[jsk_robot_startup] add personal use app in jsk_robot_startup

jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.app

@@ -0,0 +1,5 @@
+display: Personal Use
+platform: all
+launch: jsk_robot_startup/personal_use.xml
+interface: jsk_robot_startup/personal_use.interface
+icon: jsk_robot_startup/personal_use.png

jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import actionlib
+import rospy
+
+from sound_play.msg import SoundRequestAction
+from sound_play.msg import SoundRequestGoal
+
+
+class PersonalUse(object):
+    def __init__(self):
+        duration = rospy.get_param('~duration', 10.0)
+        self.warning = rospy.get_param('~warning', True)
+        warning_duration = rospy.get_param(
+            '~warning_duration', 60.0 * 15)
+        self.client_jp = actionlib.SimpleActionClient(
+            '/robotsound_jp', SoundRequestAction)
+        self.timer = rospy.Timer(
+            rospy.Duration(duration), self._timer_cb)
+
+        self.user_name = rospy.get_param(
+            '/app_manager/running_user_name', None)
+        self.robot_name = rospy.get_param('/robot/name', None)
+
+        self.warning_limit = warning_duration / duration
+        self.warning_count = 0
+
+        if self.user_name:
+            rospy.loginfo(
+                "{} is running personal use app.".format(self.user_name))
+            sentence = "{}に{}が実行ユーザとして登録されました．".format(
+                self.robot_name, self.user_name)
+            sentence += "{}が{}の使用を開始しました．".format(
+                self.user_name, self.robot_name)
+        else:
+            rospy.logerr("failed to get /app_manager/running_user_name param")
+            sentence = "実行ユーザ登録に失敗しました．"
+        self._speak(self.client_jp, sentence, 'jp')
+
+    def _timer_cb(self, event):
+        user_name = rospy.get_param('/app_manager/running_user_name', None)
+        self.warning_count = self.warning_count + 1
+        if self.user_name:
+            # overwriting user
+            if user_name and self.user_name != user_name:
+                rospy.logerr(
+                    'running user has changed: {} -> {}'
+                    .format(self.user_name, user_name))
+                rospy.logerr(
+                    'overwrite running user: {} -> {}'
+                    .format(user_name, self.user_name))
+                rospy.set_param(
+                    '/app_manager/running_user_name', self.user_name)
+                sentence = "{}に{}が実行ユーザとして上書き登録されました．".format(
+                    self.robot_name, user_name)
+                sentence += "{}に{}を再度実行ユーザとして上書き登録しました．".format(
+                    self.robot_name, self.user_name)
+                self._speak(self.client_jp, sentence, 'jp')
+            # deleting user
+            elif not user_name:
+                rospy.logerr(
+                   'running user has removed: {}'.format(self.user_name))
+                rospy.logerr(
+                    'set running user: {}'.format(self.user_name))
+                sentence = "{}から{}の実行ユーザ登録が削除されました．".format(
+                    self.robot_name, self.user_name)
+                sentence += "{}に{}を再度実行ユーザとして登録しました．".format(
+                    self.robot_name, self.user_name)
+                rospy.set_param(
+                    '/app_manager/running_user_name', self.user_name)
+                self._speak(self.client_jp, sentence, 'jp')
+
+            if self.warning and self.warning_count >= self.warning_limit:
+                rospy.loginfo(
+                    "{} is running personal use app.".format(self.user_name))
+                sentence = "{}が{}を使用しています．".format(
+                    self.user_name, self.robot_name)
+                self._speak(self.client_jp, sentence, 'jp')
+        else:
+            rospy.logerr('/app_manager/running_user_name is not set')
+            sentence = "実行ユーザが登録されていません．"
+            if user_name:
+                self.user_name = user_name
+                rospy.set_param(
+                    '/app_manager/running_user_name', self.user_name)
+                rospy.logerr(
+                    'set running user: {}'.format(self.user_name))
+                sentence += "{}を実行ユーザとして登録しました．".format(self.user_name)
+            self._speak(self.client_jp, sentence, 'jp')
+        self.warning_count = self.warning_count % self.warning_limit
+
+    def _speak(self, client, speech_text, lang=None):
+        client.wait_for_server(timeout=rospy.Duration(1.0))
+        sound_goal = SoundRequestGoal()
+        sound_goal.sound_request.sound = -3
+        sound_goal.sound_request.command = 1
+        sound_goal.sound_request.volume = 1.0
+        if lang is not None:
+            sound_goal.sound_request.arg2 = lang
+        sound_goal.sound_request.arg = speech_text
+        client.send_goal(sound_goal)
+        client.wait_for_result()
+        return client.get_result()
+
+
+if __name__ == '__main__':
+    rospy.init_node('personal_use')
+    app = PersonalUse()
+    rospy.spin()

jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.xml

@@ -0,0 +1,3 @@
+<launch>
+  <node name="personal_use" pkg="jsk_robot_startup" type="personal_use.py" output="screen"/>
+</launch>

jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed

@@ -0,0 +1,3 @@
+apps:
+  - app: jsk_robot_startup/personal_use
+    display: Personal use 

jsk_robot_common/jsk_robot_startup/package.xml

@@ -45,6 +45,7 @@
   <test_depend>pr2_gazebo</test_depend>
 
   <export>
+    <app_manager app_dir="${prefix}/apps"/>
     <nodelet plugin="${prefix}/lifelog_nodelet_plugins.xml" />
   </export>
 </package>