Add dropdown for selecting fidget set to send to Tega

src/tega_fidget_ui.py

@@ -0,0 +1,65 @@
+# Jacqueline Kory Westlund
+# July 2017
+#
+# The MIT License (MIT)
+#
+# Copyright (c) 2016 Personal Robots Group
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+from PySide import QtGui # Basic GUI stuff.
+from tega_teleop_ros import tega_teleop_ros
+# Get fidget constants from TegaAction ROS msgs.
+from r1d1_msgs.msg import TegaAction
+
+class tega_fidget_ui(QtGui.QWidget):
+
+    fidget_sets = {
+            "no fidgets": TegaAction.FIDGETS_EMPTY,
+            "speech fidgets": TegaAction.FIDGETS_SPEECH,
+            "physical fidgets": TegaAction.FIDGETS_PHYSICAL
+            }
+
+    def __init__(self, ros_node):
+        """ Make buttons to tell robot to look different directions """
+        super(tega_fidget_ui, self).__init__()
+        # Get reference to ros node so we can do callbacks to publish messages.
+        self.ros_node = ros_node
+
+        # Put buttons in a box.
+        self.fidget_box = QtGui.QGroupBox(self)
+        self.fidget_layout = QtGui.QGridLayout(self.fidget_box)
+        self.fidget_box.setTitle("Fidgets")
+
+        # Create fidget buttons and add to layout.
+        self.label = QtGui.QLabel(self.fidget_box)
+        self.label.setText("Choose fidget set: ")
+        self.fidget_layout.addWidget(self.label, 0, 0)
+
+        self.fidget_set_box = QtGui.QComboBox(self)
+        fidget_set_list = self.fidget_sets.keys()
+        self.fidget_set_box.addItems(fidget_set_list)
+        self.fidget_set_box.activated['QString'].connect(self.on_fidget_set_selected)
+        self.fidget_layout.addWidget(self.fidget_set_box, 0, 1, 1, 2)
+
+    def on_fidget_set_selected(self, fidget_set):
+        """ When the fidget set is changed in the combo box, send a message
+        to the robot to tell it what set should now be in use.
+        """
+        self.ros_node.send_fidget_message(self.fidget_sets[fidget_set])

src/tega_teleop.py

@@ -37,6 +37,7 @@
 from tega_lookat_ui import tega_lookat_ui
 from tega_speech_ui import tega_speech_ui
 from opal_tablet_ui import opal_tablet_ui
+from tega_fidget_ui import tega_fidget_ui
 from tega_teleop_flags import tega_teleop_flags
 
 class tega_teleop(QtGui.QMainWindow):
@@ -80,20 +81,24 @@ def __init__(self, use_entrainer):
 
         # add animation buttons
         anim_ui = tega_animation_ui(self.ros_teleop)
-        self.central_layout.addWidget(anim_ui, 0, 0, 3, 7)
+        self.central_layout.addWidget(anim_ui, 0, 0, 2, 7)
 
         # add lookat buttons
         lookat_ui = tega_lookat_ui(self.ros_teleop)
         self.central_layout.addWidget(lookat_ui, 2, 3, 2, 3)
 
+        # Add fidget control buttons.
+        fidget_ui = tega_fidget_ui(self.ros_teleop)
+        self.central_layout.addWidget(fidget_ui, 3, 3, 1, 3)
+
         # add tablet controls
         opal_ui = opal_tablet_ui(self.ros_teleop)
         self.central_layout.addWidget(opal_ui, 2, 0, 2, 3)
 
         # add robot script playback buttons (mostly speech, but the scripts
         # can also list animations to play before or after an audio file)
         speech_ui = tega_speech_ui(self.ros_teleop, self.flags, use_entrainer)
-        self.central_layout.addWidget(speech_ui, 4, 0, 3, 7)
+        self.central_layout.addWidget(speech_ui, 5, 0, 3, 7)
 
 if __name__ == '__main__':
 

src/tega_teleop_ros.py

@@ -88,7 +88,6 @@ def send_motion_message(self, motion):
         if self.tega_pub is not None:
             print 'sending motion message: %s' % motion
             msg = TegaAction()
-            msg.do_motion = True
             msg.motion = motion
             self.tega_pub.publish(msg)
             rospy.loginfo(msg)
@@ -108,11 +107,20 @@ def send_speech_message(self, speech):
         if self.tega_pub is not None:
             print '\nsending speech message: %s' % speech
             msg = TegaAction()
-            msg.do_sound_playback = True
             msg.wav_filename = speech
             self.tega_pub.publish(msg)
             rospy.loginfo(msg)
 
+    def send_fidget_message(self, fidget):
+        """ Publish TegaAction message setting the fidget set in use. """
+        if self.tega_pub is not None:
+            print '\nsending fidget message: %s' % fidget
+            msg = TegaAction()
+            msg.fidgets = fidget
+            self.tega_pub.publish(msg)
+            rospy.loginfo(msg)
+
+
     def send_entrain_audio_message(self, speech, visemes, age, entrain):
         """ Publish EntrainAudio message. """
         if self.entrain_pub is not None: