pseudo_anna.py

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#!/usr/bin/env python

import roslib; roslib.load_manifest('voice_control')
import rospy
from std_msgs.msg import String
from glass_server.msg import TextMessage
from glass_server.msg import ImageMessage
from glass_server.srv import RobotConfiguration
from sensor_msgs.msg import Image
from PIL import Image as PyImage
import base64

import os


class PseudoAnna:
    def __init__(self):

        #Subscribers
        self._command_listener = rospy.Subscriber("/wheelchair/voice_command", String, self.voiceCommandCallback)

        #Publishers
        self._text_message_pub = rospy.Publisher("/glass_server/text_messages", TextMessage)
        self._image_message_pub = rospy.Publisher("/glass_server/image_messages", ImageMessage)

        rospy.wait_for_service('robot_configuration')
        success = False
        try:
            self._robot_configuration_srv = rospy.ServiceProxy('robot_configuration', RobotConfiguration)
            name = "Wheelchair"
            info = "Voice controlled semi-autonomous wheelchair"
            this_dir = os.path.dirname(__file__)
            filename = os.path.join(this_dir, 'anna_vocab.xml')
            vocab_file = open(filename, "r")
            vocab = vocab_file.read()
            rospy.loginfo("Sending configuration")
            success = self._robot_configuration_srv(name, info, vocab)
            vocab_file.close()
            rospy.loginfo("Configuration sent")
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e

        if not success:
            rospy.loginfo("Configuration unsuccessful")
            exit()
        rospy.loginfo("Configuration successful")

        self.sendTextMessage("Hello Google Glass!")

        this_dir = os.path.dirname(__file__)
        filename = os.path.join(this_dir, 'anna_pic.jpg')
        image_file = open(filename, "rb")
        image_str = base64.b64encode(image_file.read())
        self.sendImageMessage("Here is a picture of me!", image_str)


    def voiceCommandCallback(self, msg):
        rospy.loginfo("Pseudo Anna received command: " + msg.data)
        self.sendTextMessage("I received your command: " + msg.data)

    def sendTextMessage(self, text):
        rospy.loginfo("Sending text message")
        msg = TextMessage()
        msg.sender = "Wheelchair"
        msg.text = text
        msg.priority = 0

        self._text_message_pub.publish(msg)

    def sendImageMessage(self, text, image_str):
        rospy.loginfo("Sending image message")
        msg = ImageMessage()
        msg.sender = "Wheelchair"
        msg.text = text
        msg.base64_image = image_str
        msg.priority = 0

        self._image_message_pub.publish(msg)


if __name__=="__main__":
    try:
        rospy.init_node('pseudo_anna')
        PseudoAnna()
        rospy.spin()
    except rospy.ROSInterruptException:
        rospy.loginfo("Anna going offline")