | |
239 | def main(): |
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240 | f8fa1217 | Simon Schulz | if (len(sys.argv) != 3): |
241 | print("usage: hlrc_test_gui.py <middleware> <scope>\n\n")
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242 | print("example: hlrc_test_gui.py ROS /flobi\n\n")
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243 | sys.exit(errno.EINVAL) |
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244 | |||
245 | 0c286af0 | Simon Schulz | scope = sys.argv[1]
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246 | f8fa1217 | Simon Schulz | mw = sys.argv[2]
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247 | 0c286af0 | Simon Schulz | |
248 | f8fa1217 | Simon Schulz | app = QtGui.QApplication(sys.argv) |
249 | ex = HLRCExample(mw, scope) |
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250 | sys.exit(app.exec_()) |
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251 | 0c286af0 | Simon Schulz | |
252 | |||
253 | if __name__ == '__main__': |
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254 | f8fa1217 | Simon Schulz | main() |