hlrc

"""

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 sys

import logging

from RobotEmotion import *

from RobotGaze import *

from RobotMouth import *

from RobotAnimation import *

class Middleware:

    #######################################################################

    def __init__(self, scope, loglevel=logging.WARNING):

        """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")

    def is_running(self):

        self.die_virtual(sys._getframe().f_code.co_name)

    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)

    def publish_lookat_target(self, x, y, z, blocking, frame_id, roll):

        self.die_virtual(sys._getframe().f_code.co_name)

    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)

    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)

    #######################################################################

    #some get methods

    #def get_current_emotion(self):

    #       return self.current_emotion

    #

    #def get_default_emotion(self):

    #       return self.default_emotion

    #