def send_volume_message(self, volume):
""" Publish TegaAction message setting the percent volume to use. """
if self.tega_pub is not None:
print('\nsending volume message: %s' % volume)
msg = TegaAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.set_volume = True
msg.percent_volume = volume
self.tega_pub.publish(msg)
rospy.loginfo(msg)
def send_tega_command(self,
motion="",
lookat=None,
audio="",
fidgets="",
enqueue=False,
cancel=False,
volume=None):
""" Publish a Tega command message and optionally wait for a response.
"""
# We may need to send a TegaAction message with any or all of these
# parameters.
# pylint: disable=too-many-arguments
if self._tega_pub is None:
self._logger.warning("TegaAction ROS publisher is none!")
return
self._logger.info("Sending Tega command...")
# Build message.
msg = TegaAction()
# Add header.
msg.header = Header()
msg.header.stamp = rospy.Time.now()
# If parameters are set, add them to the message...
msg.motion = motion
if lookat is not None:
msg.do_look_at = True
msg.look_at = lookat
msg.wav_filename = audio
msg.fidgets = fidgets
msg.enqueue = enqueue
msg.cancel_actions = cancel
if volume is not None:
msg.percent_volume = volume
msg.set_volume = True
# Send message.
self._tega_pub.publish(msg)
self._logger.debug(msg)
