def expression(self, expression, intensity=None, speed=None, duration=None):
if not self.expression_found:
self.wait_for_action_servers(self.expression_client)
self.expression_found = True
ParamFormatting.assert_types(self.expression, expression, IExpression)
goal = ExpressionGoal()
goal.expression = expression.name
if intensity is None:
goal.intensity = -1
else:
ParamFormatting.assert_types(self.expression, intensity, float)
ParamFormatting.assert_range(self.expression, intensity, 0.0, 1.0)
goal.intensity = intensity
if speed is None:
goal.speed = -1
else:
ParamFormatting.assert_types(self.expression, speed, float)
ParamFormatting.assert_range(self.expression, speed, 0.0, 1.0)
goal.speed = speed
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.expression_client.send_goal(goal, done_cb=self.expression_done)
ah = MultiGoalActionHandle(self.expression_client, gh)
self.add_action_handle(ah)
return ah
def expression(self, expression, intensity=None, speed=None, duration=None):
if not self.expression_found:
self.wait_for_action_servers(self.expression_client)
self.expression_found = True
ParamFormatting.assert_types(self.expression, expression, IExpression)
goal = ExpressionGoal()
goal.expression = expression.name
if intensity is None:
goal.intensity = -1
else:
ParamFormatting.assert_types(self.expression, intensity, float)
ParamFormatting.assert_range(self.expression, intensity, 0.0, 1.0)
goal.intensity = intensity
if speed is None:
goal.speed = -1
else:
ParamFormatting.assert_types(self.expression, speed, float)
ParamFormatting.assert_range(self.expression, speed, 0.0, 1.0)
goal.speed = speed
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.expression_client.send_goal(goal, done_cb=self.expression_done)
ah = MultiGoalActionHandle(self.expression_client, gh)
self.add_action_handle(ah)
return ah
def parse_parameters(self, text, audience, expression_enum, gesture_enum, tts_duration_srv):
self.reset()
self.audience = audience
ParamFormatting.assert_types(self.parse_parameters, text, str)
ParamFormatting.assert_types(self.parse_parameters, audience, Entity, Query)
# if not is_callable(tts_duration_srv):
# raise TypeError("parse_parameters() parameter tts_duration_srv={0} is not callable".format(tts_duration_srv))
self.sentence = SayToPlan.get_sentence(text) # Get sentence
self.gaze_change_locations = SayToPlan.get_gaze_change_locations(self.sentence)
# Get expressions and gestures
xml_tree = ET.fromstring("<sayto>" + text + "</sayto>")
seen_text = ''
for node in xml_tree.iter():
if node.tag == "sayto":
if node.text is not None:
seen_text += node.text + " "
else:
start_word_i = SayToPlan.num_words(seen_text)
if node.text is not None:
seen_text += node.text + " "
end_word_i = SayToPlan.num_words(seen_text)
goal_name = node.tag
if SayToPlan.enum_contains(expression_enum, goal_name):
goal = ExpressionGoal()
goal.expression = goal_name
goal.intensity = 0.5
goal.speed = 0.5
if 'intensity' in node.attrib:
goal.intensity = float(node.attrib["intensity"])
if 'speed' in node.attrib:
goal.speed = float(node.attrib["speed"])
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.expression_lookup[start_word_i] = goal
elif SayToPlan.enum_contains(gesture_enum, goal_name):
goal = GestureGoal()
goal.gesture = goal_name
if 'target' in node.attrib: # Check if target is Entity
goal.target = node.attrib["target"]
else:
raise AttributeError('Please specify a target attribute for {0} gesture'.format(goal_name))
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.gesture_lookup[start_word_i] = goal
else:
raise TypeError('No gesture or expression called: {0}'.format(goal_name))
if node.tail is not None:
seen_text += node.tail + " "
def parse_parameters(self, text, audience, expression_enum, gesture_enum, tts_duration_srv):
self.reset()
self.audience = audience
ParamFormatting.assert_types(self.parse_parameters, text, str)
ParamFormatting.assert_types(self.parse_parameters, audience, Entity, Query)
# if not is_callable(tts_duration_srv):
# raise TypeError("parse_parameters() parameter tts_duration_srv={0} is not callable".format(tts_duration_srv))
self.sentence = SayToPlan.get_sentence(text) # Get sentence
self.gaze_change_locations = SayToPlan.get_gaze_change_locations(self.sentence)
# Get expressions and gestures
xml_tree = ET.fromstring("<sayto>" + text + "</sayto>")
seen_text = ""
for node in xml_tree.iter():
if node.tag == "sayto":
if node.text is not None:
seen_text += node.text + " "
else:
start_word_i = SayToPlan.num_words(seen_text)
if node.text is not None:
seen_text += node.text + " "
end_word_i = SayToPlan.num_words(seen_text)
goal_name = node.tag
if SayToPlan.enum_contains(expression_enum, goal_name):
goal = ExpressionGoal()
goal.expression = goal_name
goal.intensity = 0.5
goal.speed = 0.5
if "intensity" in node.attrib:
goal.intensity = float(node.attrib["intensity"])
if "speed" in node.attrib:
goal.speed = float(node.attrib["speed"])
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.expression_lookup[start_word_i] = goal
elif SayToPlan.enum_contains(gesture_enum, goal_name):
goal = GestureGoal()
goal.gesture = goal_name
if "target" in node.attrib: # Check if target is Entity
goal.target = node.attrib["target"]
else:
raise AttributeError("Please specify a target attribute for {0} gesture".format(goal_name))
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.gesture_lookup[start_word_i] = goal
else:
raise TypeError("No gesture or expression called: {0}".format(goal_name))
if node.tail is not None:
seen_text += node.tail + " "
