def sendEmotion(self, emotion):
msg = EmotionState()
args = emotion['name'].split(',', 2)
logger.info(args)
msg.magnitude = 1
msg.duration.secs = 1
if len(args) >= 1:
msg.name = str(args[0])
if len(args) >= 2:
msg.magnitude = float(args[1])
if len(args) >= 3:
msg.duration.secs = float(args[2])
logger.info("Send emotion {}".format(msg))
self.emotion_topic.publish(msg)
def show_emotion(self, expression, intensity, duration, trigger):
# Try to avoid showing more than one expression at once
now = time.time()
since = self.blackboard["show_expression_since"]
durat = self.blackboard["current_emotion_duration"]
if since is not None and (now - since < 0.7 * durat) :
return
# Update the blackboard
self.blackboard["current_emotion"] = expression
self.blackboard["current_emotion_intensity"] = intensity
self.blackboard["current_emotion_duration"] = duration
# Create the message
exp = EmotionState()
exp.name = self.blackboard["current_emotion"]
exp.magnitude = self.blackboard["current_emotion_intensity"]
intsecs = int(duration)
exp.duration.secs = intsecs
exp.duration.nsecs = 1000000000 * (duration - intsecs)
# emotion_pub goes to blender and tts;
if (self.do_pub_emotions) :
self.emotion_pub.publish(exp)
self.write_log(exp.name, time.time(), trigger)
print "----- Show expression: " + expression + " (" + str(intensity)[:5] + ") for " + str(duration)[:4] + " seconds"
self.blackboard["show_expression_since"] = time.time()
def sad(self): # Create the message exp = EmotionState() exp.name = 'sad' exp.magnitude = 1.0 exp.duration.secs = 5 exp.duration.nsecs = 250*1000000 self.emotion_pub.publish(exp) print "Just published: ", exp.name
def expression(self, name, intensity, duration): # Create the message exp = EmotionState() exp.name = name exp.magnitude = intensity exp.duration.secs = int(duration) exp.duration.nsecs = 1000000000 * (duration - int(duration)) self.emotion_pub.publish(exp) print "Publish expression: ", exp.name
def expression(self, name, intensity, duration):
if 'noop' == name or (not self.control_mode & self.C_EXPRESSION):
return
# Create the message
exp = EmotionState()
exp.name = name
exp.magnitude = intensity
exp.duration.secs = int(duration)
exp.duration.nsecs = 1000000000 * (duration - int(duration))
self.expression_pub.publish(exp)
print "Publish facial expression:", exp.name
def expression(self, name, intensity, duration): if 'noop' == name or (not self.control_mode & self.C_EXPRESSION): return # Create the message exp = EmotionState() exp.name = name exp.magnitude = intensity exp.duration.secs = int(duration) exp.duration.nsecs = 1000000000 * (duration - int(duration)) self.emotion_pub.publish(exp) print "Publish expression:", exp.name
def expression(self, name, intensity, duration):
if 'noop' == name:
return
# Create the message
exp = EmotionState()
exp.name = name
exp.magnitude = intensity
exp.duration.secs = int(duration)
exp.duration.nsecs = 1000000000 * (duration - int(duration))
self.emotion_pub.publish(exp)
print "Publish expression:", exp.name
def update_head_position(self, event):
rospy.logdebug(' '.join([
'%s: %.3f' % (EMOTIONS[n], STATES[n])
for n in xrange(len(EMOTIONS))
]))
for i, emo in enumerate(EMOTIONS):
expression = EmotionState()
expression.name = EXPRESSIONS[i]
expression.magnitude = STATES[i]
if expression.magnitude > 0.005:
self.expressions_pub.publish(expression)
def update_robot_emotions_cb(self, event):
with self.states_lock:
rospy.logdebug(' '.join([
'%s: %.3f' % (Mirroring.PERSON_EMOTIONS[n], self.states[n])
for n in xrange(len(Mirroring.PERSON_EMOTIONS))
]))
for i, emo in enumerate(Mirroring.PERSON_EMOTIONS):
expression = EmotionState()
expression.name = Mirroring.ROBOT_EMOTIONS[i]
expression.magnitude = self.states[i]
if expression.magnitude > 0.005:
self.emotion_pub.publish(expression)
def show_emotion(self, expression, intensity, duration):
# Update the blackboard
self.blackboard["current_emotion"] = expression
self.blackboard["current_emotion_intensity"] = intensity
self.blackboard["current_emotion_duration"] = duration
# Create the message
exp = EmotionState()
exp.name = self.blackboard["current_emotion"]
exp.magnitude = self.blackboard["current_emotion_intensity"]
intsecs = int(duration)
exp.duration.secs = intsecs
exp.duration.nsecs = 1000000000 * (duration - intsecs)
self.emotion_pub.publish(exp)
print "----- Show expression: " + expression + " (" + str(intensity)[:5] + ") for " + str(duration)[:4] + " seconds"
self.blackboard["show_expression_since"] = time.time()
def emote(self, name, magnitude, duration, blend):
""" Set the robot's emotional state
:param str name: the id of the emotion
:param float magnitude: the magnitude of the emotion from 0.0 to 1.0
:param float duration: the time in seconds that the emotion lasts for
:param bool blend: blend the emotion with other emotions that also have blend=True. If an emotion is sent with
blend=False, then it will overwrite all previously sent and active blendable emotions.
:return: None
"""
msg = EmotionState()
msg.name = name
msg.magnitude = magnitude
msg.duration.secs = int(duration)
msg.duration.nsecs = 1000000000 * (duration - int(duration))
if blend:
self.emotion_value_pub.publish(msg)
else:
self.emotion_state_pub.publish(msg)
rospy.logdebug("published emote(name={}, magnitude={}, duration={})".format(name, magnitude, duration))
def chatbot_affect_perceive_callback(self, emo):
rospy.loginfo('chatbot perceived emo class ='+emo.data)
# for now pass through to blender using random positive or non_positive class
# in future we want more cognitive / behavior
# pick random emotions may not do anything depending on random number so add force optional arg
force=True
if emo.data == 'happy':
chosen_emo=self.pick_random_expression("positive_emotions",force)
else:
chosen_emo=self.pick_random_expression("frustrated_emotions",force)
# publish this message to cause chatbot to emit response if it's waiting
#
exp = EmotionState()
# getting from blackboard seems to be inconsistent with expected state
exp.name = self.blackboard["current_emotion"]
exp.magnitude = 0.5
# use zero for duration, tts can compute if needed
exp.duration.secs = 3.0
exp.duration.nsecs = 0
self.affect_pub.publish(exp)
rospy.loginfo('picked and expressed '+chosen_emo.name)
def emotion(emo, magnitude=1, duration=1):
msg = EmotionState()
msg.name = emo
msg.magnitude = magnitude
msg.duration = rospy.Duration.from_sec(duration)
emotions_pub.publish(msg)
