00001
00002
00003 import simple_script_server
00004 import random
00005 import rospy
00006
00007 class script_utils:
00008 def __init__(self):
00009 print "script_utils: init"
00010 self.sss = simple_script_server.simple_script_server()
00011 random.seed()
00012
00013 def Home(self):
00014 self.sss.Move("tray","down",False)
00015 self.sss.Move("sdh","home",False)
00016 self.sss.Move("arm","folded")
00017
00018 def MoveLED(self, component_name, parameter_name):
00019 self.sss.SetLight("yellow")
00020 return_value = self.sss.Move(component_name, parameter_name)
00021 self.sss.SetLight("green")
00022 return return_value
00023
00024 def SpeakRandom(self,parameter_name,mode="DEFAULT"):
00025
00026 if not rospy.has_param("/script_server/sound/rand/" + parameter_name):
00027 rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...","/script_server/sound/rand/" + parameter_name)
00028 return 2
00029 phrase_list = rospy.get_param("/script_server/sound/rand/" + parameter_name)
00030
00031 phrase = random.choice(phrase_list)
00032
00033 return self.sss.Speak(phrase,mode)