/
singing.py
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/
singing.py
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#!/usr/bin/env python
import rospy
import std_msgs
import roslib
#roslib.load_manifest("baxter_pick_and_place")
import readline
import time
import pygame
import thread
from ein.msg import EinState
import math
import pyaudio
import wave
class EinClientBoth:
def __init__(self,publish_topic_l, state_topic_l, publish_topic_r, state_topic_r):
self.forth_command_publisher_l = rospy.Publisher(publish_topic_l,
std_msgs.msg.String, queue_size=10)
self.forth_command_publisher_r = rospy.Publisher(publish_topic_r,
std_msgs.msg.String, queue_size=10)
self.state = None
self.stack = []
self.forth_command_publisher_l.publish("1 setRepeatHalo")
self.forth_command_publisher_r.publish("0 setRepeatHalo")
def state_callback(self, msg):
self.state = msg
self.stack = self.state.stack
def printStack(self):
print "Call Stack: "
for word in reversed(self.stack):
print " ".rjust(15), word
def face(self):
for y in range(1,5):
for x in range(0,10):
self.forth_command_publisher_l.publish("\"song01_0000"+str(x)+".tif\" publishImageFileToFace")
time.sleep(.5)
for x in range(11,100):
self.forth_command_publisher_l.publish("\"song01_000"+str(x)+".tif\" publishImageFileToFace")
time.sleep(.5)
def ultrasoundm(self):
self.forth_command_publisher_l.publish("assumeCrane1 ;")
self.forth_command_publisher_r.publish("assumeCrane1 ;")
time.sleep(1)
self.forth_command_publisher_r.publish("0 setRepeatHalo")
time.sleep(3)
self.forth_command_publisher_l.publish("\"wiki\" import ")
time.sleep(.5)
self.forth_command_publisher_l.publish("0 setRedHalo ")
self.forth_command_publisher_l.publish("setControlModeAngles")
thread.start_new_thread(ultras,())
time.sleep(2)
self.forth_command_publisher_l.publish("blink_sonar_swoop ;")
self.forth_command_publisher_l.publish("0 0 0 0 0 0.3 0 moveJointsByAngles ;")
self.forth_command_publisher_r.publish("0 0 0 0 0 0.3 0 moveJointsByAngles")
time.sleep(1)
self.forth_command_publisher_l.publish("0 0 0 0 0 -.3 0 moveJointsByAngles ;")
self.forth_command_publisher_r.publish("0 0 0 0 0 -.3 0 moveJointsByAngles ;")
time.sleep(1)
self.forth_command_publisher_l.publish("blink_sonar_swoop ;")
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("blink_sonar_swoop ;")
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(3)
self.forth_command_publisher_l.publish("blink_sonar_swoop ;")
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(4)
self.forth_command_publisher_l.publish("100 setRedHalo ;")
time.sleep(1)
def servosm(self):
self.forth_command_publisher_l.publish("assumeFacePose ;")
self.forth_command_publisher_r.publish("0 setRepeatHalo")
al = "( oZDown ) "
bl = "( oZUp ) "
cl = "( oXUp ) "
dl = "( oXDown ) "
el = "( oYDown ) "
fl = "( oYUp ) "
self.forth_command_publisher_r.publish(".85 -0.59 0.22 0.12 0.7 -0.08 0.69 moveToEEPose ;")
br = "( oZDown ) "
ar = "( oZUp ) "
dr = "( oXUp ) "
cr = "( oXDown ) "
er = "( oYDown ) "
fr = "( oYUp ) "
time.sleep(2.5)
self.forth_command_publisher_l.publish("0 setRedHalo ")
time.sleep(.5)
#self.forth_command_publisher_l.publish("blink_arms ;")
#time.sleep(2)
thread.start_new_thread(IKs,())
time.sleep(1.9)
self.forth_command_publisher_l.publish(al + "100 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "100 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(bl + "200 replicateWord ;")
self.forth_command_publisher_r.publish(br + "200 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(al + "100 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "100 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(cl + "70 replicateWord ;")
self.forth_command_publisher_r.publish(cr + "70 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(dl + "70 replicateWord waitUntilAtCurrentPosition "+dl+"70 replicateWord waitUntilAtCurrentPosition ;")
self.forth_command_publisher_r.publish(dr + "70 replicateWord waitUntilAtCurrentPosition "+dr+"70 replicateWord waitUntilAtCurrentPosition ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(cl + "70 replicateWord ;")
self.forth_command_publisher_r.publish(cr + "70 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(el + "50 replicateWord ;")
self.forth_command_publisher_r.publish(er + "50 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(fl + "50 replicateWord waitUntilAtCurrentPosition "+fl+"50 replicateWord waitUntilAtCurrentPosition ;")
self.forth_command_publisher_r.publish(fr + "50 replicateWord waitUntilAtCurrentPosition "+fr+"50 replicateWord waitUntilAtCurrentPosition ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(el + "50 replicateWord ;")
self.forth_command_publisher_r.publish(er + "50 replicateWord ;")
time.sleep(2.5)
self.forth_command_publisher_l.publish(bl + "100 replicateWord ;")
self.forth_command_publisher_r.publish(br + "100 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(al + "200 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "200 replicateWord ;")
time.sleep(.8)
self.forth_command_publisher_l.publish(bl + "100 replicateWord ;")
self.forth_command_publisher_r.publish(br + "100 replicateWord ;")
time.sleep(5)
self.forth_command_publisher_l.publish("100 setRedHalo ;")
time.sleep(1);
def IKm(self):
time.sleep(.5)
self.forth_command_publisher_l.publish("assumeBeeHome ;")
self.forth_command_publisher_r.publish("0 setRepeatHalo")
time.sleep(.3)
al = "( xDown ) "
bl = "( xUp ) "
cl = "( zUp ) "
dl = "( zDown ) "
self.forth_command_publisher_r.publish("0.23 -0.78 0.06 -0.05 0.99 -0.04 -0.002 moveToEEPose ;")
br = "( xDown ) "
ar = "( xUp ) "
cr = "( zUp ) "
dr = "( zDown ) "
time.sleep(2)
self.forth_command_publisher_l.publish("0 setRedHalo ;")
time.sleep(1)
#self.forth_command_publisher_l.publish("blink_arms ;")
#time.sleep(2)
thread.start_new_thread(servoss,())
time.sleep(1.8)
self.forth_command_publisher_l.publish(al + "20 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "20 replicateWord ;")
time.sleep(.7)
self.forth_command_publisher_l.publish(bl + "40 replicateWord ;")
self.forth_command_publisher_r.publish(br + "40 replicateWord ;")
time.sleep(.7)
self.forth_command_publisher_l.publish(al + "20 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "20 replicateWord ;")
time.sleep(1)
self.forth_command_publisher_l.publish(cl + "30 replicateWord ;")
self.forth_command_publisher_r.publish(cr + "30 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(dl + "30 replicateWord ;")
self.forth_command_publisher_r.publish(dr + "30 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(cl + "30 replicateWord ;")
self.forth_command_publisher_r.publish(cr + "30 replicateWord ;")
time.sleep(1)
self.forth_command_publisher_l.publish(al + "20 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "20 replicateWord ;")
time.sleep(.7)
self.forth_command_publisher_l.publish(bl + "40 replicateWord ;")
self.forth_command_publisher_r.publish(br + "40 replicateWord ;")
time.sleep(.7)
self.forth_command_publisher_l.publish(al + "20 replicateWord ;")
self.forth_command_publisher_r.publish(ar + "20 replicateWord ;")
time.sleep(2.8)
self.forth_command_publisher_l.publish(dl + "30 replicateWord ;")
self.forth_command_publisher_r.publish(dr + "30 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(cl + "20 replicateWord ;")
self.forth_command_publisher_r.publish(cr + "20 replicateWord ;")
time.sleep(.5)
self.forth_command_publisher_l.publish(dl + "20 replicateWord ;")
self.forth_command_publisher_r.publish(dr + "20 replicateWord ;")
time.sleep(4)
self.forth_command_publisher_l.publish("0 setRedHalo ;")
time.sleep(1)
def grippersm(self):
self.forth_command_publisher_l.publish("clearStack ;")
self.forth_command_publisher_r.publish("0 setRepeatHalo")
time.sleep(.5)
self.forth_command_publisher_l.publish("\"wiki\" import ;")
time.sleep(.3)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(.3)
self.forth_command_publisher_l.publish("100 setGreenHalo 100 setRedHalo ;")
self.forth_command_publisher_r.publish("100 setGreenHalo 100 setRedHalo ;")
time.sleep(.5)
#self.forth_command_publisher_l.publish("1.13 .30 .337 0.02 .80 -0.053 .588 moveToEEPose ;")
#self.forth_command_publisher_r.publish("1.13 -0.3 0.38 0.02 0.8 0.01 0.59 moveToEEPose ;")
self.forth_command_publisher_l.publish("assumeShrugPose ;")
self.forth_command_publisher_r.publish("assumeShrugPose ;")
time.sleep(4)
self.forth_command_publisher_l.publish("0 setRedHalo ;")
time.sleep(.2)
#self.forth_command_publisher_l.publish("blink_arms ;")
#time.sleep(2)
#thread.start_new_thread(self.face,())
thread.start_new_thread(gripperss,())
time.sleep(2.1)
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(1.1)
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(1.1)
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(3.1)
self.forth_command_publisher_l.publish("openGripper ;")
self.forth_command_publisher_r.publish("openGripper ;")
time.sleep(1)
self.forth_command_publisher_l.publish("closeGripper ;")
self.forth_command_publisher_r.publish("closeGripper ;")
time.sleep(5)
self.forth_command_publisher_l.publish("100 setRedHalo ;")
time.sleep(1)
def ask(self):
self.forth_command_publisher_l.publish("happyFace")
time.sleep(1)
self.grippersm()
self.servosm()
self.IKm()
def save_history_hook():
import os
histfile = os.path.join(os.path.expanduser("~"), ".ein_client_history")
try:
readline.read_history_file(histfile)
except IOError:
pass
import atexit
atexit.register(readline.write_history_file, histfile)
def grippers():
pygame.init()
pygame.mixer.music.load("grippers.wav")
pygame.mixer.music.play()
def gripperss():
"""pygame.mixer.init(44100, -16, 2, 1024)
pygame.mixer.music.load("grippers.mid")
pygame.mixer.music.play()"""
chunk = 1024
f = wave.open("./test1.wav","rb")
p = pyaudio.PyAudio()
stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
channels = f.getnchannels(),
rate = f.getframerate(),
output = True)
data = f.readframes(chunk)
while data != '':
stream.write(data)
data = f.readframes(chunk)
stream.stop_stream()
stream.close()
p.terminate()
def servoss():
chunk = 1024
f = wave.open("./IKs_john.wav","rb")
p = pyaudio.PyAudio()
stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
channels = f.getnchannels(),
rate = f.getframerate(),
output = True)
data = f.readframes(chunk)
while data != '':
stream.write(data)
data = f.readframes(chunk)
stream.stop_stream()
stream.close()
p.terminate()
def ultras():
chunk = 1024
f = wave.open("./ultras_john.wav","rb")
p = pyaudio.PyAudio()
stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
channels = f.getnchannels(),
rate = f.getframerate(),
output = True)
data = f.readframes(chunk)
while data != '':
stream.write(data)
data = f.readframes(chunk)
stream.stop_stream()
stream.close()
p.terminate()
def IKs():
chunk = 1024
f = wave.open("./servos_john.wav","rb")
p = pyaudio.PyAudio()
stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
channels = f.getnchannels(),
rate = f.getframerate(),
output = True)
data = f.readframes(chunk)
while data != '':
stream.write(data)
data = f.readframes(chunk)
stream.stop_stream()
stream.close()
p.terminate()
def main():
import sys
arml = "left"
armr = "right"
rospy.init_node("ein_client_%s" % arml, anonymous=True)
client = EinClientBoth("/ein/%s/forth_commands" % arml,
"/ein_%s/state" % arml,
"/ein/%s/forth_commands" % armr,
"/ein_%s/state" % armr,
)
client.ask()
if __name__=='__main__':
main()