def execute(self, userdata):
if self.preempt_requested():
self.service_preempt()
return 'preempted'
self.goal = FaceRecognitionGoal()
self.goal.order_id = 1
self.goal.order_argument = ''
self._done_cond.acquire()
self.face_recog_client.send_goal(self.goal, self._goal_done_cb,
self._goal_active_cb,
self._goal_feedback_cb)
# Wait for action to finish
self._done_cond.wait()
self._done_cond.release()
print self._goal_status
print self._goal_result
# self.goal.order_id = 4
# self.face_recog_client.send_goal(self.goal)
if self._goal_status == GoalStatus.PREEMPTED:
self.service_preempt()
return 'preempted'
return 'succeeded'
def __init__(self):
# Get the parameters from launchfile
self.param_prefix = "/rpi_integration"
self.autostart = rospy.get_param(self.param_prefix + '/autostart')
self.use_stt = rospy.get_param(self.param_prefix + '/use_stt', False)
self.use_tts = rospy.get_param(self.param_prefix + '/use_tts', True)
self.use_ontosem_comms = rospy.get_param(self.param_prefix +
'/use_ontosem_comms')
self.use_face_rec = rospy.get_param(self.param_prefix +
'/use_face_rec')
self.use_script = rospy.get_param(self.param_prefix + '/use_script',
True)
self.client = actionlib.SimpleActionClient("face_recognition",
FaceRecognitionAction)
self.goal = FaceRecognitionGoal()
self.storage_1 = [
] # For the purposes of this demo, storage_1 is empty
self.storage_2 = rospy.get_param(self.param_prefix +
"/objects_right").values()
self.workspace = [
] # stores ids of retrieved objects in shared workspace.
# Candidate for deletion
# self.strt_time = time.time()
self.LISTENING = False
# Listens for speech commands from microphone
self._listen_sub = rospy.Subscriber(
self.STT_TOPIC, #self.SPEECH_SERVICE,
transcript,
self._listen_query_cb)
self._cmd = None # Will store the current command POSTed by OntoSem
BaseController.__init__(
self,
use_left=True,
use_right=True,
use_stt=self.use_stt,
use_tts=self.use_tts,
recovery=False,
)
RESTOntoSemUtils.__init__(self)
if self.use_face_rec:
rospy.logwarn("Waiting for actionserver....")
self.client.wait_for_server()
rospy.logwarn("Action server ready!")
self._bootstrap()
def set_name(self):
reco = actionlib.SimpleActionClient("face_recognition", FaceRecognitionAction)
rospy.loginfo("Connected to face recognition server")
reco.wait_for_server(rospy.Duration(10))
reco_goal = FaceRecognitionGoal()
reco_goal.order_id = 0
reco_goal.order_argument="none"
reco.send_goal(reco_goal)
rospy.loginfo("Waiting the result to face recognition server")
finished_within_time = reco.wait_for_result(rospy.Duration(4))
def get_name(self):
reco = actionlib.SimpleActionClient("face_recognition", FaceRecognitionAction)
rospy.loginfo("Connected to face recognition server")
reco.wait_for_server(rospy.Duration(10))
reco_goal = FaceRecognitionGoal()
reco_goal.order_id = 0
reco_goal.order_argument="none"
reco.send_goal(reco_goal)
rospy.loginfo("Waiting the result to face recognition server")
finished_within_time = reco.wait_for_result(rospy.Duration(2))
if not finished_within_time:
self.recognized_name = "unknown"
reco.cancel_goal()
#self.kernel.setPredicate('name',str(self.recognized_name))
#self.kernel.setPredicate('confidence','00')
return "unknown"
else:
state = reco.get_state()
result = reco.get_result()
name = result.names
confidence = "%.2f" %result.confidence
confidence = float(confidence)*100
confidence = int(confidence)
name = str(name).replace("[","").replace("]","").replace("'","").capitalize()
if confidence >= self.recog_name_certainty :
rospy.loginfo("Il s'agit de :" + str(name))
rospy.loginfo("Avec une reconnaissance de :" + str(confidence)+"%")
self.kernel.setPredicate('valConfidence',str(confidence),str(name))
self.kernel.setPredicate('name',str(name),str(name))
self.kernel.setPredicate('confidence','ok',str(name))
self.recognized_name = name
return str(name)
def start_recognition(self):
while not rospy.is_shutdown():
if self.ready_for_recognition == True:
# send orders to face recognition server
self.recognitionGoal = FaceRecognitionGoal()
self.recognitionGoal.order_id = 0
self.recognitionGoal.order_argument = "none"
self.recognition.send_goal(self.recognitionGoal)
self.recognition.wait_for_result()
#get result from face recognition server
result = self.recognition.get_result()
name = result.names
#confidence = result.confidence
self.recognizedName = str(name).replace("['",
"").replace("']", "")
#self.recognizedConfidence = str(confidence)
self.pubFace.publish(self.recognizedName)
state = self.recognition.get_state()
print "voici l'etat:" + str(
self.goal_states[state]
) + " et le nom: " + self.recognizedName
else:
continue
#!/usr/bin/env python
import sys
import rospy
import actionlib
from face_recognition.msg import FaceRecognitionAction, FaceRecognitionGoal
if __name__ == '__main__':
rospy.init_node('face_recognition_starter')
c = actionlib.ActionClient('face_recognition', FaceRecognitionAction)
c.wait_for_server()
g = FaceRecognitionGoal()
g.order_id = 1
g.order_argument = "none"
c.send_goal(g)
sys.exit(0)
