Merge pull request #356 from ipa-nhg/MimicPy

HotFix: readded python node for mimic

cob_mimic/CMakeLists.txt

@@ -42,3 +42,7 @@ install(PROGRAMS src/test_mimic.py
 install(DIRECTORY common
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+install(PROGRAMS src/mimic_node.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/src
+)

cob_mimic/src/mimic_node.py

@@ -0,0 +1,94 @@
+#!/usr/bin/env python
+#
+# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import vlc
+import threading
+
+import roslib
+import rospy
+import actionlib
+
+from cob_mimic.srv import *
+from cob_mimic.msg import *
+
+class Mimic:
+  def service_cb(self, req):
+      success = self.set_mimic(req.mimic, req.speed, req.repeat)
+      return SetMimicResponse(success, "")
+
+  def action_cb(self, goal):
+      if self.set_mimic(goal.mimic, goal.speed, goal.repeat):
+        self._as.set_succeeded()
+      else:
+        self._as.set_aborted()
+
+  def set_mimic(self, mimic, speed, repeat):
+      rospy.loginfo("Mimic: %s", mimic)
+      file_location = '/tmp/mimic/' + mimic + '.mp4'
+      if(not os.path.isfile(file_location)):
+        rospy.logerror("File not found: %s", file_location)
+        return False
+
+      # repeat cannot be 0
+      repeat = max (1, repeat)
+
+      for i in range(0, repeat):
+        rospy.loginfo("Repeat: %s, Mimic: %s", repeat, mimic)
+        command = "export DISPLAY=:0 && vlc --video-wallpaper --video-filter 'rotate{angle=%d}' --vout glx --one-instance --playlist-enqueue --no-video-title-show --rate %f  %s  vlc://quit"  % (self.rotation, speed, file_location)
+        os.system(command)
+
+      return True
+
+  def defaultMimic(self):
+    file_location = '/tmp/mimic/' + self.default_mimic + '.mp4'
+    if not os.path.isfile(file_location):
+      rospy.logerror("File not found: %s", file_location)
+      return
+
+    while not rospy.is_shutdown():
+      command = "export DISPLAY=:0 && vlc --video-wallpaper --video-filter 'rotate{angle=%d}' --vout glx --loop --one-instance --playlist-enqueue --no-video-title-show --rate %f  %s  vlc://quit"  % (self.rotation, self.default_speed, file_location)
+      os.system(command)
+
+  def main(self):
+    self.default_speed = 1.0
+    self.default_mimic = "default"
+    self.rotation = rospy.get_param('~rotation', 0)
+
+    # copy all videos to /tmp
+    rospy.loginfo("copying all mimic files to /tmp/mimic...")
+    file_location = roslib.packages.get_pkg_dir('cob_mimic') + '/common/*.mp4'
+    os.system("mkdir -p /tmp/mimic")
+    os.system("cp " + file_location + " /tmp/mimic")
+    rospy.loginfo("...copied all mimic files to /tmp/mimic")
+
+    self._ss = rospy.Service('~set_mimic', SetMimic, self.service_cb)
+    self._as = actionlib.SimpleActionServer('~set_mimic', cob_mimic.msg.SetMimicAction, execute_cb=self.action_cb, auto_start = False)
+    self._as.start()
+
+    rospy.spin()
+
+
+
+if __name__ == "__main__":
+  rospy.init_node('mimic')
+  try:
+    mimic = Mimic()
+    mimic.main()
+  except (rospy.ROSInterruptException, KeyboardInterrupt, SystemExit) as e:
+    rospy.loginfo('Exiting: ' + str(e))
+    pass
+