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"
