Revision f8fa1217 client/python/hlrc_client/RobotController.py
| client/python/hlrc_client/RobotController.py | ||
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class RobotController: |
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def __init__(self, mw_name, scope, loglevel=logging.WARNING): |
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"""initialise |
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:param mw_name: which mw to use, currentyl ROS and RSB are supported |
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:param scope: base scope we want to listen on |
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:param loglevel: optional log level |
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""" |
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self.logger = logging.getLogger(__name__) |
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# create nice and actually usable formatter and add it to the handler |
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self.config_logger(loglevel) |
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#store scope
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#store |
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self.scope = scope |
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self.mw = mw_name |
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self.loglevel = loglevel |
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if (mw_name.upper() == "RSB"): |
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self.middleware = None |
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if (self.mw.upper() == "RSB"): |
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self.logger.info("creating new middleware connection via RSB")
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self.middleware = MiddlewareRSB(self.scope, loglevel) |
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elif (mw_name.upper() == "ROS"):
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self.middleware = MiddlewareRSB(self.scope, self.loglevel)
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elif (self.mw.upper() == "ROS"):
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self.logger.info("creating new middleware connection via ROS")
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self.middleware = MiddlewareROS(self.scope, loglevel) |
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self.middleware = MiddlewareROS(self.scope, self.loglevel)
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else: |
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self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (mw_name))
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self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))
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sys.exit(errno.EINVAL) |
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def __del__(self): |
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"""destructor |
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""" |
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self.logger.debug("destructor of RobotController called")
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def config_logger(self, level): |
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"""initialise a nice logger formatting |
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:param level: log level |
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""" |
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formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
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ch = logging.StreamHandler() |
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#ch.setLevel(level) |
| ... | ... | |
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self.logger.addHandler(ch) |
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def set_current_emotion(self, robot_emotion, blocking = False): |
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"""set the current emotion |
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:param robot_emotion: a RobotEmotion object |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_current_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_current_emotion(robot_emotion, blocking) |
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def set_default_emotion(self, robot_emotion, blocking = False): |
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"""set the default emotion |
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:param robot_emotion: a RobotEmotion object |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_default_emotion(%s) %s" % (robot_emotion, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_default_emotion(robot_emotion, blocking) |
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def set_gaze_target(self, robot_gaze, blocking = False): |
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"""set a gaze target |
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:param robot_gaze: a RobotGaze object |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_gaze_target(%s) %s" % (robot_gaze, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_gaze_target(robot_gaze, blocking) |
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def set_mouth_target(self, robot_mouth, blocking = False): |
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"""set a mouth target |
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:param robot_mouth: a RobotMouth object |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_mouth_target(%s) %s" % (robot_mouth, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_mouth_target(robot_mouth, blocking) |
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def set_head_animation(self, robot_animation, blocking = False): |
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"""set a head animation |
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:param robot_animation: a RobotAnimation object |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_head_animation(%s) %s" % (robot_animation, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_head_animation(robot_animation, blocking) |
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def set_speak(self, text, blocking = False): |
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"""request the robot to say something using tts |
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:param text: text to synthesize |
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:param blocking: should this call block during execution? |
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""" |
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self.logger.debug("set_speak(%s) %s" % (text, ("BLOCKING" if blocking else "NON_BLOCKING")))
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self.middleware.set_speak(text, blocking) |
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def get_gaze_target(self): |
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result = self.middleware.get_gaze_target() |
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self.logger.debug("get_gaze_target() returned %s" % (result))
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return self.middleware.get_gaze_target() |
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#def get_gaze_target(self): |
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# result = self.middleware.get_gaze_target() |
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# self.logger.debug("get_gaze_target() returned %s" % (result))
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# return self.middleware.get_gaze_target() |
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