def __init__(self, type, value=None, description="", options=[]):
self.type = type #The GUI type of a setting
self.value = value #The value of a setting
self.description = description # The setting of a setting
self.options = options #The options that may be in a setting
if type == "mailfolder":
self.options = []
self.value = ScriptUtils.getMessageFileList()[0][0]
for item in ScriptUtils.getMessageFileList():
self.options.append(item[0])
elif type == "account":
self.options = ScriptUtils.getAccountList()
self.value = self.options[0]
elif type == "extension":
self.options = [
"any", ".pdf", ".gif", ".jpg", ".jpeg", ".doc", ".docx",
".zip", ".rar"
]
elif type == "option":
self.value = self.options[0]
elif type == "datetime":
self.value = "unspecified"
elif type == "text":
self.value = ""
elif type == "textoptions":
self.value = ""
elif type == "boolean":
if self.value is None:
self.value = "true" # default to true
"""
def __init__ (self, type, value=None, description="", options=[]):
self.type = type #The GUI type of a setting
self.value = value #The value of a setting
self.description = description # The setting of a setting
self.options = options #The options that may be in a setting
if type == "mailfolder":
self.options = []
self.value = ScriptUtils.getMessageFileList()[0][0]
for item in ScriptUtils.getMessageFileList():
self.options.append(item[0])
elif type == "account":
self.options = ScriptUtils.getAccountList()
self.value = self.options[0]
elif type == "extension":
self.options = ["any", ".pdf", ".gif", ".jpg", ".jpeg", ".doc", ".docx", ".zip", ".rar"]
elif type == "option":
self.value = self.options[0]
elif type == "datetime":
self.value = "unspecified"
elif type == "text":
self.value = ""
elif type == "textoptions":
self.value = ""
elif type == "boolean":
if self.value is None:
self.value = "true" # default to true
"""
def __init__(self):
self.folders = {}
for account in self.settings["Account"].options:
self.folders[account] = []
folders = ScriptUtils.getMessageFileList()
for folder in ScriptUtils.getMessageFileList():
for account in self.settings["Account"].options:
if folder[0].find(account) == 0:
self.folders[account].append(folder[1])
def __init__(self):
self.folders = {}
for account in self.settings["Account"].options:
self.folders[account] = []
folders = ScriptUtils.getMessageFileList()
for folder in ScriptUtils.getMessageFileList():
for account in self.settings["Account"].options:
if folder[0].find(account) == 0:
self.folders[account].append(folder[1])
def Initialize(self, servers):
self.su = script_utils.script_utils()
self.util = ScriptUtils(servers)
self.sss.Init("tray")
self.sss.Init("torso")
self.sss.Init("arm")
self.sss.Init("sdh")
# Move all components to starting positions
self.sss.Move("tray", "down", False)
self.sss.Move("sdh", "home", False)
self.sss.Move("torso", "back", False)
self.su.MoveLED("arm", "folded")
self.sss.SetLight("green")
def run(self):
files = ScriptUtils.getMessageFileList()
messages = []
for file in files:
for message in mailbox.mbox(file[1]):
messages.append(message)
return messages
def run(self):
files = ScriptUtils.getMessageFileList()
messages = []
for file in files:
for message in mailbox.mbox(file[1]):
messages.append(message)
return messages
def __init__ (self):
'''TODO: check module type...'''
self.modulePath = ScriptUtils.getExtensionPath() + os.sep + "modules"
for moduleFile in os.listdir(self.modulePath):
if moduleFile[-3:] == ".py": # if it's a python file, import it
# load python file for module, load class from file
try:
module = getattr(imp.load_source(moduleFile[:-3], self.modulePath + os.sep + moduleFile), moduleFile[:-3])
except:
continue
if not ScriptUtils.verifyModule(module):
print moduleFile, "not a module"
continue
if module.isRoot():
self.rootModules.append(module)
else:
self.nodeModules.append(module)
def appendModule (self, moduleName): # load module print "loading", moduleName module = getattr(imp.load_source(moduleName[:-3], self.modulePath + os.sep + moduleName), moduleName[:-3]) if not ScriptUtils.verifyModule(module): raise Exception self.modules.append(module()) return len(self.modules) - 1
def __init__(self,servers):
rospy.init_node('grasp_deliver')
self.sss = simple_script_server.simple_script_server()
self.su = script_utils.script_utils()
self.util = ScriptUtils(servers)
self.sss.Init("tray")
self.sss.Init("torso")
self.sss.Init("arm")
self.sss.Init("sdh")
def __init__(self):
"""TODO: check module type..."""
self.modulePath = ScriptUtils.getExtensionPath() + os.sep + "modules"
for moduleFile in os.listdir(self.modulePath):
if moduleFile[-3:] == ".py": # if it's a python file, import it
# load python file for module, load class from file
try:
module = getattr(
imp.load_source(moduleFile[:-3], self.modulePath + os.sep + moduleFile), moduleFile[:-3]
)
except:
continue
if not ScriptUtils.verifyModule(module):
print moduleFile, "not a module"
continue
if module.isRoot():
self.rootModules.append(module)
else:
self.nodeModules.append(module)
def appendModule(self, moduleName):
# load module
print "loading", moduleName
module = getattr(
imp.load_source(moduleName[:-3],
self.modulePath + os.sep + moduleName),
moduleName[:-3])
if not ScriptUtils.verifyModule(module):
raise Exception
self.modules.append(module())
return len(self.modules) - 1
class ZipFile(Module):
name = "Output to Zip"
description = "Outputs files to a zip file"
input = "files"
root = False
settings = {
"Output File": Setting("file", ScriptUtils.getHomePath() + os.sep + "tbscriptoutput.zip", "Zip file to put contents into. *Overwrites if exists", ["*.zip"])
}
def run(self, input):
print "Outputting", len(input), "items"
output = zipfile.ZipFile (self.settings["Output File"].value, "w")
for file in input: # assume input is set of something...
print file.filename
output.writestr(file.filename, file.data)
output.close()
class Log(Module):
name = "Log"
description = "Logs a string representation of the given input to a file"
input = "any"
root = False
settings = {
"Log Directory":
Setting("directory", ScriptUtils.getHomePath(),
"Directory to output log file(s) to")
}
def run(self, input):
print "logging", len(input), "items"
logfile = open(
self.settings["Log Directory"].value + os.sep + "tbscript-" +
str(datetime.now()) + ".log", "w")
for item in input: # assume input is set of something...
logfile.write(str(item))
logfile.close()
class GraspFromCoolerAndDeliver:
def __init__(self,servers):
rospy.init_node('grasp_deliver')
self.sss = simple_script_server.simple_script_server()
self.su = script_utils.script_utils()
self.util = ScriptUtils(servers)
self.sss.Init("tray")
self.sss.Init("torso")
self.sss.Init("arm")
self.sss.Init("sdh")
def Initialize(self):
# Move all components to starting positions
self.sss.Move("tray","down",False)
self.sss.Move("sdh","home",False)
self.sss.Move("torso","back",False)
self.su.MoveLED("arm","folded")
self.sss.SetLight("green")
def GraspFromCooler(self):
rospy.loginfo("Grasping water from cooler...")
# start grasping, assuming that Care-O-bot stands right in front of the water cooler
handle01 = self.sss.Move("arm","pregrasp",False)
self.su.MoveLED("sdh","coolerbuttonup")
handle01.wait()
# lay finger on cooler button and get water
self.su.MoveLED("arm","coolerbutton")
self.sss.Move("sdh","coolerbuttondown")
self.sss.sleep(3)
self.sss.Move("sdh","coolerbuttonup")
# move hand to cup and grasp it
handle01 = self.sss.Move("arm","coolerpregrasp",False)
self.sss.sleep(0.5)
self.sss.Move("sdh","cylclosed")
handle01.wait()
self.sss.Move("sdh","coolercupopen")
self.su.MoveLED("arm","coolergrasp")
self.sss.Move("sdh","coolercupclosed")
# draw hand back and place cup on tablet
self.su.MoveLED("arm","coolerpostgrasp")
handle01 = self.sss.Move("arm","coolerpostgrasp-to-tablet",False)
self.sss.sleep(2)
self.sss.Move("torso","front",False)
self.sss.Move("tray","up")
handle01.wait()
self.su.MoveLED("arm","tablet")
self.sss.Move("sdh","cuprelease")
# draw hand back and fold arm
handle01 = self.sss.Move("arm","tablet-to-folded",False)
self.sss.sleep(2)
self.sss.Move("sdh","home")
handle01.wait()
return 0
def DriveToCooler(self):
rospy.loginfo("Driving to water cooler ...")
# get watercooler position from parameters
position_param = "script_server/base/watercooler_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",position_param)
return -2
else:
position = rospy.get_param(position_param)
handle01 = self.sss.Move("torso","back",False)
self.util.movePlatformWait(*position)
handle01.wait()
return 0
def DeliverDrink(self):
rospy.loginfo("Delivering drink ...")
# drive to delivery position at the table
position_param = "script_server/base/table_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",position_param)
return -2
else:
position = rospy.get_param(position_param)
handle01 = self.sss.Move("torso","front",False)
self.util.movePlatformWait(*position)
handle01.wait()
# offer drink
handle01 = self.sss.Move("torso","left",False)
self.su.SpeakRandom("offer")
handle01.wait()
self.sss.Move("torso","right")
self.sss.Move("torso","front")
# check if drink has been taken and thank user
taken_param = self.sss.wait_for_input()
if taken_param == "\n":
handle01 = self.sss.Move("torso","bow",False)
self.su.SpeakRandom("taken")
handle01.wait()
self.sss.sleep(0.5)
# back away and fold tablet if possible
position_param = "script_server/base/watercooler_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",position_param)
return -2
else:
position = rospy.get_param(position_param)
self.util.movePlatformWait(*position)
if taken_param == "\n":
self.sss.Move("tray","down",False)
return 0
def Run(self):
#self.Initialize()
#self.DriveToCooler()
#self.GraspFromCooler()
#self.DeliverDrink()
#self.sss.Move("sdh","coolercupopen")
#self.su.MoveLED("arm","coolergrasp")
#self.sss.wait_for_input()
#self.sss.Move("sdh","coolercupclosed")
#self.su.MoveLED("arm","grasp-to-tablet")
self.su.MoveLED("arm","tablet-to-folded")
def __init__(self):
self.folders = {}
for item in ScriptUtils.getMessageFileList():
self.folders[item[0]] = item[1]
def __init__ (self): self.modulePath = ScriptUtils.getExtensionPath() + os.sep + "modules" self.mf = components.classes["@tbscript.wm.edu/ModuleFactory;1"].\ getService(components.interfaces.IModuleFactory)
class GraspFromCoolerAndDeliver(ssscript):
def Initialize(self, servers):
self.su = script_utils.script_utils()
self.util = ScriptUtils(servers)
self.sss.Init("tray")
self.sss.Init("torso")
self.sss.Init("arm")
self.sss.Init("sdh")
# Move all components to starting positions
self.sss.Move("tray", "down", False)
self.sss.Move("sdh", "home", False)
self.sss.Move("torso", "back", False)
self.su.MoveLED("arm", "folded")
self.sss.SetLight("green")
def GraspFromCooler(self):
rospy.loginfo("Grasping water from cooler...")
# start grasping, assuming that Care-O-bot stands right in front of the water cooler
handle01 = self.sss.Move("arm", "pregrasp", False)
self.su.MoveLED("sdh", "coolerbuttonup")
handle01.wait()
# lay finger on cooler button and get water
self.su.MoveLED("arm", "coolerbutton")
self.sss.Move("sdh", "coolerbuttondown")
self.sss.sleep(3)
self.sss.Move("sdh", "coolerbuttonup")
# move hand to cup and grasp it
handle01 = self.sss.Move("arm", "coolerpregrasp", False)
self.sss.sleep(0.5)
self.sss.Move("sdh", "cylclosed")
handle01.wait()
self.sss.Move("sdh", "coolercupopen")
self.su.MoveLED("arm", "coolergrasp")
self.sss.Move("sdh", "coolercupclosed")
# draw hand back and place cup on tablet
self.su.MoveLED("arm", "coolerpostgrasp")
handle01 = self.sss.Move("arm", "coolerpostgrasp-to-tablet", False)
self.sss.sleep(2)
self.sss.Move("torso", "front", False)
self.sss.Move("tray", "up")
handle01.wait()
self.su.MoveLED("arm", "tablet")
self.sss.Move("sdh", "cuprelease")
# draw hand back and fold arm
handle01 = self.sss.Move("arm", "tablet-to-folded", False)
self.sss.sleep(2)
self.sss.Move("sdh", "home")
handle01.wait()
return 0
def DriveToCooler(self):
rospy.loginfo("Driving to water cooler ...")
# get watercooler position from parameters
position_param = "script_server/base/watercooler_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr(
"parameter %s does not exist on ROS Parameter Server, aborting...",
position_param)
return -2
else:
position = rospy.get_param(position_param)
handle01 = self.sss.Move("torso", "back", False)
self.util.movePlatformWait(*position)
handle01.wait()
return 0
def DeliverDrink(self):
rospy.loginfo("Delivering drink ...")
# drive to delivery position at the table
position_param = "script_server/base/table_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr(
"parameter %s does not exist on ROS Parameter Server, aborting...",
position_param)
return -2
else:
position = rospy.get_param(position_param)
handle01 = self.sss.Move("torso", "front", False)
self.util.movePlatformWait(*position)
handle01.wait()
# offer drink
handle01 = self.sss.Move("torso", "left", False)
self.su.SpeakRandom("offer")
handle01.wait()
self.sss.Move("torso", "right")
self.sss.Move("torso", "front")
# check if drink has been taken and thank user
taken_param = self.sss.wait_for_input()
if taken_param == "\n":
handle01 = self.sss.Move("torso", "bow", False)
self.su.SpeakRandom("taken")
handle01.wait()
self.sss.sleep(0.5)
# back away and fold tablet if possible
position_param = "script_server/base/watercooler_mm_deg"
if not rospy.has_param(position_param):
rospy.logerr(
"parameter %s does not exist on ROS Parameter Server, aborting...",
position_param)
return -2
else:
position = rospy.get_param(position_param)
self.util.movePlatformWait(*position)
if taken_param == "\n":
self.sss.Move("tray", "down", False)
return 0
def run(self):
self.Initialize()
self.DriveToCooler()
self.GraspFromCooler()
self.DeliverDrink()
self.sss.Move("sdh", "coolercupopen")
self.su.MoveLED("arm", "coolergrasp")
self.sss.wait_for_input()
self.sss.Move("sdh", "coolercupclosed")
self.su.MoveLED("arm", "grasp-to-tablet")
self.su.MoveLED("arm", "tablet-to-folded")
def __init__(self):
self.folders = {}
for item in ScriptUtils.getMessageFileList():
self.folders[item[0]] = item[1]
def __init__(self):
self.modulePath = ScriptUtils.getExtensionPath() + os.sep + "modules"
self.mf = components.classes["@tbscript.wm.edu/ModuleFactory;1"].\
getService(components.interfaces.IModuleFactory)
