def __init__(self,language):
self.path2webi = roslib.packages.get_pkg_dir("qbo_webi")
self.camera="left"
self.language = language
self.templatelookup = TemplateLookup(directories=['./'])
self.htmlTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.html',lookup=self.templatelookup)
self.jsTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.js')
#self.variablesTemplate = Template(filename='static/js/generalVariables.js')
self.cmd_vel_pub=rospy.Publisher('/cmd_vel', Twist)
self.cmd_joints_pub=rospy.Publisher('/cmd_joints', JointState)
self.client_speak = rospy.ServiceProxy("/qbo_talk/festival_say", Text2Speach)
self.mjpegServer = MjpegServerFunctions()
self.image_size=[640,480]
self.head_velocity_factor = 2.0
self.head_move_type = 1
#self.qbo_mouth_control=mouth()
self.mouth_pub=rospy.Publisher('/cmd_mouth', Mouth_msg)
self.vMouths=[]
self.vMouths.append(Mouth(0,"Happy",476160,));
self.vMouths.append(Mouth(1,"Sad",571392));
self.vMouths.append(Mouth(2,"Ooh",476718));
self.vMouths.append(Mouth(3,"Pucker the mouth to the right",17376));
self.vMouths.append(Mouth(4,"Pucker the mouth to the left",2016));
self.vMouths.append(Mouth(5,"Straight face",31744));
self.vMouths.append(Mouth(6,"Small mouth",141636));
self.vMouths.append(Mouth(7,"Speak 1",31));
self.vMouths.append(Mouth(8,"Speak 2",479));
self.vMouths.append(Mouth(9,"Speak 3",14911));
self.vMouths.append(Mouth(10,"Speak 4",15359));
self.vMouths.append(Mouth(11,"Speak 5",476735));
self.vMouths.append(Mouth(12,"Speak 6",491519));
self.vMouths.append(Mouth(13,"None",0));
self.vMouths.append(Mouth(14,"surprise",476718));
self.vMouths.append(Mouth(15,"regular",69904));
self.vMouths.append(Mouth(16,"tongue",283616));
self.command = RunCmd()
self.chars = string.ascii_letters + string.digits
#Variables for android functions comming from Tornado(qbo_http_api_login)
self.linphoneRunning = False
self.auth = "notDefined"
self.authBot = "notDefined"
self.envi = ""
self.processSipd = ""
self.processSiprtmp = ""
self.processLinphone = ""
self.processAudioControl = ""
self.ecoCancelationId = "notDefined"
def __init__(self,language):
self.path2webi = roslib.packages.get_pkg_dir("qbo_webi")
self.camera="left"
self.language = language
self.templatelookup = TemplateLookup(directories=['./'])
self.htmlTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.html',lookup=self.templatelookup)
self.jsTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.js')
#self.variablesTemplate = Template(filename='static/js/generalVariables.js')
self.cmd_vel_pub=rospy.Publisher('/cmd_vel', Twist)
self.cmd_joints_pub=rospy.Publisher('/cmd_joints', JointState)
self.client_speak = rospy.ServiceProxy("/qbo_talk/festival_say", Text2Speach)
self.mjpegServer = MjpegServerFunctions()
self.image_size=[640,480]
self.head_velocity_factor = 2.0
self.head_move_type = 1
#self.qbo_mouth_control=mouth()
self.mouth_pub=rospy.Publisher('/cmd_mouth ', Mouth_msg)
self.vMouths=[]
self.vMouths.append(Mouth(0,"Happy",476160,));
self.vMouths.append(Mouth(1,"Sad",571392));
self.vMouths.append(Mouth(2,"Ooh",476718));
self.vMouths.append(Mouth(3,"Pucker the mouth to the right",17376));
self.vMouths.append(Mouth(4,"Pucker the mouth to the left",2016));
self.vMouths.append(Mouth(5,"Straight face",31744));
self.vMouths.append(Mouth(6,"Small mouth",141636));
self.vMouths.append(Mouth(7,"Speak 1",31));
self.vMouths.append(Mouth(8,"Speak 2",479));
self.vMouths.append(Mouth(9,"Speak 3",14911));
self.vMouths.append(Mouth(10,"Speak 4",15359));
self.vMouths.append(Mouth(11,"Speak 5",476735));
self.vMouths.append(Mouth(12,"Speak 6",491519));
self.vMouths.append(Mouth(13,"None",0));
self.vMouths.append(Mouth(14,"surprise",476718));
self.vMouths.append(Mouth(15,"regular",69904));
self.vMouths.append(Mouth(16,"tongue",283616));
self.command = RunCmd()
self.chars = string.ascii_letters + string.digits
#Variables for android functions comming from Tornado(qbo_http_api_login)
self.linphoneRunning = False
self.auth = "notDefined"
self.authBot = "notDefined"
self.envi = ""
self.processSipd = ""
self.processSiprtmp = ""
self.processLinphone = ""
self.processAudioControl = ""
self.ecoCancelationId = "notDefined"
class TeleoperationManager(TabClass):
def __init__(self, language):
self.path2webi = roslib.packages.get_pkg_dir("qbo_webi")
self.camera = "left"
self.language = language
self.templatelookup = TemplateLookup(directories=['./'])
self.htmlTemplate = Template(
filename='teleoperation/templates/teleoperationTemplate.html',
lookup=self.templatelookup)
self.jsTemplate = Template(
filename='teleoperation/templates/teleoperationTemplate.js')
#self.variablesTemplate = Template(filename='static/js/generalVariables.js')
self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist)
self.cmd_joints_pub = rospy.Publisher('/cmd_joints', JointState)
self.client_speak = rospy.ServiceProxy("/qbo_talk/festival_say",
Text2Speach)
self.mjpegServer = MjpegServerFunctions()
self.image_size = [640, 480]
self.head_velocity_factor = 2.0
self.head_move_type = 1
#self.qbo_mouth_control=mouth()
self.mouth_pub = rospy.Publisher('/cmd_mouth', Mouth_msg)
self.vMouths = []
self.vMouths.append(Mouth(
0,
"Happy",
476160,
))
self.vMouths.append(Mouth(1, "Sad", 571392))
self.vMouths.append(Mouth(2, "Ooh", 476718))
self.vMouths.append(Mouth(3, "Pucker the mouth to the right", 17376))
self.vMouths.append(Mouth(4, "Pucker the mouth to the left", 2016))
self.vMouths.append(Mouth(5, "Straight face", 31744))
self.vMouths.append(Mouth(6, "Small mouth", 141636))
self.vMouths.append(Mouth(7, "Speak 1", 31))
self.vMouths.append(Mouth(8, "Speak 2", 479))
self.vMouths.append(Mouth(9, "Speak 3", 14911))
self.vMouths.append(Mouth(10, "Speak 4", 15359))
self.vMouths.append(Mouth(11, "Speak 5", 476735))
self.vMouths.append(Mouth(12, "Speak 6", 491519))
self.vMouths.append(Mouth(13, "None", 0))
self.vMouths.append(Mouth(14, "surprise", 476718))
self.vMouths.append(Mouth(15, "regular", 69904))
self.vMouths.append(Mouth(16, "tongue", 283616))
self.command = RunCmd()
self.chars = string.ascii_letters + string.digits
#Variables for android functions comming from Tornado(qbo_http_api_login)
self.linphoneRunning = False
self.auth = "notDefined"
self.authBot = "notDefined"
self.envi = ""
self.processSipd = ""
self.processSiprtmp = ""
self.processLinphone = ""
self.processAudioControl = ""
self.ecoCancelationId = "notDefined"
def setMouth(self, mo):
boca = Mouth_msg()
boca.mouthImage = mo.shape
self.mouth_pub.publish(boca)
@cherrypy.expose
def unload(self):
#self.mjpegServer.stop("8081")
print self.command.killProcess(self.processLinphone)
print self.command.killProcess(self.processSipd)
print self.command.killProcess(self.processSiprtmp)
return "ok"
@cherrypy.expose
def index(self):
#Set Festival language
self.lang = self.language["current_language"]
#Start SIP & RTMP services
#out = command.runCmd("python "+self.path2webi+"/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py")
#print out[0]
client = cherrypy.request.remote.ip
if (client == "127.0.0.1" or client == "localhost"
or cherrypy.request.headers['Host'].find(client) != -1):
islocal = True
else:
islocal = False
print "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX = " + client
print str(cherrypy.request.headers.get("Referer", "/"))
host = cherrypy.request.headers.get("Referer", "/")
host = host.replace("/", "")
parts = host.split(":")
self.host = parts[1]
print "HOSSSSSSSTTTTTTTTT " + host
rospy.set_param("linphone_host", host)
self.command.addToPythonPath(
"/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:"
)
#self.mjpegServer.start("8081")
return self.htmlTemplate.render(language=self.language)
@cherrypy.expose
def getAuth(self):
return json.dumps({"host": self.host, "auth": self.auth})
@cherrypy.expose
def getAuthBot(self):
#this is called right before making the call to the bot. We delay the answer, in order to make
#sure everything is settle down.
time.sleep(1)
return json.dumps({"host": self.host, "auth": self.authBot})
############# SIP functions ##############
@cherrypy.expose
def startSIPService(self):
self.auth = "notDefined"
self.authBot = "notDefined"
auth = "".join(choice(self.chars) for x in range(randint(4, 4)))
authBot = "".join(choice(self.chars) for x in range(randint(4, 4)))
#launch sipd.py
cmd = "python " + self.path2webi + "/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u " + auth + " -b " + authBot
print "Usuario= " + auth + " BOT= " + authBot
self.processSipd = self.command.runCmdWithPidBack(cmd)
#launch siprtmp.py
cmd = "python " + self.path2webi + "/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = self.command.runCmdWithPidBack(cmd)
#we give them sometime to finish the job
time.sleep(0.5)
self.auth = auth
self.authBot = authBot
#launch bot client linphone
rospy.set_param("linphone_botName", authBot)
rospy.set_param("linphone_host", "localhost")
cmd = "roslaunch qbo_linphone launch_on_robot.launch"
self.processLinphone = self.command.runCmdWithPidBack(cmd)
@cherrypy.expose
def stopSIPService(self):
self.auth = "notDefined"
self.authBot = "notDefined"
print self.command.killProcess(self.processLinphone)
print self.command.killProcess(self.processSipd)
print self.command.killProcess(self.processSiprtmp)
# SIP functions which have been migrated from qbo_http_api_login.
#
# We are trying to get rid off Tornado, and just using cherrypy, so all this changes are made in order to
# to make the Android Apk working as before. This is NOT the best way of doing things, the functions for starting
# and stoping the SIP server should be the same for website than for Android. However, due to downsizing
# in the company, this is pending.
@cherrypy.expose
def mobile_startSIPServer(self, ecoCancelation):
print "Start sip server"
path2webi = roslib.packages.get_pkg_dir("qbo_webi")
chars = string.ascii_letters + string.digits
self.envi = os.environ.copy()
path = self.envi["PYTHONPATH"]
self.envi[
"PYTHONPATH"] = "/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:" + path
self.auth = "notDefined"
self.authBot = "notDefined"
self.auth = "".join(choice(chars) for x in range(randint(4, 4)))
self.authBot = "".join(choice(chars) for x in range(randint(4, 4)))
#we check if sipd is already active, if so, we close it
cmd = "ps -aux | grep sipd"
out = self.command.runCmd(cmd)
out = out[0]
if "sipd.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# the same with siprtmp
cmd = "ps -aux | grep siprtmp"
out = self.command.runCmd(cmd)
out = out[0]
if "siprtmp.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
#launch audio control with sip profile
cmd = "roslaunch qbo_audio_control audio_control_sip.launch"
self.processAudioControl = subprocess.Popen(cmd.split(), env=self.envi)
#launch sipd.py
cmd = "python " + path2webi + "/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u " + self.auth + " -b " + self.authBot
self.processSipd = subprocess.Popen(cmd.split(), env=self.envi)
#launch siprtmp.py
cmd = "python " + path2webi + "/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = subprocess.Popen(cmd.split(), env=self.envi)
#we give them sometime to finish the job
time.sleep(0.5)
#data ready for the node qbo_linphone, but we still need to know the host
rospy.set_param("linphone_botName", self.authBot)
rospy.set_param("linphone_host",
"waiting for the mobile to know the IP")
#ECO cancelation on
if ecoCancelation:
cmd = "pactl load-module module-echo-cancel"
out = self.command.runCmd(cmd)
self.ecoCancelationId = out[0].replace("\n", "")
print "ECO cancelation ON " + str(self.ecoCancelationId)
@cherrypy.expose
def mobile_stopSIPServer(self):
try:
self.processSiprtmp.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a siprtmp. " + str(e)
try:
self.processLinphone.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a linphone. " + str(e)
try:
self.processSipd.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a sipd. " + str(e)
#We go back to the default audio control
cmd = "roslaunch qbo_audio_control audio_control_listener.launch"
try:
subprocess.Popen(cmd.split(), env=self.envi)
except:
print "ERROR when launching audio_control_listener.launch" + str(e)
#ECO cancelation off
if self.ecoCancelationId != "notDefined":
print "ECO Cancelation off " + str(self.ecoCancelationId)
cmd = "pactl unload-module " + self.ecoCancelationId
out = self.command.runCmd(cmd)
#print "salida "+str(out)
print "Done"
@cherrypy.expose
def mobile_setIpSip(self, ip):
if self.linphoneRunning:
try:
self.processLinphone.send_signal(signal.SIGINT)
self.linphoneRunning = False
except Exception as e:
print "ERROR when killing a proccess. " + str(e)
#we give them sometime to finish the job
time.sleep(1)
rospy.set_param("linphone_host", ip)
#now we know the IP, we can launch the linphone in the robot
cmd = "roslaunch qbo_linphone launch_on_robot.launch"
self.processLinphone = subprocess.Popen(cmd.split(), env=self.envi)
rospy.wait_for_service('autocaller')
self.linphoneRunning = True
@cherrypy.expose
def mobile_getUserSipId(self):
return self.auth
@cherrypy.expose
def mobile_getBotSipId(self):
return self.authBot
@cherrypy.expose
def mobile_endCall(self):
cmd = "linphonecsh hangup"
subprocess.Popen(cmd.split(), env=self.envi)
print "END CALL"
############# End of SIP functions ##############
@cherrypy.expose
def teleoperationJs(self, parameters=None):
return self.jsTemplate.render(language=self.language)
#@cherrypy.expose
#def teleoperationVariables(self, parameters=None):
# return self.variablesTemplate.render(language=self.language)
@cherrypy.expose
def move(self, line, angu):
self.sendSpeed(float(line), float(angu))
@cherrypy.expose
def head(self, yaw, pitch):
if self.head_move_type == 1:
self.headMoveType1(yaw, pitch)
else:
self.headMoveType2(yaw, pitch)
@cherrypy.expose
def changeHeadMoveType(self, head_move_type):
print "--------->Change head movement: ", head_move_type
head_move_type = int(head_move_type)
if head_move_type != 1 and head_move_type != 2:
return
print "----------> Change head movement accepted"
self.head_move_type = head_move_type
@cherrypy.expose
def changeVideoSize(self, width, height):
self.image_size = [float(width), float(height)]
print "New Image size:"
print self.image_size
@cherrypy.expose
def changeMouth(self, mouth):
#self.mouth.changeMouth(mouth)
if int(mouth) > len(self.vMouths):
return "KO"
for mo in self.vMouths:
if mo.idN == int(mouth):
self.setMouth(mo)
return "OK"
return "KO"
@cherrypy.expose
def head_to_zero_position(self):
print "Sending head to zero position"
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
msg.position.append(0)
msg.velocity.append(1.0)
msg.name.append('head_tilt_joint')
msg.position.append(0)
msg.velocity.append(1.0)
msg.header.stamp = rospy.Time.now()
self.cmd_joints_pub.publish(msg)
@cherrypy.expose
def speak(self, message):
message_encoded = message.encode('utf8')
print "Message to speak: " + str(message_encoded)
self.client_speak(message_encoded)
return "true"
@cherrypy.expose
def activate_3d(self, activate):
if activate == "on":
cmd = "rosrun stereo_anaglyph red_cyan_anaglyph.py __name:=stereo_anaglyph -c /stereo -d 20 -s"
self.processthreeD = subprocess.Popen(cmd.split())
else:
self.processthreeD.send_signal(signal.SIGINT)
def sendSpeed(self, line, angu):
speed_command = Twist()
speed_command.linear.x = line
speed_command.linear.y = 0
speed_command.linear.z = 0
speed_command.angular.x = 0
speed_command.angular.y = 0
speed_command.angular.z = angu
self.cmd_vel_pub.publish(speed_command)
'''
1st approach of head movement
'''
def headMoveType1(self, yaw, pitch):
yaw = float(yaw)
pitch = float(pitch)
maxLimitYaw = self.image_size[0]
maxLimitPitch = self.image_size[1]
if yaw > maxLimitYaw:
yaw = maxLimitYaw
if pitch > maxLimitPitch:
pitch = maxLimitPitch
if yaw < maxLimitYaw * -1:
yaw = -maxLimitYaw
if pitch < maxLimitPitch * -1:
pitch = -maxLimitPitch
radYaw = (yaw * (math.pi / 2)) / maxLimitYaw
radPitch = (pitch * (math.pi / 2)) / maxLimitPitch
self.sendHeadPose(float(radYaw), float(radPitch))
'''
2st approach of head movement
'''
def headMoveType2(self, yaw, pitch):
pan_pos = float(yaw)
tilt_pos = float(pitch)
pan_ratio = pan_pos / (self.image_size[0] / 2.0)
tilt_ratio = tilt_pos / (self.image_size[1] / 2.0)
pan_ratio = min(1, pan_ratio)
pan_ratio = max(-1, pan_ratio)
tilt_ratio = min(1, tilt_ratio)
tilt_ratio = max(-1, tilt_ratio)
print "Pan_pos:", pan_ratio, "| Tilt_ratio:", tilt_ratio
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
if pan_ratio > 0:
msg.position.append(2)
else:
msg.position.append(-2)
if abs(pan_ratio) < 0.2:
pan_ratio = 0.0
elif pan_ratio > 0.2:
pan_ratio -= 0.2
elif pan_ratio < -0.2:
pan_ratio += 0.2
msg.velocity.append(abs(pan_ratio) * self.head_velocity_factor)
msg.name.append('head_tilt_joint')
if tilt_ratio > 0:
msg.position.append(2)
else:
msg.position.append(-2)
if abs(tilt_ratio) < 0.2:
tilt_ratio = 0.0
elif tilt_ratio > 0.2:
tilt_ratio -= 0.2
elif tilt_ratio < -0.2:
tilt_ratio += 0.2
msg.velocity.append(abs(tilt_ratio) * self.head_velocity_factor)
msg.header.stamp = rospy.Time.now()
self.cmd_joints_pub.publish(msg)
def sendHeadPose(self, yaw, pitch):
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
msg.position.append(float(yaw))
msg.velocity.append(1.0)
msg.name.append('head_tilt_joint')
msg.position.append(float(pitch))
msg.velocity.append(1.0)
msg.header.stamp = rospy.Time.now()
#print "mensaje en lib_qbo_pyarduqbo: vamos a mover la cazbeza ",msg
self.cmd_joints_pub.publish(msg)
class TeleoperationManager(TabClass):
def __init__(self,language):
self.path2webi = roslib.packages.get_pkg_dir("qbo_webi")
self.camera="left"
self.language = language
self.templatelookup = TemplateLookup(directories=['./'])
self.htmlTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.html',lookup=self.templatelookup)
self.jsTemplate = Template(filename='teleoperation/templates/teleoperationTemplate.js')
#self.variablesTemplate = Template(filename='static/js/generalVariables.js')
self.cmd_vel_pub=rospy.Publisher('/cmd_vel', Twist)
self.cmd_joints_pub=rospy.Publisher('/cmd_joints', JointState)
self.client_speak = rospy.ServiceProxy("/qbo_talk/festival_say", Text2Speach)
self.mjpegServer = MjpegServerFunctions()
self.image_size=[640,480]
self.head_velocity_factor = 2.0
self.head_move_type = 1
#self.qbo_mouth_control=mouth()
self.mouth_pub=rospy.Publisher('/cmd_mouth', Mouth_msg)
self.vMouths=[]
self.vMouths.append(Mouth(0,"Happy",476160,));
self.vMouths.append(Mouth(1,"Sad",571392));
self.vMouths.append(Mouth(2,"Ooh",476718));
self.vMouths.append(Mouth(3,"Pucker the mouth to the right",17376));
self.vMouths.append(Mouth(4,"Pucker the mouth to the left",2016));
self.vMouths.append(Mouth(5,"Straight face",31744));
self.vMouths.append(Mouth(6,"Small mouth",141636));
self.vMouths.append(Mouth(7,"Speak 1",31));
self.vMouths.append(Mouth(8,"Speak 2",479));
self.vMouths.append(Mouth(9,"Speak 3",14911));
self.vMouths.append(Mouth(10,"Speak 4",15359));
self.vMouths.append(Mouth(11,"Speak 5",476735));
self.vMouths.append(Mouth(12,"Speak 6",491519));
self.vMouths.append(Mouth(13,"None",0));
self.vMouths.append(Mouth(14,"surprise",476718));
self.vMouths.append(Mouth(15,"regular",69904));
self.vMouths.append(Mouth(16,"tongue",283616));
self.command = RunCmd()
self.chars = string.ascii_letters + string.digits
#Variables for android functions comming from Tornado(qbo_http_api_login)
self.linphoneRunning = False
self.auth = "notDefined"
self.authBot = "notDefined"
self.envi = ""
self.processSipd = ""
self.processSiprtmp = ""
self.processLinphone = ""
self.processAudioControl = ""
self.ecoCancelationId = "notDefined"
def setMouth(self,mo):
boca=Mouth_msg()
boca.mouthImage=mo.shape
self.mouth_pub.publish(boca)
@cherrypy.expose
def unload(self):
#self.mjpegServer.stop("8081")
print self.command.killProcess(self.processLinphone)
print self.command.killProcess(self.processSipd)
print self.command.killProcess(self.processSiprtmp)
return "ok"
@cherrypy.expose
def index(self):
#Set Festival language
self.lang = self.language["current_language"]
#Start SIP & RTMP services
#out = command.runCmd("python "+self.path2webi+"/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py")
#print out[0]
client=cherrypy.request.remote.ip
if (client=="127.0.0.1" or client=="localhost" or cherrypy.request.headers['Host'].find(client)!=-1):
islocal=True
else:
islocal=False
print "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX = "+client
print str(cherrypy.request.headers.get("Referer","/"))
host = cherrypy.request.headers.get("Referer","/")
host = host.replace("/","")
parts = host.split(":")
self.host = parts[1]
print "HOSSSSSSSTTTTTTTTT "+host
rospy.set_param("linphone_host",host)
self.command.addToPythonPath("/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:");
#self.mjpegServer.start("8081")
return self.htmlTemplate.render(language=self.language)
@cherrypy.expose
def getAuth(self):
return json.dumps({"host": self.host, "auth": self.auth})
@cherrypy.expose
def getAuthBot(self):
#this is called right before making the call to the bot. We delay the answer, in order to make
#sure everything is settle down.
time.sleep(1)
return json.dumps({"host": self.host, "auth": self.authBot})
############# SIP functions ##############
@cherrypy.expose
def startSIPService(self):
self.auth = "notDefined"
self.authBot = "notDefined"
auth = "".join(choice(self.chars) for x in range(randint(4, 4)))
authBot = "".join(choice(self.chars) for x in range(randint(4, 4)))
#launch sipd.py
cmd = "python "+self.path2webi+"/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u "+auth+" -b "+authBot
print "Usuario= "+ auth +" BOT= "+authBot
self.processSipd = self.command.runCmdWithPidBack(cmd)
#launch siprtmp.py
cmd = "python "+self.path2webi+"/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = self.command.runCmdWithPidBack(cmd)
#we give them sometime to finish the job
time.sleep(0.5)
self.auth = auth
self.authBot =authBot
#launch bot client linphone
rospy.set_param("linphone_botName",authBot)
rospy.set_param("linphone_host","localhost")
cmd = "roslaunch qbo_linphone launch_on_robot.launch"
self.processLinphone = self.command.runCmdWithPidBack(cmd)
@cherrypy.expose
def stopSIPService(self):
self.auth = "notDefined"
self.authBot = "notDefined"
print self.command.killProcess(self.processLinphone)
print self.command.killProcess(self.processSipd)
print self.command.killProcess(self.processSiprtmp)
# SIP functions which have been migrated from qbo_http_api_login.
#
# We are trying to get rid off Tornado, and just using cherrypy, so all this changes are made in order to
# to make the Android Apk working as before. This is NOT the best way of doing things, the functions for starting
# and stoping the SIP server should be the same for website than for Android. However, due to downsizing
# in the company, this is pending.
@cherrypy.expose
def mobile_startSIPServer(self,ecoCancelation):
print "Start sip server"
path2webi = roslib.packages.get_pkg_dir("qbo_webi")
chars = string.ascii_letters + string.digits
self.envi = os.environ.copy()
path = self.envi["PYTHONPATH"]
self.envi["PYTHONPATH"] = "/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:"+path
self.auth = "notDefined"
self.authBot = "notDefined"
self.auth = "".join(choice(chars) for x in range(randint(4, 4)))
self.authBot = "".join(choice(chars) for x in range(randint(4, 4)))
#we check if sipd is already active, if so, we close it
cmd = "ps -aux | grep sipd"
out = self.command.runCmd(cmd)
out = out[0]
if "sipd.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# the same with siprtmp
cmd = "ps -aux | grep siprtmp"
out = self.command.runCmd(cmd)
out = out[0]
if "siprtmp.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
#launch audio control with sip profile
cmd = "roslaunch qbo_audio_control audio_control_sip.launch"
self.processAudioControl = subprocess.Popen(cmd.split(),env=self.envi)
#launch sipd.py
cmd = "python "+path2webi+"/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u "+self.auth+" -b "+self.authBot
self.processSipd = subprocess.Popen(cmd.split(),env=self.envi)
#launch siprtmp.py
cmd = "python "+path2webi+"/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = subprocess.Popen(cmd.split(),env=self.envi)
#we give them sometime to finish the job
time.sleep(0.5)
#data ready for the node qbo_linphone, but we still need to know the host
rospy.set_param("linphone_botName",self.authBot)
rospy.set_param("linphone_host","waiting for the mobile to know the IP")
#ECO cancelation on
if ecoCancelation:
cmd = "pactl load-module module-echo-cancel"
out = self.command.runCmd(cmd);
self.ecoCancelationId = out[0].replace("\n","")
print "ECO cancelation ON "+str(self.ecoCancelationId)
@cherrypy.expose
def mobile_stopSIPServer(self):
try:
self.processSiprtmp.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a siprtmp. "+str(e)
try:
self.processLinphone.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a linphone. "+str(e)
try:
self.processSipd.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a sipd. "+str(e)
#We go back to the default audio control
cmd = "roslaunch qbo_audio_control audio_control_listener.launch"
try:
subprocess.Popen(cmd.split(),env=self.envi)
except:
print "ERROR when launching audio_control_listener.launch"+str(e)
#ECO cancelation off
if self.ecoCancelationId != "notDefined":
print "ECO Cancelation off "+str(self.ecoCancelationId)
cmd = "pactl unload-module "+self.ecoCancelationId
out = self.command.runCmd(cmd)
#print "salida "+str(out)
print "Done"
@cherrypy.expose
def mobile_setIpSip(self,ip):
if self.linphoneRunning:
try:
self.processLinphone.send_signal(signal.SIGINT)
self.linphoneRunning = False
except Exception as e:
print "ERROR when killing a proccess. "+str(e)
#we give them sometime to finish the job
time.sleep(1)
rospy.set_param("linphone_host",ip)
#now we know the IP, we can launch the linphone in the robot
cmd = "roslaunch qbo_linphone launch_on_robot.launch"
self.processLinphone = subprocess.Popen(cmd.split(),env=self.envi)
rospy.wait_for_service('autocaller')
self.linphoneRunning = True
@cherrypy.expose
def mobile_getUserSipId(self):
return self.auth
@cherrypy.expose
def mobile_getBotSipId(self):
return self.authBot
@cherrypy.expose
def mobile_endCall(self):
cmd = "linphonecsh hangup"
subprocess.Popen(cmd.split(),env=self.envi)
print "END CALL"
############# End of SIP functions ##############
@cherrypy.expose
def teleoperationJs(self, parameters=None):
return self.jsTemplate.render(language=self.language)
#@cherrypy.expose
#def teleoperationVariables(self, parameters=None):
# return self.variablesTemplate.render(language=self.language)
@cherrypy.expose
def move(self,line,angu):
self.sendSpeed(float(line),float(angu))
@cherrypy.expose
def head(self,yaw,pitch):
if self.head_move_type==1:
self.headMoveType1(yaw, pitch)
else:
self.headMoveType2(yaw, pitch)
@cherrypy.expose
def changeHeadMoveType(self,head_move_type):
print "--------->Change head movement: ",head_move_type
head_move_type = int(head_move_type)
if head_move_type!=1 and head_move_type!=2:
return
print "----------> Change head movement accepted"
self.head_move_type = head_move_type
@cherrypy.expose
def changeVideoSize(self,width, height):
self.image_size=[float(width),float(height)]
print "New Image size:"
print self.image_size
@cherrypy.expose
def changeMouth(self,mouth):
#self.mouth.changeMouth(mouth)
if int(mouth) > len(self.vMouths):
return "KO"
for mo in self.vMouths:
if mo.idN == int(mouth):
self.setMouth(mo)
return "OK"
return "KO"
@cherrypy.expose
def head_to_zero_position(self):
print "Sending head to zero position"
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
msg.position.append(0)
msg.velocity.append(1.0)
msg.name.append('head_tilt_joint')
msg.position.append(0)
msg.velocity.append(1.0)
msg.header.stamp = rospy.Time.now()
self.cmd_joints_pub.publish(msg)
@cherrypy.expose
def speak(self, message):
message_encoded=message.encode('utf8')
print "Message to speak: "+str(message_encoded)
self.client_speak(message_encoded)
return "true"
@cherrypy.expose
def activate_3d(self, activate):
if activate=="on":
cmd="rosrun stereo_anaglyph red_cyan_anaglyph.py __name:=stereo_anaglyph -c /stereo -d 20 -s"
self.processthreeD = subprocess.Popen(cmd.split())
else:
self.processthreeD.send_signal(signal.SIGINT)
def sendSpeed(self,line,angu):
speed_command=Twist()
speed_command.linear.x=line
speed_command.linear.y=0
speed_command.linear.z=0
speed_command.angular.x=0
speed_command.angular.y=0
speed_command.angular.z=angu
self.cmd_vel_pub.publish(speed_command)
'''
1st approach of head movement
'''
def headMoveType1(self,yaw,pitch):
yaw=float(yaw)
pitch=float(pitch)
maxLimitYaw = self.image_size[0]
maxLimitPitch = self.image_size[1]
if yaw>maxLimitYaw:
yaw=maxLimitYaw
if pitch>maxLimitPitch:
pitch=maxLimitPitch
if yaw<maxLimitYaw*-1:
yaw=-maxLimitYaw
if pitch<maxLimitPitch*-1:
pitch=-maxLimitPitch
radYaw = (yaw*(math.pi/2))/maxLimitYaw
radPitch = (pitch*(math.pi/2))/maxLimitPitch
self.sendHeadPose(float(radYaw),float(radPitch))
'''
2st approach of head movement
'''
def headMoveType2(self,yaw,pitch):
pan_pos=float(yaw)
tilt_pos=float(pitch)
pan_ratio = pan_pos/(self.image_size[0]/2.0)
tilt_ratio = tilt_pos/(self.image_size[1]/2.0)
pan_ratio = min(1,pan_ratio)
pan_ratio = max(-1,pan_ratio)
tilt_ratio = min(1,tilt_ratio)
tilt_ratio = max(-1,tilt_ratio)
print "Pan_pos:",pan_ratio,"| Tilt_ratio:",tilt_ratio
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
if pan_ratio>0:
msg.position.append(2)
else:
msg.position.append(-2)
if abs(pan_ratio)<0.2:
pan_ratio = 0.0
elif pan_ratio>0.2:
pan_ratio-=0.2
elif pan_ratio < -0.2:
pan_ratio+=0.2
msg.velocity.append(abs(pan_ratio)*self.head_velocity_factor)
msg.name.append('head_tilt_joint')
if tilt_ratio>0:
msg.position.append(2)
else:
msg.position.append(-2)
if abs(tilt_ratio)<0.2:
tilt_ratio = 0.0
elif tilt_ratio>0.2:
tilt_ratio-=0.2
elif tilt_ratio < -0.2:
tilt_ratio+=0.2
msg.velocity.append(abs(tilt_ratio)*self.head_velocity_factor)
msg.header.stamp = rospy.Time.now()
self.cmd_joints_pub.publish(msg)
def sendHeadPose(self,yaw,pitch):
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
msg.name.append('head_pan_joint')
msg.position.append(float(yaw))
msg.velocity.append(1.0)
msg.name.append('head_tilt_joint')
msg.position.append(float(pitch))
msg.velocity.append(1.0)
msg.header.stamp = rospy.Time.now()
#print "mensaje en lib_qbo_pyarduqbo: vamos a mover la cazbeza ",msg
self.cmd_joints_pub.publish(msg)
