feat: gestures to ri

src/robot_interface/endpoints/actuation_receiver.py

@@ -7,6 +7,7 @@ from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
 
 from robot_interface.core.config import settings
+from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 class ActuationReceiver(ReceiverBase):
@@ -21,12 +22,16 @@ class ActuationReceiver(ReceiverBase):
 
     :ivar _tts_service: The text-to-speech service object from the Qi session.
     :vartype _tts_service: qi.Session | None
+
+    :ivar _animation_service: The animation/gesture service object from the Qi session.
+    :vartype _animation_service: qi.Session | None
     """
     def __init__(self, zmq_context, port=settings.agent_settings.actuation_receiver_port):
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
         self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
+        self._animation_service = None
 
     def _handle_speech(self, message):
         """
@@ -54,7 +59,54 @@ class ActuationReceiver(ReceiverBase):
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
         # Returns instantly. Messages received while speaking will be queued.
-        qi.async(self._tts_service.say, text)
+        getattr(qi, "async")(self._tts_service.say, text)
+
+    def _handle_gesture(self, message, is_single):
+        """
+        Handle a gesture actuation request.
+        
+        :param message: The gesture to do, must contain properties "endpoint" and "data".
+        :type message: dict
+
+        :param is_single: Whether it's a specific single gesture or a gesture tag.
+        :type is_single: bool
+        """
+
+        gesture = message.get("data")
+        if not gesture:
+            logging.warn("Received gesture to do, but it lacks data.")
+            return
+
+        if not isinstance(gesture, (str, unicode)):
+            logging.warn("Received gesture to do but it is not a string.")
+            return
+
+        logging.debug("Received gesture to do: {}".format(gesture))
+
+        if is_single:
+            if gesture not in GestureTags.single_gestures:
+                logging.warn("Received single gesture to do, but it does not exist in settings")
+                return
+        else:
+            if gesture not in GestureTags.tags:
+                logging.warn("Received single tag to do, but it does not exist in settings")
+                return
+
+        if not state.qi_session: return
+        # If state has a qi_session, we know that we can import qi
+        import qi  # Takes a while only the first time it's imported
+
+        if not self._animation_service:
+            self._animation_service = state.qi_session.service("ALAnimationPlayer")
+
+        # Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
+        # You can also create custom animations using Choregraphe and upload them to the robot.
+        if is_single:
+            logging.debug("Playing single gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.run, gesture)
+        else:
+            logging.debug("Playing tag gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.runTag, gesture)
 
     def handle_message(self, message):
         """
@@ -65,3 +117,17 @@ class ActuationReceiver(ReceiverBase):
         """
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
+        if message["endpoint"] == "actuate/gesture/tag":
+            self._handle_gesture(message, False)
+        if message["endpoint"] == "actuate/gesture/single":
+            self._handle_gesture(message, True)
+
+    def endpoint_description(self):
+        """
+        Extend the default endpoint description with gesture tags.
+        Returned during negotiate/ports so the CB knows available gestures.
+        """
+        desc = super(ActuationReceiver, self).endpoint_description()
+        desc["gestures"] = GestureTags.tags
+        desc["single_gestures"] = GestureTags.single_gestures
+        return desc