Revision f8fa1217
| client/python/hlrc_client.egg-info/SOURCES.txt | ||
|---|---|---|
| 12 | 12 |
hlrc_client/RobotGaze.py |
| 13 | 13 |
hlrc_client/RobotMouth.py |
| 14 | 14 |
hlrc_client/__init__.py |
| 15 |
hlrc_client/hlrc_play_animation.py |
|
| 16 |
hlrc_client/hlrc_set_emotion.py |
|
| 17 |
hlrc_client/hlrc_speak_utterance.py |
|
| 18 | 15 |
hlrc_client/hlrc_test_gui.py |
| 19 | 16 |
hlrc_client/textgrid_hlrc.py |
| 20 | 17 |
hlrc_client.egg-info/PKG-INFO |
| client/python/hlrc_client.egg-info/entry_points.txt | ||
|---|---|---|
| 1 | 1 |
[console_scripts] |
| 2 |
|
|
| 2 |
hlrc_test_gui = hlrc_client.hlrc_test_gui:main |
|
| 3 | 3 |
|
| client/python/hlrc_client/Middleware.py | ||
|---|---|---|
| 51 | 51 |
self.gaze_target = RobotGaze() |
| 52 | 52 |
self.mouth_target = RobotMouth() |
| 53 | 53 |
self.robot_animation = RobotAnimation() |
| 54 |
|
|
| 54 |
|
|
| 55 |
def __del__(self): |
|
| 56 |
"""destructor |
|
| 57 |
""" |
|
| 58 |
self.logger.debug("destructor of Middleware called")
|
|
| 55 | 59 |
|
| 56 | 60 |
def config_logger(self, level): |
| 57 | 61 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
| client/python/hlrc_client/MiddlewareROS.py | ||
|---|---|---|
| 52 | 52 |
Middleware.__init__(self,scope,loglevel) |
| 53 | 53 |
#call mw init |
| 54 | 54 |
self.init_middleware() |
| 55 |
|
|
| 56 |
def __del__(self): |
|
| 57 |
"""destructor |
|
| 58 |
""" |
|
| 59 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 55 | 60 |
|
| 56 | 61 |
####################################################################### |
| 57 | 62 |
def init_middleware(self): |
| client/python/hlrc_client/MiddlewareRSB.py | ||
|---|---|---|
| 52 | 52 |
Middleware.__init__(self,scope,loglevel) |
| 53 | 53 |
#call mw init |
| 54 | 54 |
self.init_middleware() |
| 55 |
|
|
| 55 |
|
|
| 56 |
def __del__(self): |
|
| 57 |
"""destructor |
|
| 58 |
""" |
|
| 59 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 60 |
|
|
| 56 | 61 |
####################################################################### |
| 57 | 62 |
def init_middleware(self): |
| 58 | 63 |
"""initialise middleware |
| client/python/hlrc_client/RobotController.py | ||
|---|---|---|
| 31 | 31 |
|
| 32 | 32 |
class RobotController: |
| 33 | 33 |
def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
| 34 |
"""initialise |
|
| 35 |
:param mw_name: which mw to use, currentyl ROS and RSB are supported |
|
| 36 |
:param scope: base scope we want to listen on |
|
| 37 |
:param loglevel: optional log level |
|
| 38 |
""" |
|
| 34 | 39 |
self.logger = logging.getLogger(__name__) |
| 35 | 40 |
|
| 36 | 41 |
# create nice and actually usable formatter and add it to the handler |
| 37 | 42 |
self.config_logger(loglevel) |
| 38 | 43 |
|
| 39 |
#store scope
|
|
| 44 |
#store |
|
| 40 | 45 |
self.scope = scope |
| 46 |
self.mw = mw_name |
|
| 47 |
self.loglevel = loglevel |
|
| 41 | 48 |
|
| 42 |
if (mw_name.upper() == "RSB"): |
|
| 49 |
self.middleware = None |
|
| 50 |
|
|
| 51 |
|
|
| 52 |
if (self.mw.upper() == "RSB"): |
|
| 43 | 53 |
self.logger.info("creating new middleware connection via RSB")
|
| 44 |
self.middleware = MiddlewareRSB(self.scope, loglevel) |
|
| 45 |
elif (mw_name.upper() == "ROS"):
|
|
| 54 |
self.middleware = MiddlewareRSB(self.scope, self.loglevel)
|
|
| 55 |
elif (self.mw.upper() == "ROS"):
|
|
| 46 | 56 |
self.logger.info("creating new middleware connection via ROS")
|
| 47 |
self.middleware = MiddlewareROS(self.scope, loglevel) |
|
| 57 |
self.middleware = MiddlewareROS(self.scope, self.loglevel)
|
|
| 48 | 58 |
else: |
| 49 |
self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (mw_name))
|
|
| 59 |
self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
|
|
| 50 | 60 |
sys.exit(errno.EINVAL) |
| 51 | 61 |
|
| 62 |
def __del__(self): |
|
| 63 |
"""destructor |
|
| 64 |
""" |
|
| 65 |
self.logger.debug("destructor of RobotController called")
|
|
| 66 |
|
|
| 52 | 67 |
def config_logger(self, level): |
| 68 |
"""initialise a nice logger formatting |
|
| 69 |
:param level: log level |
|
| 70 |
""" |
|
| 53 | 71 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
| 54 | 72 |
ch = logging.StreamHandler() |
| 55 | 73 |
#ch.setLevel(level) |
| ... | ... | |
| 58 | 76 |
self.logger.addHandler(ch) |
| 59 | 77 |
|
| 60 | 78 |
def set_current_emotion(self, robot_emotion, blocking = False): |
| 79 |
"""set the current emotion |
|
| 80 |
:param robot_emotion: a RobotEmotion object |
|
| 81 |
:param blocking: should this call block during execution? |
|
| 82 |
""" |
|
| 61 | 83 |
self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 62 | 84 |
self.middleware.set_current_emotion(robot_emotion, blocking) |
| 63 | 85 |
|
| 64 | 86 |
def set_default_emotion(self, robot_emotion, blocking = False): |
| 87 |
"""set the default emotion |
|
| 88 |
:param robot_emotion: a RobotEmotion object |
|
| 89 |
:param blocking: should this call block during execution? |
|
| 90 |
""" |
|
| 65 | 91 |
self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 66 | 92 |
self.middleware.set_default_emotion(robot_emotion, blocking) |
| 67 | 93 |
|
| 68 | 94 |
def set_gaze_target(self, robot_gaze, blocking = False): |
| 95 |
"""set a gaze target |
|
| 96 |
:param robot_gaze: a RobotGaze object |
|
| 97 |
:param blocking: should this call block during execution? |
|
| 98 |
""" |
|
| 99 |
|
|
| 69 | 100 |
self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 70 | 101 |
self.middleware.set_gaze_target(robot_gaze, blocking) |
| 71 | 102 |
|
| 72 | 103 |
def set_mouth_target(self, robot_mouth, blocking = False): |
| 104 |
"""set a mouth target |
|
| 105 |
:param robot_mouth: a RobotMouth object |
|
| 106 |
:param blocking: should this call block during execution? |
|
| 107 |
""" |
|
| 73 | 108 |
self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 74 | 109 |
self.middleware.set_mouth_target(robot_mouth, blocking) |
| 75 | 110 |
|
| 76 | 111 |
def set_head_animation(self, robot_animation, blocking = False): |
| 112 |
"""set a head animation |
|
| 113 |
:param robot_animation: a RobotAnimation object |
|
| 114 |
:param blocking: should this call block during execution? |
|
| 115 |
""" |
|
| 77 | 116 |
self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 78 | 117 |
self.middleware.set_head_animation(robot_animation, blocking) |
| 79 | 118 |
|
| 80 | 119 |
def set_speak(self, text, blocking = False): |
| 120 |
"""request the robot to say something using tts |
|
| 121 |
:param text: text to synthesize |
|
| 122 |
:param blocking: should this call block during execution? |
|
| 123 |
""" |
|
| 81 | 124 |
self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))
|
| 82 | 125 |
self.middleware.set_speak(text, blocking) |
| 83 | 126 |
|
| 84 |
def get_gaze_target(self): |
|
| 85 |
result = self.middleware.get_gaze_target() |
|
| 86 |
self.logger.debug("get_gaze_target() returned %s" % (result))
|
|
| 87 |
return self.middleware.get_gaze_target() |
|
| 127 |
#def get_gaze_target(self): |
|
| 128 |
# result = self.middleware.get_gaze_target() |
|
| 129 |
# self.logger.debug("get_gaze_target() returned %s" % (result))
|
|
| 130 |
# return self.middleware.get_gaze_target() |
|
| client/python/hlrc_client/hlrc_play_animation.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 2 |
#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/ |
|
| 3 |
import sys |
|
| 4 |
import logging |
|
| 5 |
import errno |
|
| 6 |
|
|
| 7 |
try: |
|
| 8 |
import rsb |
|
| 9 |
import rsb.converter |
|
| 10 |
import rst |
|
| 11 |
import rstsandbox |
|
| 12 |
from rst.robot.Animation_pb2 import Animation |
|
| 13 |
except ImportError as exception: |
|
| 14 |
sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))
|
|
| 15 |
sys.exit(errno.ENOPKG) |
|
| 16 |
|
|
| 17 |
class hlrc_animation(): |
|
| 18 |
def __init__(self, _base_scope): |
|
| 19 |
#print "> registering rst converter" |
|
| 20 |
converter = rsb.converter.ProtocolBufferConverter(messageClass = Animation) |
|
| 21 |
rsb.converter.registerGlobalConverter(converter) |
|
| 22 |
self.server = None |
|
| 23 |
self.set_scope(_base_scope); |
|
| 24 |
|
|
| 25 |
def __del__(self): |
|
| 26 |
if (not self.server is None): |
|
| 27 |
self.server.deactivate() |
|
| 28 |
|
|
| 29 |
def set_scope(self, scope): |
|
| 30 |
self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call |
|
| 31 |
print "> setting scope to '%s'" % self.base_scope |
|
| 32 |
if (not self.server is None): |
|
| 33 |
self.server.deactivate() |
|
| 34 |
try: |
|
| 35 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 36 |
except ValueError: |
|
| 37 |
print "> invalid scope given. server deactivated" |
|
| 38 |
self.server.deactivate() |
|
| 39 |
|
|
| 40 |
def trigger_animation(self, ani_id, repetitions, duration_each, scale, blocking): |
|
| 41 |
if (self.server is None): |
|
| 42 |
print("> invalid server")
|
|
| 43 |
return |
|
| 44 |
#create animation & fill it with values: |
|
| 45 |
ani = Animation() |
|
| 46 |
|
|
| 47 |
#select ani |
|
| 48 |
ani.target = ani_id |
|
| 49 |
ani.repetitions = repetitions |
|
| 50 |
ani.duration_each = duration_each |
|
| 51 |
ani.scale = scale |
|
| 52 |
|
|
| 53 |
if (blocking): |
|
| 54 |
#blocking: |
|
| 55 |
print "> calling the animation rpc (blocking until we finished talking)..." |
|
| 56 |
print '> server reply: "%s"' % self.server.animation(ani) |
|
| 57 |
else: |
|
| 58 |
print "> calling the animation rpc (NON-BLOCKING)..." |
|
| 59 |
return self.server.animation.async(ani) |
|
| 60 |
#we can block here for a incoming result with a timeout in s |
|
| 61 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 62 |
|
|
| 63 |
print "> blocking call done" |
|
| 64 |
|
|
| 65 |
def main(): |
|
| 66 |
if (len(sys.argv) != 5): |
|
| 67 |
print "> usage: %s <base scope> <animation id> <dur each> <repetitions>\n> example: %s /flobi1 1 1000 1" % (sys.argv[0] , sys.argv[0]) |
|
| 68 |
sys.exit(0) |
|
| 69 |
|
|
| 70 |
# Pacify logger. |
|
| 71 |
#logging.basicConfig() |
|
| 72 |
scope = sys.argv[1] |
|
| 73 |
ani_id = int(sys.argv[2]) |
|
| 74 |
dur = int(sys.argv[3]) |
|
| 75 |
rep = int(sys.argv[4]) |
|
| 76 |
scale = 1.0 |
|
| 77 |
|
|
| 78 |
hani = hlrc_animation(scope) |
|
| 79 |
hani.trigger_animation(ani_id, rep, dur, scale, 1) |
|
| 80 |
|
|
| 81 |
if __name__ == '__main__': |
|
| 82 |
main() |
|
| 83 |
|
|
| 84 |
|
|
| client/python/hlrc_client/hlrc_set_emotion.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 2 |
#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/ |
|
| 3 |
import sys |
|
| 4 |
import logging |
|
| 5 |
import errno |
|
| 6 |
|
|
| 7 |
try: |
|
| 8 |
import rsb |
|
| 9 |
import rsb.converter |
|
| 10 |
import rst |
|
| 11 |
import rstsandbox |
|
| 12 |
from rst.robot.EmotionState_pb2 import EmotionState |
|
| 13 |
except ImportError as exception: |
|
| 14 |
sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))
|
|
| 15 |
sys.exit(errno.ENOPKG) |
|
| 16 |
|
|
| 17 |
class hlrc_emotion(): |
|
| 18 |
def __init__(self, _base_scope): |
|
| 19 |
#print "> registering rst converter" |
|
| 20 |
converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState) |
|
| 21 |
rsb.converter.registerGlobalConverter(converter) |
|
| 22 |
self.set_scope( _base_scope); |
|
| 23 |
|
|
| 24 |
def set_scope(self, scope): |
|
| 25 |
self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call |
|
| 26 |
print "> setting scope to '%s'" % self.base_scope |
|
| 27 |
try: |
|
| 28 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 29 |
except ValueError: |
|
| 30 |
print "> invalid scope given. server deactivated" |
|
| 31 |
self.server.deactivate() |
|
| 32 |
|
|
| 33 |
def set_emotion(self, emotion_id, duration_each, blocking): |
|
| 34 |
if (self.server is None): |
|
| 35 |
print("> invalid server")
|
|
| 36 |
return |
|
| 37 |
|
|
| 38 |
#create emotion & fill it with values: |
|
| 39 |
em = EmotionState() |
|
| 40 |
|
|
| 41 |
#select ani |
|
| 42 |
em.value = emotion_id |
|
| 43 |
em.duration = duration_each |
|
| 44 |
|
|
| 45 |
with rsb.createRemoteServer(self.base_scope + '/set') as server: |
|
| 46 |
if (blocking): |
|
| 47 |
#blocking: |
|
| 48 |
print "> calling the emotion rpc (blocking until we finished talking)..." |
|
| 49 |
print '> server reply: "%s"' % server.currentEmotion(em) |
|
| 50 |
else: |
|
| 51 |
print "> calling the animation rpc (NON-BLOCKING)..." |
|
| 52 |
future = server.currentEmotion.async(em) |
|
| 53 |
#we can block here for a incoming result with a timeout in s |
|
| 54 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 55 |
|
|
| 56 |
print "> done" |
|
| 57 |
|
|
| 58 |
def main(): |
|
| 59 |
if (len(sys.argv) != 4): |
|
| 60 |
print "> usage: %s <base scope> <emotion id> <duration>\n> example: %s /flobi1 1 1000" % (sys.argv[0] , sys.argv[0]) |
|
| 61 |
sys.exit(0) |
|
| 62 |
|
|
| 63 |
# Pacify logger. |
|
| 64 |
#logging.basicConfig() |
|
| 65 |
em_id = int(sys.argv[2]) |
|
| 66 |
dur = int(sys.argv[3]) |
|
| 67 |
base = sys.argv[1] |
|
| 68 |
|
|
| 69 |
hlrc_emotion(base).set_emotion(em_id, dur, 1) |
|
| 70 |
|
|
| 71 |
if __name__ == '__main__': |
|
| 72 |
main() |
|
| 73 |
|
|
| 74 |
|
|
| client/python/hlrc_client/hlrc_speak_utterance.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 2 |
#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/ |
|
| 3 |
import sys |
|
| 4 |
import wave |
|
| 5 |
|
|
| 6 |
from textgrid_hlc import * |
|
| 7 |
import logging |
|
| 8 |
import errno |
|
| 9 |
import os.path |
|
| 10 |
|
|
| 11 |
try: |
|
| 12 |
import rsb |
|
| 13 |
import rsb.converter |
|
| 14 |
import rst |
|
| 15 |
import rstsandbox |
|
| 16 |
from rst.audition.Utterance_pb2 import Utterance |
|
| 17 |
from rst.audition.SoundChunk_pb2 import SoundChunk |
|
| 18 |
except ImportError as exception: |
|
| 19 |
sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))
|
|
| 20 |
sys.exit(errno.ENOPKG) |
|
| 21 |
|
|
| 22 |
class hlrc_utterance(): |
|
| 23 |
def __init__(self, _base_scope): |
|
| 24 |
#print "> registering rst converter" |
|
| 25 |
converter = rsb.converter.ProtocolBufferConverter(messageClass = Utterance) |
|
| 26 |
rsb.converter.registerGlobalConverter(converter) |
|
| 27 |
self.set_scope(_base_scope) |
|
| 28 |
|
|
| 29 |
def set_scope(self, scope): |
|
| 30 |
self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call |
|
| 31 |
print "> setting scope to '%s'" % self.base_scope |
|
| 32 |
try: |
|
| 33 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 34 |
except ValueError: |
|
| 35 |
print "> invalid scope given. server deactivated" |
|
| 36 |
self.server.deactivate() |
|
| 37 |
|
|
| 38 |
def trigger_utterance(self, filename_praat, filename_wav, blocking): |
|
| 39 |
if (self.server is None): |
|
| 40 |
print("> invalid server")
|
|
| 41 |
return |
|
| 42 |
|
|
| 43 |
if (not os.path.isfile(filename_praat)): |
|
| 44 |
print "can not open file '%s'" % (filename_praat) |
|
| 45 |
return 0 |
|
| 46 |
|
|
| 47 |
if (not os.path.isfile(filename_wav)): |
|
| 48 |
print "can not open file '%s'" % (filename_wav) |
|
| 49 |
return 0 |
|
| 50 |
|
|
| 51 |
print "> reading wave file '%s'" % (filename_wav) |
|
| 52 |
wav = wave.open(filename_wav, "r") |
|
| 53 |
|
|
| 54 |
|
|
| 55 |
print "> parsing praat file '%s'" % (filename_praat) |
|
| 56 |
tgrid = TextGrid.load(filename_praat) |
|
| 57 |
|
|
| 58 |
|
|
| 59 |
#create utterance & fill it with values: |
|
| 60 |
ut = Utterance() |
|
| 61 |
|
|
| 62 |
#textual description of audio file |
|
| 63 |
ut.text = filename_praat |
|
| 64 |
|
|
| 65 |
ut.audio.data = wav.readframes(-1) |
|
| 66 |
ut.audio.sample_count = wav.getnframes() |
|
| 67 |
ut.audio.channels = wav.getnchannels() |
|
| 68 |
ut.audio.rate = wav.getframerate() |
|
| 69 |
|
|
| 70 |
if (wav.getsampwidth() == 1): |
|
| 71 |
ut.audio.sample_type = SoundChunk.SAMPLE_U8 |
|
| 72 |
elif (wav.getsampwidth() == 2): |
|
| 73 |
ut.audio.sample_type = SoundChunk.SAMPLE_S16 |
|
| 74 |
else: |
|
| 75 |
print "> invalid sample type. py doc says wave files are either u8 or s16" |
|
| 76 |
exit(0) |
|
| 77 |
|
|
| 78 |
#wave spec says always little endian |
|
| 79 |
ut.audio.endianness = SoundChunk.ENDIAN_LITTLE |
|
| 80 |
|
|
| 81 |
print "> filling phones with data from praat" |
|
| 82 |
for tier in tgrid.tiers: |
|
| 83 |
idx = (tgrid.tiers.index(tier)) + 1 |
|
| 84 |
transcript = tier.simple_transcript |
|
| 85 |
for (xmin, xmax, utt) in transcript: |
|
| 86 |
phoneme = ut.phonemes.add() |
|
| 87 |
phoneme.symbol = utt |
|
| 88 |
phoneme.duration = int(1000.0*(float(xmax)-float(xmin))) |
|
| 89 |
|
|
| 90 |
with rsb.createRemoteServer(self.base_scope + '/set') as server: |
|
| 91 |
|
|
| 92 |
if (blocking): |
|
| 93 |
#blocking: |
|
| 94 |
print "> calling the utterance rpc (blocking until we finished talking)..." |
|
| 95 |
print '> server reply: "%s"' % server.utterance(ut) |
|
| 96 |
else: |
|
| 97 |
print "> calling the utterance rpc (NON-BLOCKING)..." |
|
| 98 |
future = server.utterance.async(ut) |
|
| 99 |
#we can block here for a incoming result with a timeout in seconds |
|
| 100 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 101 |
|
|
| 102 |
print "> done" |
|
| 103 |
return 1 |
|
| 104 |
|
|
| 105 |
def main(): |
|
| 106 |
# Pacify logger. |
|
| 107 |
#logging.basicConfig() |
|
| 108 |
if (len(sys.argv) != 4): |
|
| 109 |
print "> usage: %s <base_scope> file.praat file.wav\n> example: %s /flobi1 hello.praat hello.wav" % (sys.argv[0] , sys.argv[0]) |
|
| 110 |
sys.exit(0) |
|
| 111 |
|
|
| 112 |
filename_praat = sys.argv[2] |
|
| 113 |
filename_wav = sys.argv[3] |
|
| 114 |
base = sys.argv[1] |
|
| 115 |
|
|
| 116 |
hlc = hlrc_utterance(base) |
|
| 117 |
hlc.trigger_utterance(filename_praat, filename_wav, 1) |
|
| 118 |
|
|
| 119 |
if __name__ == '__main__': |
|
| 120 |
main() |
|
| client/python/hlrc_client/hlrc_test_gui.py | ||
|---|---|---|
| 1 | 1 |
#!/usr/bin/python |
| 2 |
|
|
| 3 |
""" |
|
| 4 |
This file is part of hlrc |
|
| 5 |
|
|
| 6 |
Copyright(c) sschulz <AT> techfak.uni-bielefeld.de |
|
| 7 |
http://opensource.cit-ec.de/projects/hlrc |
|
| 8 |
|
|
| 9 |
This file may be licensed under the terms of the |
|
| 10 |
GNU General Public License Version 3 (the ``GPL''), |
|
| 11 |
or (at your option) any later version. |
|
| 12 |
|
|
| 13 |
Software distributed under the License is distributed |
|
| 14 |
on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either |
|
| 15 |
express or implied. See the GPL for the specific language |
|
| 16 |
governing rights and limitations. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GPL along with this |
|
| 19 |
program. If not, go to http://www.gnu.org/licenses/gpl.html |
|
| 20 |
or write to the Free Software Foundation, Inc., |
|
| 21 |
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
|
| 22 |
|
|
| 23 |
The development of this software was supported by the |
|
| 24 |
Excellence Cluster EXC 277 Cognitive Interaction Technology. |
|
| 25 |
The Excellence Cluster EXC 277 is a grant of the Deutsche |
|
| 26 |
Forschungsgemeinschaft (DFG) in the context of the German |
|
| 27 |
Excellence Initiative. |
|
| 28 |
""" |
|
| 29 |
|
|
| 30 |
|
|
| 31 |
import logging |
|
| 32 |
from hlrc_client import * |
|
| 33 |
import time |
|
| 34 |
import errno |
|
| 2 | 35 |
import sys |
| 3 | 36 |
import os.path |
| 37 |
|
|
| 4 | 38 |
from PyQt4 import QtGui, QtCore |
| 5 | 39 |
from PyQt4.QtCore import SIGNAL |
| 6 |
from hlrc_speak_utterance import hlrc_utterance |
|
| 7 |
from hlrc_play_animation import hlrc_animation |
|
| 8 |
from hlrc_set_emotion import hlrc_emotion |
|
| 9 | 40 |
|
| 10 |
class Example(QtGui.QWidget): |
|
| 41 |
#from hlrc_speak_utterance import hlrc_utterance |
|
| 42 |
#from hlrc_play_animation import hlrc_animation |
|
| 43 |
#from hlrc_set_emotion import hlrc_emotion |
|
| 44 |
|
|
| 45 |
class HLRCExample(QtGui.QWidget): |
|
| 11 | 46 |
|
| 12 |
def __init__(self, _scope): |
|
| 13 |
super(Example, self).__init__() |
|
| 14 |
self.scope = _scope |
|
| 15 |
self.initUI() |
|
| 16 |
scope = self.scope_lineedit.text() |
|
| 17 |
self.hlrc_utterance = hlrc_utterance(scope) |
|
| 18 |
self.hlrc_animation = hlrc_animation(scope) |
|
| 19 |
self.hlrc_emotion = hlrc_emotion(scope) |
|
| 20 |
|
|
| 21 |
def scopeChanged(self): |
|
| 22 |
self.scope = self.scope_lineedit.text() |
|
| 23 |
print "> changed scope to %s" % self.scope |
|
| 24 |
self.hlrc_utterance.set_scope(self.scope) |
|
| 25 |
self.hlrc_animation.set_scope(self.scope) |
|
| 26 |
self.hlrc_emotion.set_scope(self.scope) |
|
| 27 |
|
|
| 28 |
def initUtteranceUI(self): |
|
| 29 |
groupBox = QtGui.QGroupBox("utterances")
|
|
| 30 |
|
|
| 31 |
hello = QtGui.QPushButton("hello...")
|
|
| 32 |
hello.clicked.connect(self.utterance_button_clicked) |
|
| 33 |
|
|
| 34 |
count = QtGui.QPushButton("12345...")
|
|
| 35 |
count.clicked.connect(self.utterance_button_clicked) |
|
| 36 |
|
|
| 37 |
|
|
| 38 |
vbox = QtGui.QVBoxLayout() |
|
| 39 |
vbox.addWidget(hello) |
|
| 40 |
vbox.addWidget(count) |
|
| 41 |
vbox.addStretch(1) |
|
| 42 |
groupBox.setLayout(vbox) |
|
| 43 |
|
|
| 44 |
return groupBox |
|
| 45 |
|
|
| 46 |
def initSpinbox(self, _min, _max, _init, double): |
|
| 47 |
if (double): |
|
| 48 |
s = QtGui.QDoubleSpinBox() |
|
| 49 |
else: |
|
| 50 |
s = QtGui.QSpinBox() |
|
| 51 |
|
|
| 52 |
s.setMinimum(_min) |
|
| 53 |
s.setMaximum(_max) |
|
| 54 |
s.setValue(_init) |
|
| 55 |
return s |
|
| 56 |
|
|
| 57 |
def initEmotionUI(self): |
|
| 58 |
groupBox = QtGui.QGroupBox("emotion")
|
|
| 59 |
neutral = QtGui.QPushButton("neutral")
|
|
| 60 |
neutral.clicked.connect(self.emotion_button_clicked) |
|
| 61 |
surprised = QtGui.QPushButton("surprise")
|
|
| 62 |
surprised.clicked.connect(self.emotion_button_clicked) |
|
| 63 |
angry = QtGui.QPushButton("angry")
|
|
| 64 |
angry.clicked.connect(self.emotion_button_clicked) |
|
| 65 |
happy = QtGui.QPushButton("happy")
|
|
| 66 |
happy.clicked.connect(self.emotion_button_clicked) |
|
| 67 |
sad = QtGui.QPushButton("sad")
|
|
| 68 |
sad.clicked.connect(self.emotion_button_clicked) |
|
| 69 |
fear = QtGui.QPushButton("fear")
|
|
| 70 |
fear.clicked.connect(self.emotion_button_clicked) |
|
| 71 |
|
|
| 72 |
self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
|
| 73 |
|
|
| 74 |
vbox = QtGui.QVBoxLayout() |
|
| 75 |
vbox.addWidget(self.duration_spinbox) |
|
| 76 |
vbox.addWidget(neutral) |
|
| 77 |
vbox.addWidget(surprised) |
|
| 78 |
vbox.addWidget(angry) |
|
| 79 |
vbox.addWidget(happy) |
|
| 80 |
vbox.addWidget(sad) |
|
| 81 |
vbox.addWidget(fear) |
|
| 82 |
vbox.addStretch(1) |
|
| 83 |
groupBox.setLayout(vbox) |
|
| 84 |
return groupBox |
|
| 85 |
|
|
| 86 |
|
|
| 87 |
def initAnimationButton(self, name): |
|
| 88 |
b = QtGui.QPushButton(name) |
|
| 89 |
b.clicked.connect(self.animation_button_clicked) |
|
| 90 |
return b |
|
| 91 |
|
|
| 92 |
def initAnimUI(self): |
|
| 93 |
groupBox = QtGui.QGroupBox("animations")
|
|
| 94 |
|
|
| 95 |
#options |
|
| 96 |
options = QtGui.QHBoxLayout() |
|
| 97 |
vbox_r = QtGui.QVBoxLayout() |
|
| 98 |
vbox_r.addWidget(QtGui.QLabel("repetitions"))
|
|
| 99 |
self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
|
| 100 |
vbox_r.addWidget(self.repetitions_spinbox) |
|
| 101 |
|
|
| 102 |
vbox_d = QtGui.QVBoxLayout() |
|
| 103 |
vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
|
|
| 104 |
self.duration_each_spinbox = self.initSpinbox(100,10000,1000,0) |
|
| 105 |
vbox_d.addWidget(self.duration_each_spinbox) |
|
| 106 |
|
|
| 107 |
vbox_s = QtGui.QVBoxLayout() |
|
| 108 |
vbox_s.addWidget(QtGui.QLabel("scale"))
|
|
| 109 |
self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
|
| 110 |
vbox_s.addWidget(self.scale_spinbox) |
|
| 111 |
|
|
| 112 |
|
|
| 113 |
options.addLayout(vbox_r) |
|
| 114 |
options.addLayout(vbox_d) |
|
| 115 |
options.addLayout(vbox_s) |
|
| 116 |
|
|
| 117 |
#buttons |
|
| 118 |
vbox = QtGui.QVBoxLayout() |
|
| 119 |
vbox.addLayout(options) |
|
| 120 |
vbox.addWidget(self.initAnimationButton("head shake"))
|
|
| 121 |
vbox.addWidget(self.initAnimationButton("head nod"))
|
|
| 122 |
vbox.addWidget(self.initAnimationButton("eyeblink left"))
|
|
| 123 |
vbox.addWidget(self.initAnimationButton("eyeblink right"))
|
|
| 124 |
vbox.addWidget(self.initAnimationButton("eyeblink both"))
|
|
| 125 |
vbox.addWidget(self.initAnimationButton("eyebrows raise"))
|
|
| 126 |
vbox.addWidget(self.initAnimationButton("eyebrows lower"))
|
|
| 127 |
vbox.addStretch(1) |
|
| 128 |
groupBox.setLayout(vbox) |
|
| 129 |
|
|
| 130 |
return groupBox |
|
| 131 |
|
|
| 132 |
def initUI(self): |
|
| 133 |
|
|
| 134 |
self.scope_lineedit = QtGui.QLineEdit(self.scope); |
|
| 135 |
self.connect(self.scope_lineedit, SIGNAL("editingFinished()"),self.scopeChanged)
|
|
| 136 |
|
|
| 137 |
vbox = QtGui.QVBoxLayout(); |
|
| 47 |
def __init__(self, scope, mw): |
|
| 48 |
super(HLRCExample, self).__init__() |
|
| 138 | 49 |
|
| 139 |
hboxl = QtGui.QHBoxLayout(); |
|
| 140 |
hboxl.addWidget(QtGui.QLabel("base scope: "));
|
|
| 141 |
hboxl.addWidget(self.scope_lineedit); |
|
| 142 |
vbox.addLayout(hboxl); |
|
| 143 |
|
|
| 144 |
hbox = QtGui.QHBoxLayout() |
|
| 145 |
vbox.addLayout(hbox); |
|
| 50 |
self.scope = scope |
|
| 51 |
self.mw = mw |
|
| 52 |
self.initUI() |
|
| 53 |
self.robot_controller = RobotController(self.mw, self.scope, logging.DEBUG) |
|
| 54 |
|
|
| 55 |
def initUtteranceUI(self): |
|
| 56 |
groupBox = QtGui.QGroupBox("utterances")
|
|
| 57 |
|
|
| 58 |
hello = QtGui.QPushButton("hello...")
|
|
| 59 |
hello.clicked.connect(self.utterance_button_clicked) |
|
| 60 |
|
|
| 61 |
count = QtGui.QPushButton("12345...")
|
|
| 62 |
count.clicked.connect(self.utterance_button_clicked) |
|
| 63 |
|
|
| 64 |
|
|
| 65 |
vbox = QtGui.QVBoxLayout() |
|
| 66 |
vbox.addWidget(hello) |
|
| 67 |
vbox.addWidget(count) |
|
| 68 |
vbox.addStretch(1) |
|
| 69 |
groupBox.setLayout(vbox) |
|
| 70 |
|
|
| 71 |
return groupBox |
|
| 72 |
|
|
| 73 |
def initSpinbox(self, _min, _max, _init, double): |
|
| 74 |
if (double): |
|
| 75 |
s = QtGui.QDoubleSpinBox() |
|
| 76 |
else: |
|
| 77 |
s = QtGui.QSpinBox() |
|
| 78 |
|
|
| 79 |
s.setMinimum(_min) |
|
| 80 |
s.setMaximum(_max) |
|
| 81 |
s.setValue(_init) |
|
| 82 |
return s |
|
| 83 |
|
|
| 84 |
def initPushButton(self, base_layout, text, action): |
|
| 85 |
button = QtGui.QPushButton(text) |
|
| 86 |
button.clicked.connect(action) |
|
| 87 |
base_layout.addWidget(button) |
|
| 88 |
|
|
| 89 |
def initEmotionUI(self): |
|
| 90 |
vbox = QtGui.QVBoxLayout() |
|
| 91 |
self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
|
| 92 |
vbox.addWidget(self.duration_spinbox) |
|
| 93 |
|
|
| 94 |
self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
|
| 95 |
self.initPushButton(vbox, "neutral", self.emotion_button_clicked) |
|
| 96 |
self.initPushButton(vbox, "surprise", self.emotion_button_clicked) |
|
| 97 |
self.initPushButton(vbox, "angry", self.emotion_button_clicked) |
|
| 98 |
self.initPushButton(vbox, "happy", self.emotion_button_clicked) |
|
| 99 |
self.initPushButton(vbox, "sad", self.emotion_button_clicked) |
|
| 100 |
self.initPushButton(vbox, "fear", self.emotion_button_clicked) |
|
| 101 |
vbox.addStretch(1) |
|
| 102 |
|
|
| 103 |
groupBox = QtGui.QGroupBox("emotion")
|
|
| 104 |
groupBox.setLayout(vbox) |
|
| 105 |
return groupBox |
|
| 106 |
|
|
| 107 |
def initAnimationButton(self, base_layout, name): |
|
| 108 |
b = QtGui.QPushButton(name) |
|
| 109 |
b.clicked.connect(self.animation_button_clicked) |
|
| 110 |
base_layout.addWidget(b) |
|
| 111 |
|
|
| 112 |
def initAnimUI(self): |
|
| 113 |
groupBox = QtGui.QGroupBox("animations")
|
|
| 146 | 114 |
|
| 147 |
#emotion |
|
| 148 |
hbox.addWidget(self.initEmotionUI()) |
|
| 149 |
|
|
| 150 |
#utterance: |
|
| 151 |
hbox.addWidget(self.initUtteranceUI()) |
|
| 152 |
|
|
| 153 |
#animations: |
|
| 154 |
hbox.addWidget(self.initAnimUI()) |
|
| 155 |
|
|
| 156 |
self.setLayout(vbox) |
|
| 157 |
#sld.valueChanged.connect(lcd.display) |
|
| 158 |
|
|
| 159 |
self.setGeometry(400, 100, 250, 150) |
|
| 160 |
self.setWindowTitle("HLC Server test GUI")
|
|
| 161 |
self.show() |
|
| 162 |
|
|
| 163 |
def utterance_button_clicked(self): |
|
| 164 |
button = self.sender().text() |
|
| 165 |
|
|
| 166 |
fn_praat = "b.praat" |
|
| 167 |
fn_wav = "b.wav" |
|
| 168 |
|
|
| 169 |
if (button == "12345..."): |
|
| 170 |
print("123")
|
|
| 171 |
fn_praat = "1234.praat" |
|
| 172 |
fn_wav = "1234.wav" |
|
| 173 |
|
|
| 174 |
elif (button == "hello..."): |
|
| 175 |
print "hello" |
|
| 176 |
fn_praat = "hello_my_name.praat" |
|
| 177 |
fn_wav = "hello_my_name.wav" |
|
| 178 |
|
|
| 179 |
else: |
|
| 180 |
print "invalid button '%s'" % (button) |
|
| 181 |
return |
|
| 182 |
|
|
| 183 |
#try to find the wav/praat files: |
|
| 184 |
path = os.path.dirname(os.path.realpath(__file__)) + "/../share/hlrc_server/examples/" |
|
| 185 |
if (not os.path.isfile(path + fn_wav)): |
|
| 186 |
#try fallback solution for running from current folder: |
|
| 187 |
path = "examples/" |
|
| 188 |
|
|
| 189 |
self.hlrc_utterance.trigger_utterance(path + fn_praat, path + fn_wav, 0) |
|
| 190 |
|
|
| 191 |
def emotion_button_clicked(self): |
|
| 192 |
button = self.sender().text() |
|
| 193 |
duration = self.duration_spinbox.value() |
|
| 194 |
|
|
| 195 |
|
|
| 196 |
if (button == "angry"): |
|
| 197 |
self.hlrc_emotion.set_emotion(3, duration, 0) |
|
| 198 |
elif (button == "neutral"): |
|
| 199 |
self.hlrc_emotion.set_emotion(0, duration, 0) |
|
| 200 |
elif (button == "happy"): |
|
| 201 |
self.hlrc_emotion.set_emotion(1, duration, 0) |
|
| 202 |
elif (button == "sad"): |
|
| 203 |
self.hlrc_emotion.set_emotion(2, duration, 0) |
|
| 204 |
elif (button == "surprise"): |
|
| 205 |
self.hlrc_emotion.set_emotion(4, duration, 0) |
|
| 206 |
elif (button == "fear"): |
|
| 207 |
self.hlrc_emotion.set_emotion(5, duration, 0) |
|
| 208 |
else: |
|
| 209 |
print "invalid emotion id '%s'" % (button) |
|
| 210 |
return |
|
| 211 |
|
|
| 212 |
def animation_button_clicked(self): |
|
| 213 |
button = self.sender().text() |
|
| 214 |
|
|
| 215 |
repetitions = self.repetitions_spinbox.value() |
|
| 216 |
duration_each = self.duration_each_spinbox.value() |
|
| 217 |
scale = self.scale_spinbox.value() |
|
| 218 |
|
|
| 219 |
if (button == "head nod"): |
|
| 220 |
self.hlrc_animation.trigger_animation(1, repetitions, duration_each, scale, 0) |
|
| 221 |
elif (button == "head shake"): |
|
| 222 |
self.hlrc_animation.trigger_animation(2, repetitions, duration_each, scale, 0) |
|
| 223 |
elif (button == "eyeblink left"): |
|
| 224 |
self.hlrc_animation.trigger_animation(3, repetitions, duration_each, scale, 0) |
|
| 225 |
elif (button == "eyeblink right"): |
|
| 226 |
self.hlrc_animation.trigger_animation(4, repetitions, duration_each, scale, 0) |
|
| 227 |
elif (button == "eyeblink both"): |
|
| 228 |
self.hlrc_animation.trigger_animation(5, repetitions, duration_each, scale, 0) |
|
| 229 |
elif (button == "eyebrows raise"): |
|
| 230 |
self.hlrc_animation.trigger_animation(6, repetitions, duration_each, scale, 0) |
|
| 231 |
elif (button == "eyebrows lower"): |
|
| 232 |
self.hlrc_animation.trigger_animation(7, repetitions, duration_each, scale, 0) |
|
| 233 |
else: |
|
| 234 |
print "invalid button '%s'" % (button) |
|
| 235 |
return |
|
| 115 |
#options |
|
| 116 |
options = QtGui.QHBoxLayout() |
|
| 117 |
vbox_r = QtGui.QVBoxLayout() |
|
| 118 |
vbox_r.addWidget(QtGui.QLabel("repetitions"))
|
|
| 119 |
self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
|
| 120 |
vbox_r.addWidget(self.repetitions_spinbox) |
|
| 121 |
|
|
| 122 |
vbox_d = QtGui.QVBoxLayout() |
|
| 123 |
vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
|
|
| 124 |
self.duration_each_spinbox = self.initSpinbox(100,10000,1000,0) |
|
| 125 |
vbox_d.addWidget(self.duration_each_spinbox) |
|
| 126 |
|
|
| 127 |
vbox_s = QtGui.QVBoxLayout() |
|
| 128 |
vbox_s.addWidget(QtGui.QLabel("scale"))
|
|
| 129 |
self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
|
| 130 |
vbox_s.addWidget(self.scale_spinbox) |
|
| 131 |
|
|
| 132 |
|
|
| 133 |
options.addLayout(vbox_r) |
|
| 134 |
options.addLayout(vbox_d) |
|
| 135 |
options.addLayout(vbox_s) |
|
| 136 |
|
|
| 137 |
#buttons |
|
| 138 |
vbox = QtGui.QVBoxLayout() |
|
| 139 |
vbox.addLayout(options) |
|
| 140 |
self.initAnimationButton(vbox, "head shake") |
|
| 141 |
self.initAnimationButton(vbox, "head nod") |
|
| 142 |
self.initAnimationButton(vbox, "eyeblink left") |
|
| 143 |
self.initAnimationButton(vbox, "eyeblink right") |
|
| 144 |
self.initAnimationButton(vbox, "eyeblink both") |
|
| 145 |
self.initAnimationButton(vbox, "eyebrows raise") |
|
| 146 |
self.initAnimationButton(vbox, "eyebrows lower") |
|
| 147 |
vbox.addStretch(1) |
|
| 148 |
groupBox.setLayout(vbox) |
|
| 149 |
|
|
| 150 |
return groupBox |
|
| 151 |
|
|
| 152 |
def initUI(self): |
|
| 153 |
vbox = QtGui.QVBoxLayout() |
|
| 154 |
|
|
| 155 |
hboxl = QtGui.QHBoxLayout() |
|
| 156 |
hboxl.addWidget(QtGui.QLabel("base scope: "))
|
|
| 157 |
hboxl.addWidget(QtGui.QLabel(self.scope)) |
|
| 158 |
vbox.addLayout(hboxl) |
|
| 159 |
|
|
| 160 |
hbox = QtGui.QHBoxLayout() |
|
| 161 |
vbox.addLayout(hbox) |
|
| 162 |
|
|
| 163 |
#emotion |
|
| 164 |
hbox.addWidget(self.initEmotionUI()) |
|
| 165 |
|
|
| 166 |
#utterance: |
|
| 167 |
hbox.addWidget(self.initUtteranceUI()) |
|
| 168 |
|
|
| 169 |
#animations: |
|
| 170 |
hbox.addWidget(self.initAnimUI()) |
|
| 171 |
|
|
| 172 |
self.setLayout(vbox) |
|
| 173 |
#sld.valueChanged.connect(lcd.display) |
|
| 174 |
|
|
| 175 |
self.setGeometry(400, 100, 250, 150) |
|
| 176 |
self.setWindowTitle("HLRC Server test GUI - %s" % self.scope)
|
|
| 177 |
self.show() |
|
| 178 |
|
|
| 179 |
def utterance_button_clicked(self): |
|
| 180 |
button = self.sender().text() |
|
| 181 |
|
|
| 182 |
|
|
| 183 |
if (button == "12345..."): |
|
| 184 |
self.robot_controller.set_speak("1 2 3 4 5 6 7 8 9 10", False)
|
|
| 185 |
elif (button == "hello..."): |
|
| 186 |
self.robot_controller.set_speak("Hello my name is flobi. How can i help you?", False)
|
|
| 187 |
else: |
|
| 188 |
self.robot_controller.set_speak("invalid button name", False)
|
|
| 189 |
print "invalid button '%s'" % (button) |
|
| 190 |
|
|
| 191 |
def emotion_button_clicked(self): |
|
| 192 |
button = self.sender().text() |
|
| 193 |
|
|
| 194 |
re = RobotEmotion() |
|
| 195 |
re.time_ms = self.duration_spinbox.value() |
|
| 196 |
|
|
| 197 |
if (button == "angry"): |
|
| 198 |
re.value = RobotEmotion.ANGRY |
|
| 199 |
elif (button == "neutral"): |
|
| 200 |
re.value = RobotEmotion.NEUTRAL |
|
| 201 |
elif (button == "happy"): |
|
| 202 |
re.value = RobotEmotion.HAPPY |
|
| 203 |
elif (button == "sad"): |
|
| 204 |
re.value = RobotEmotion.SAD |
|
| 205 |
elif (button == "surprise"): |
|
| 206 |
re.value = RobotEmotion.SURPRISED |
|
| 207 |
elif (button == "fear"): |
|
| 208 |
re.value = RobotEmotion.FEAR |
|
| 209 |
else: |
|
| 210 |
print "invalid emotion id '%s'" % (button) |
|
| 211 |
return |
|
| 212 |
|
|
| 213 |
self.robot_controller.set_current_emotion(re, False) |
|
| 214 |
|
|
| 215 |
def animation_button_clicked(self): |
|
| 216 |
button = self.sender().text() |
|
| 217 |
|
|
| 218 |
ra = RobotAnimation() |
|
| 219 |
ra.time_ms = self.duration_each_spinbox.value() |
|
| 220 |
ra.repetitions = self.repetitions_spinbox.value() |
|
| 221 |
ra.scale = self.scale_spinbox.value() |
|
| 222 |
|
|
| 223 |
if (button == "head nod"): |
|
| 224 |
ra.value = RobotAnimation.HEAD_NOD |
|
| 225 |
elif (button == "head shake"): |
|
| 226 |
ra.value = RobotAnimation.HEAD_SHAKE |
|
| 227 |
elif (button == "eyeblink left"): |
|
| 228 |
ra.value = RobotAnimation.EYEBLINK_L |
|
| 229 |
elif (button == "eyeblink right"): |
|
| 230 |
ra.value = RobotAnimation.EYEBLINK_R |
|
| 231 |
elif (button == "eyeblink both"): |
|
| 232 |
ra.value = RobotAnimation.EYEBLINK_BOTH |
|
| 233 |
elif (button == "eyebrows raise"): |
|
| 234 |
ra.value = RobotAnimation.EYEBROWS_RAISE |
|
| 235 |
elif (button == "eyebrows lower"): |
|
| 236 |
ra.value = RobotAnimation.EYEBROWS_LOWER |
|
| 237 |
else: |
|
| 238 |
print "invalid button '%s'" % (button) |
|
| 239 |
return |
|
| 240 |
|
|
| 241 |
self.robot_controller.set_head_animation(ra, False) |
|
| 236 | 242 |
|
| 237 | 243 |
def main(): |
| 238 |
scope = "/home/wardrobe/flobi" |
|
| 239 |
if (len(sys.argv) == 2): |
|
| 244 |
if (len(sys.argv) != 3): |
|
| 245 |
print("usage: hlrc_test_gui.py <middleware> <scope>\n\n")
|
|
| 246 |
print("example: hlrc_test_gui.py ROS /flobi\n\n")
|
|
| 247 |
sys.exit(errno.EINVAL) |
|
| 248 |
|
|
| 240 | 249 |
scope = sys.argv[1] |
| 250 |
mw = sys.argv[2] |
|
| 241 | 251 |
|
| 242 |
app = QtGui.QApplication(sys.argv)
|
|
| 243 |
ex = Example(scope)
|
|
| 244 |
sys.exit(app.exec_())
|
|
| 252 |
app = QtGui.QApplication(sys.argv)
|
|
| 253 |
ex = HLRCExample(mw, scope)
|
|
| 254 |
sys.exit(app.exec_())
|
|
| 245 | 255 |
|
| 246 | 256 |
|
| 247 | 257 |
if __name__ == '__main__': |
| 248 |
main() |
|
| 258 |
main() |
|
| client/python/hlrc_set_emotion.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 2 |
#PYTHONPATH="/opt/ros/groovy/lib/python2.7/dist-packages:/vol/csra/releases/nightly/lib/python2.7/:/vol/csra/releases/nightly/lib/python2.7/site-packages/ |
|
| 3 |
import sys |
|
| 4 |
import logging |
|
| 5 |
import errno |
|
| 6 |
|
|
| 7 |
try: |
|
| 8 |
import rsb |
|
| 9 |
import rsb.converter |
|
| 10 |
import rst |
|
| 11 |
import rstsandbox |
|
| 12 |
from rst.robot.EmotionState_pb2 import EmotionState |
|
| 13 |
except ImportError as exception: |
|
| 14 |
sys.stderr.write("ImportError: {}\n> HINT: try to export PYTHONPATH=$PYTHONPATH:$YOUR_PREFIX/lib/python2.7/site-packages/\n\n".format(exception))
|
|
| 15 |
sys.exit(errno.ENOPKG) |
|
| 16 |
|
|
| 17 |
class hlrc_emotion(): |
|
| 18 |
def __init__(self, _base_scope): |
|
| 19 |
#print "> registering rst converter" |
|
| 20 |
converter = rsb.converter.ProtocolBufferConverter(messageClass = EmotionState) |
|
| 21 |
rsb.converter.registerGlobalConverter(converter) |
|
| 22 |
self.set_scope( _base_scope); |
|
| 23 |
|
|
| 24 |
def set_scope(self, scope): |
|
| 25 |
self.base_scope = str(scope) #NOTE: str() is important here, scope is a qstring (?) and gets deleted during call |
|
| 26 |
print "> setting scope to '%s'" % self.base_scope |
|
| 27 |
try: |
|
| 28 |
self.server = rsb.createRemoteServer(self.base_scope + '/set') |
|
| 29 |
except ValueError: |
|
| 30 |
print "> invalid scope given. server deactivated" |
|
| 31 |
self.server.deactivate() |
|
| 32 |
|
|
| 33 |
def set_emotion(self, emotion_id, duration_each, blocking): |
|
| 34 |
if (self.server is None): |
|
| 35 |
print("> invalid server")
|
|
| 36 |
return |
|
| 37 |
|
|
| 38 |
#create emotion & fill it with values: |
|
| 39 |
em = EmotionState() |
|
| 40 |
|
|
| 41 |
#select ani |
|
| 42 |
em.value = emotion_id |
|
| 43 |
em.duration = duration_each |
|
| 44 |
|
|
| 45 |
with rsb.createRemoteServer(self.base_scope + '/set') as server: |
|
| 46 |
if (blocking): |
|
| 47 |
#blocking: |
|
| 48 |
print "> calling the emotion rpc (blocking until we finished talking)..." |
|
| 49 |
print '> server reply: "%s"' % server.currentEmotion(em) |
|
| 50 |
else: |
|
| 51 |
print "> calling the animation rpc (NON-BLOCKING)..." |
|
| 52 |
future = server.currentEmotion.async(em) |
|
| 53 |
#we can block here for a incoming result with a timeout in s |
|
| 54 |
#print '> server reply: "%s"' % future.get(timeout = 10); |
|
| 55 |
|
|
| 56 |
print "> done" |
|
| 57 |
|
|
| 58 |
def main(): |
|
| 59 |
if (len(sys.argv) != 4): |
|
| 60 |
print "> usage: %s <base scope> <emotion id> <duration>\n> example: %s /flobi1 1 1000" % (sys.argv[0] , sys.argv[0]) |
|
| 61 |
sys.exit(0) |
|
| 62 |
|
|
| 63 |
# Pacify logger. |
|
| 64 |
#logging.basicConfig() |
|
| 65 |
em_id = int(sys.argv[2]) |
|
| 66 |
dur = int(sys.argv[3]) |
|
| 67 |
base = sys.argv[1] |
|
| 68 |
|
|
| 69 |
hlrc_emotion(base).set_emotion(em_id, dur, 1) |
|
| 70 |
|
|
| 71 |
if __name__ == '__main__': |
|
| 72 |
main() |
|
| 73 |
|
|
| 74 |
|
|
| client/python/setup.py | ||
|---|---|---|
| 99 | 99 |
# In this case, 'data_file' will be installed into '<sys.prefix>/my_data' |
| 100 | 100 |
data_files=[], #('my_data', ['data/data_file'])],
|
| 101 | 101 |
|
| 102 |
#scripts=['bin/hlrc_test_gui.py'], |
|
| 103 |
|
|
| 104 |
|
|
| 102 | 105 |
# To provide executable scripts, use entry points in preference to the |
| 103 | 106 |
# "scripts" keyword. Entry points provide cross-platform support and allow |
| 104 | 107 |
# pip to create the appropriate form of executable for the target platform. |
| 105 | 108 |
entry_points={
|
| 106 | 109 |
'console_scripts': [ |
| 107 |
#'sample=sample:main',
|
|
| 110 |
'hlrc_test_gui=hlrc_client.hlrc_test_gui:main',
|
|
| 108 | 111 |
], |
| 109 | 112 |
}, |
| 110 | 113 |
) |
| client/python/test.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 1 | 2 |
""" |
| 2 | 3 |
This file is part of hlrc |
| 3 | 4 |
|
| server/CMakeLists.txt | ||
|---|---|---|
| 154 | 154 |
# ) |
| 155 | 155 |
|
| 156 | 156 |
install(TARGETS ${PROJECT_NAME} DESTINATION bin)
|
| 157 |
install(PROGRAMS tools/hlrc_test_gui.py DESTINATION bin) |
|
| 158 |
install(FILES tools/hlrc_play_animation.py DESTINATION lib/python2.7/site-packages) |
|
| 159 |
install(FILES tools/hlrc_speak_utterance.py DESTINATION lib/python2.7/site-packages) |
|
| 160 | 157 |
|
| 161 |
#workaround to keep functionallity of old py scripts: |
|
| 162 |
install(PROGRAMS tools/hlrc_speak_utterance.py DESTINATION bin) |
|
| 163 |
install(PROGRAMS tools/hlrc_play_animation.py DESTINATION bin) |
|
| 164 |
install(PROGRAMS tools/hlrc_set_emotion.py DESTINATION bin) |
|
| 165 |
|
|
| 166 |
install(FILES tools/textgrid_hlrc.py DESTINATION lib/python2.7/site-packages) |
|
| 167 |
|
|
| 168 |
FILE(GLOB example_files_wav "${CMAKE_CURRENT_SOURCE_DIR}/tools/examples/*.wav")
|
|
| 169 |
FILE(GLOB example_files_praat "${CMAKE_CURRENT_SOURCE_DIR}/tools/examples/*.praat")
|
|
| 170 |
LIST(APPEND example_files ${example_files_wav} ${example_files_praat})
|
|
| 171 |
install(FILES ${example_files} DESTINATION share/hlrc_server/examples)
|
|
| 172 | 158 |
|
| server/tools/hlrc_test_gui.py | ||
|---|---|---|
| 1 |
#!/usr/bin/python |
|
| 2 |
import sys |
|
| 3 |
import os.path |
|
| 4 |
from PyQt4 import QtGui, QtCore |
|
| 5 |
from PyQt4.QtCore import SIGNAL |
|
| 6 |
from hlrc_speak_utterance import hlrc_utterance |
|
| 7 |
from hlrc_play_animation import hlrc_animation |
|
| 8 |
from hlrc_set_emotion import hlrc_emotion |
|
| 9 |
|
|
| 10 |
class Example(QtGui.QWidget): |
|
| 11 |
|
|
| 12 |
def __init__(self, _scope): |
|
| 13 |
super(Example, self).__init__() |
|
| 14 |
self.scope = _scope |
|
| 15 |
self.initUI() |
|
| 16 |
scope = self.scope_lineedit.text() |
|
| 17 |
self.hlrc_utterance = hlrc_utterance(scope) |
|
| 18 |
self.hlrc_animation = hlrc_animation(scope) |
|
| 19 |
self.hlrc_emotion = hlrc_emotion(scope) |
|
| 20 |
|
|
| 21 |
def scopeChanged(self): |
|
| 22 |
self.scope = self.scope_lineedit.text() |
|
| 23 |
print "> changed scope to %s" % self.scope |
|
| 24 |
self.hlrc_utterance.set_scope(self.scope) |
|
| 25 |
self.hlrc_animation.set_scope(self.scope) |
|
| 26 |
self.hlrc_emotion.set_scope(self.scope) |
|
| 27 |
|
|
| 28 |
def initUtteranceUI(self): |
|
| 29 |
groupBox = QtGui.QGroupBox("utterances")
|
|
| 30 |
|
|
| 31 |
hello = QtGui.QPushButton("hello...")
|
|
| 32 |
hello.clicked.connect(self.utterance_button_clicked) |
|
| 33 |
|
|
| 34 |
count = QtGui.QPushButton("12345...")
|
|
| 35 |
count.clicked.connect(self.utterance_button_clicked) |
|
| 36 |
|
|
| 37 |
|
|
| 38 |
vbox = QtGui.QVBoxLayout() |
|
| 39 |
vbox.addWidget(hello) |
|
| 40 |
vbox.addWidget(count) |
|
| 41 |
vbox.addStretch(1) |
|
| 42 |
groupBox.setLayout(vbox) |
|
| 43 |
|
|
| 44 |
return groupBox |
|
| 45 |
|
|
| 46 |
def initSpinbox(self, _min, _max, _init, double): |
|
| 47 |
if (double): |
|
| 48 |
s = QtGui.QDoubleSpinBox() |
|
| 49 |
else: |
|
| 50 |
s = QtGui.QSpinBox() |
|
| 51 |
|
|
| 52 |
s.setMinimum(_min) |
|
| 53 |
s.setMaximum(_max) |
|
| 54 |
s.setValue(_init) |
|
| 55 |
return s |
|
| 56 |
|
|
| 57 |
def initEmotionUI(self): |
|
| 58 |
groupBox = QtGui.QGroupBox("emotion")
|
|
| 59 |
neutral = QtGui.QPushButton("neutral")
|
|
| 60 |
neutral.clicked.connect(self.emotion_button_clicked) |
|
| 61 |
surprised = QtGui.QPushButton("surprise")
|
|
| 62 |
surprised.clicked.connect(self.emotion_button_clicked) |
|
| 63 |
angry = QtGui.QPushButton("angry")
|
|
| 64 |
angry.clicked.connect(self.emotion_button_clicked) |
|
| 65 |
happy = QtGui.QPushButton("happy")
|
|
| 66 |
happy.clicked.connect(self.emotion_button_clicked) |
|
| 67 |
sad = QtGui.QPushButton("sad")
|
|
| 68 |
sad.clicked.connect(self.emotion_button_clicked) |
|
| 69 |
fear = QtGui.QPushButton("fear")
|
|
| 70 |
fear.clicked.connect(self.emotion_button_clicked) |
|
| 71 |
|
|
| 72 |
self.duration_spinbox = self.initSpinbox(100, 10000, 1000, 0) |
|
| 73 |
|
|
| 74 |
vbox = QtGui.QVBoxLayout() |
|
| 75 |
vbox.addWidget(self.duration_spinbox) |
|
| 76 |
vbox.addWidget(neutral) |
|
| 77 |
vbox.addWidget(surprised) |
|
| 78 |
vbox.addWidget(angry) |
|
| 79 |
vbox.addWidget(happy) |
|
| 80 |
vbox.addWidget(sad) |
|
| 81 |
vbox.addWidget(fear) |
|
| 82 |
vbox.addStretch(1) |
|
| 83 |
groupBox.setLayout(vbox) |
|
| 84 |
return groupBox |
|
| 85 |
|
|
| 86 |
|
|
| 87 |
def initAnimationButton(self, name): |
|
| 88 |
b = QtGui.QPushButton(name) |
|
| 89 |
b.clicked.connect(self.animation_button_clicked) |
|
| 90 |
return b |
|
| 91 |
|
|
| 92 |
def initAnimUI(self): |
|
| 93 |
groupBox = QtGui.QGroupBox("animations")
|
|
| 94 |
|
|
| 95 |
#options |
|
| 96 |
options = QtGui.QHBoxLayout() |
|
| 97 |
vbox_r = QtGui.QVBoxLayout() |
|
| 98 |
vbox_r.addWidget(QtGui.QLabel("repetitions"))
|
|
| 99 |
self.repetitions_spinbox = self.initSpinbox(1,10,1,0) |
|
| 100 |
vbox_r.addWidget(self.repetitions_spinbox) |
|
| 101 |
|
|
| 102 |
vbox_d = QtGui.QVBoxLayout() |
|
| 103 |
vbox_d.addWidget(QtGui.QLabel("duration/ms (each)"))
|
|
| 104 |
self.duration_each_spinbox = self.initSpinbox(100,10000,1000,0) |
|
| 105 |
vbox_d.addWidget(self.duration_each_spinbox) |
|
| 106 |
|
|
| 107 |
vbox_s = QtGui.QVBoxLayout() |
|
| 108 |
vbox_s.addWidget(QtGui.QLabel("scale"))
|
|
| 109 |
self.scale_spinbox = self.initSpinbox(0.1, 5.0, 1.0, 1) |
|
| 110 |
vbox_s.addWidget(self.scale_spinbox) |
|
| 111 |
|
|
| 112 |
|
|
| 113 |
options.addLayout(vbox_r) |
|
| 114 |
options.addLayout(vbox_d) |
|
| 115 |
options.addLayout(vbox_s) |
|
| 116 |
|
|
| 117 |
#buttons |
|
| 118 |
vbox = QtGui.QVBoxLayout() |
|
| 119 |
vbox.addLayout(options) |
|
| 120 |
vbox.addWidget(self.initAnimationButton("head shake"))
|
|
| 121 |
vbox.addWidget(self.initAnimationButton("head nod"))
|
|
| 122 |
vbox.addWidget(self.initAnimationButton("eyeblink left"))
|
|
| 123 |
vbox.addWidget(self.initAnimationButton("eyeblink right"))
|
|
| 124 |
vbox.addWidget(self.initAnimationButton("eyeblink both"))
|
|
| 125 |
vbox.addWidget(self.initAnimationButton("eyebrows raise"))
|
|
| 126 |
vbox.addWidget(self.initAnimationButton("eyebrows lower"))
|
|
| 127 |
vbox.addStretch(1) |
|
| 128 |
groupBox.setLayout(vbox) |
|
| 129 |
|
|
| 130 |
return groupBox |
|
| 131 |
|
|
| 132 |
def initUI(self): |
|
| 133 |
|
|
| 134 |
self.scope_lineedit = QtGui.QLineEdit(self.scope); |
|
| 135 |
self.connect(self.scope_lineedit, SIGNAL("editingFinished()"),self.scopeChanged)
|
|
| 136 |
|
|
| 137 |
vbox = QtGui.QVBoxLayout(); |
|
| 138 |
|
|
| 139 |
hboxl = QtGui.QHBoxLayout(); |
|
| 140 |
hboxl.addWidget(QtGui.QLabel("base scope: "));
|
|
| 141 |
hboxl.addWidget(self.scope_lineedit); |
|
| 142 |
vbox.addLayout(hboxl); |
|
| 143 |
|
|
| 144 |
hbox = QtGui.QHBoxLayout() |
|
| 145 |
vbox.addLayout(hbox); |
|
| 146 |
|
|
| 147 |
#emotion |
|
| 148 |
hbox.addWidget(self.initEmotionUI()) |
|
| 149 |
|
|
| 150 |
#utterance: |
|
| 151 |
hbox.addWidget(self.initUtteranceUI()) |
|
| 152 |
|
|
| 153 |
#animations: |
|
| 154 |
hbox.addWidget(self.initAnimUI()) |
|
| 155 |
|
|
| 156 |
self.setLayout(vbox) |
|
| 157 |
#sld.valueChanged.connect(lcd.display) |
|
| 158 |
|
|
| 159 |
self.setGeometry(400, 100, 250, 150) |
|
| 160 |
self.setWindowTitle("HLC Server test GUI")
|
|
| 161 |
self.show() |
|
| 162 |
|
|
| 163 |
def utterance_button_clicked(self): |
|
| 164 |
button = self.sender().text() |
|
| 165 |
|
|
| 166 |
fn_praat = "b.praat" |
|
| 167 |
fn_wav = "b.wav" |
|
| 168 |
|
|
| 169 |
if (button == "12345..."): |
|
| 170 |
print("123")
|
|
| 171 |
fn_praat = "1234.praat" |
|
| 172 |
fn_wav = "1234.wav" |
|
| 173 |
|
|
| 174 |
elif (button == "hello..."): |
|
| 175 |
print "hello" |
|
| 176 |
fn_praat = "hello_my_name.praat" |
|
| 177 |
fn_wav = "hello_my_name.wav" |
|
| 178 |
|
|
| 179 |
else: |
|
| 180 |
print "invalid button '%s'" % (button) |
|
| 181 |
return |
|
| 182 |
|
|
| 183 |
#try to find the wav/praat files: |
|
| 184 |
path = os.path.dirname(os.path.realpath(__file__)) + "/../share/hlrc_server/examples/" |
|
| 185 |
if (not os.path.isfile(path + fn_wav)): |
|
| 186 |
#try fallback solution for running from current folder: |
|
| 187 |
path = "examples/" |
|
| 188 |
|
|
| 189 |
self.hlrc_utterance.trigger_utterance(path + fn_praat, path + fn_wav, 0) |
|
| 190 |
|
|
| 191 |
def emotion_button_clicked(self): |
|
| 192 |
button = self.sender().text() |
|
| 193 |
duration = self.duration_spinbox.value() |
|
| 194 |
|
|
| 195 |
|
|
| 196 |
if (button == "angry"): |
|
| 197 |
self.hlrc_emotion.set_emotion(3, duration, 0) |
|
| 198 |
elif (button == "neutral"): |
|
| 199 |
self.hlrc_emotion.set_emotion(0, duration, 0) |
|
| 200 |
elif (button == "happy"): |
|
| 201 |
self.hlrc_emotion.set_emotion(1, duration, 0) |
|
| 202 |
elif (button == "sad"): |
|
| 203 |
self.hlrc_emotion.set_emotion(2, duration, 0) |
|
| 204 |
elif (button == "surprise"): |
|
| 205 |
self.hlrc_emotion.set_emotion(4, duration, 0) |
|
| 206 |
elif (button == "fear"): |
|
| 207 |
self.hlrc_emotion.set_emotion(5, duration, 0) |
|
| 208 |
else: |
|
| 209 |
print "invalid emotion id '%s'" % (button) |
|
| 210 |
return |
|
| 211 |
|
|
| 212 |
def animation_button_clicked(self): |
|
| 213 |
button = self.sender().text() |
|
| 214 |
|
|
| 215 |
repetitions = self.repetitions_spinbox.value() |
|
| 216 |
duration_each = self.duration_each_spinbox.value() |
|
| 217 |
scale = self.scale_spinbox.value() |
|
| 218 |
|
|
| 219 |
if (button == "head nod"): |
|
| 220 |
self.hlrc_animation.trigger_animation(1, repetitions, duration_each, scale, 0) |
|
| 221 |
elif (button == "head shake"): |
|
| 222 |
self.hlrc_animation.trigger_animation(2, repetitions, duration_each, scale, 0) |
|
| 223 |
elif (button == "eyeblink left"): |
|
| 224 |
self.hlrc_animation.trigger_animation(3, repetitions, duration_each, scale, 0) |
|
| 225 |
elif (button == "eyeblink right"): |
|
| 226 |
self.hlrc_animation.trigger_animation(4, repetitions, duration_each, scale, 0) |
|
| 227 |
elif (button == "eyeblink both"): |
|
| 228 |
self.hlrc_animation.trigger_animation(5, repetitions, duration_each, scale, 0) |
|
| 229 |
elif (button == "eyebrows raise"): |
|
| 230 |
self.hlrc_animation.trigger_animation(6, repetitions, duration_each, scale, 0) |
|
| 231 |
elif (button == "eyebrows lower"): |
|
| 232 |
self.hlrc_animation.trigger_animation(7, repetitions, duration_each, scale, 0) |
|
| 233 |
else: |
|
| 234 |
print "invalid button '%s'" % (button) |
|
| 235 |
return |
|
| 236 |
|
|
| 237 |
def main(): |
|
| 238 |
scope = "/home/wardrobe/flobi" |
|
| 239 |
if (len(sys.argv) == 2): |
|
| 240 |
scope = sys.argv[1] |
|
| 241 |
|
|
| 242 |
app = QtGui.QApplication(sys.argv) |
|
| 243 |
ex = Example(scope) |
|
| 244 |
sys.exit(app.exec_()) |
|
| 245 |
|
|
| 246 |
|
|
| 247 |
if __name__ == '__main__': |
|
| 248 |
main() |
|
Also available in: Unified diff