Add UI for testing face expression movement and changes

Author: kPatch

coffee_ws/README.md

@@ -30,4 +30,19 @@ ros2 run coffee_face coffee_eyes
 **NOTE:** We define the location of `expressions.json` in the `setup.py` file inside `coffee_expressions` directory.
 
 Running the animator
-- Animations are saved in `~/.ros/motion_files` as `.json` files.
+- Animations are saved in `~/.ros/motion_files` as `.json` files.
+
+
+# Sample Command
+
+```
+src $ ros2 pkg create --build-type ament_python coffee_expressions_test_ui --dependencies rclpy coffee_expressions_msgs python3-pyqt5
+```
+
+```
+colcon build --packages-select coffee_expressions_test_ui
+```
+
+```
+source install/setup.bash && ros2 run coffee_expressions_test_ui expressions_test_ui
+```

coffee_ws/src/coffee_expressions_test_ui/coffee_expressions_test_ui/__init__.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+
+import sys
+import rclpy
+from rclpy.node import Node
+from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout,
+                           QHBoxLayout, QComboBox, QRadioButton, QButtonGroup,
+                           QSlider, QLabel, QCheckBox, QPushButton, QFrame)
+from PyQt5.QtCore import Qt, QTimer
+from PyQt5.QtGui import QPainter, QColor, QPen
+from coffee_expressions_msgs.msg import AffectiveState
+from geometry_msgs.msg import Point
+
+class GazePreviewWidget(QFrame):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setMinimumSize(200, 200)
+        self.setFrameStyle(QFrame.Box | QFrame.Plain)
+        self.x = 0.0
+        self.y = 0.0
+        
+    def setPosition(self, x: float, y: float):
+        self.x = x
+        self.y = y
+        self.update()
+        
+    def mousePressEvent(self, event):
+        size = min(self.width(), self.height())
+        x = (event.x() - self.width()/2) / (size/2)
+        y = -(event.y() - self.height()/2) / (size/2)  # Invert Y for Qt coordinates
+        self.x = max(-1.0, min(1.0, x))
+        self.y = max(-1.0, min(1.0, y))
+        self.update()
+        if self.parent():
+            self.parent().updateSliders(self.x, self.y)
+            
+    def paintEvent(self, event):
+        super().paintEvent(event)
+        painter = QPainter(self)
+        painter.setRenderHint(QPainter.Antialiasing)
+        
+        # Draw coordinate system
+        painter.translate(self.width()/2, self.height()/2)
+        size = min(self.width(), self.height())
+        
+        # Draw axes
+        painter.setPen(QPen(QColor(200, 200, 200), 1))
+        painter.drawLine(-size/2, 0, size/2, 0)
+        painter.drawLine(0, -size/2, 0, size/2)
+        
+        # Draw gaze target point
+        painter.setPen(QPen(Qt.red, 3))
+        x_pos = self.x * size/2
+        y_pos = -self.y * size/2  # Invert Y for Qt coordinates
+        painter.drawPoint(x_pos, y_pos)
+        
+class ExpressionsTestUI(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        
+        # Initialize ROS node
+        rclpy.init()
+        self.node = Node('expressions_test_ui')
+        self.publisher = self.node.create_publisher(
+            AffectiveState,
+            'affective_state',
+            10
+        )
+        
+        # Setup UI
+        self.setWindowTitle('Expressions Test UI')
+        self.central_widget = QWidget()
+        self.setCentralWidget(self.central_widget)
+        self.layout = QVBoxLayout(self.central_widget)
+        
+        # Expression dropdown
+        self.expression_layout = QHBoxLayout()
+        self.expression_label = QLabel('Expression:')
+        self.expression_combo = QComboBox()
+        self.expression_combo.addItems(['Happy', 'Curious', 'Neutral', 'Sad', 'Surprised'])
+        self.expression_layout.addWidget(self.expression_label)
+        self.expression_layout.addWidget(self.expression_combo)
+        self.layout.addLayout(self.expression_layout)
+        
+        # Trigger source radio buttons
+        self.trigger_group = QButtonGroup()
+        self.trigger_layout = QHBoxLayout()
+        self.trigger_label = QLabel('Trigger Source:')
+        self.trigger_layout.addWidget(self.trigger_label)
+        
+        for source in ['vision', 'audio', 'event', 'mock']:
+            radio = QRadioButton(source)
+            self.trigger_layout.addWidget(radio)
+            self.trigger_group.addButton(radio)
+            if source == 'mock':
+                radio.setChecked(True)
+                
+        self.layout.addLayout(self.trigger_layout)
+        
+        # Gaze preview
+        self.preview = GazePreviewWidget(self)
+        self.layout.addWidget(self.preview)
+        
+        # X and Y sliders
+        for coord in ['X', 'Y']:
+            slider_layout = QHBoxLayout()
+            label = QLabel(f'{coord}:')
+            slider = QSlider(Qt.Horizontal)
+            slider.setMinimum(-100)
+            slider.setMaximum(100)
+            value_label = QLabel('0.0')
+            
+            slider.valueChanged.connect(
+                lambda v, c=coord, l=value_label: self.onSliderChanged(v, c, l))
+            
+            setattr(self, f'{coord.lower()}_slider', slider)
+            setattr(self, f'{coord.lower()}_label', value_label)
+            
+            slider_layout.addWidget(label)
+            slider_layout.addWidget(slider)
+            slider_layout.addWidget(value_label)
+            self.layout.addLayout(slider_layout)
+            
+        # Is Idle checkbox
+        self.idle_check = QCheckBox('Is Idle')
+        self.layout.addWidget(self.idle_check)
+        
+        # Real-time publishing checkbox
+        self.realtime_check = QCheckBox('Real-time Publishing')
+        self.realtime_check.stateChanged.connect(self.onRealtimeChanged)
+        self.layout.addWidget(self.realtime_check)
+        
+        # Publish button
+        self.publish_button = QPushButton('Publish Message')
+        self.publish_button.clicked.connect(self.publishMessage)
+        self.layout.addWidget(self.publish_button)
+        
+        # Status bar
+        self.status_label = QLabel('Status: Ready')
+        self.layout.addWidget(self.status_label)
+        
+        # Timer for ROS spin
+        self.spin_timer = QTimer()
+        self.spin_timer.timeout.connect(lambda: rclpy.spin_once(self.node, timeout_sec=0))
+        self.spin_timer.start(100)  # 10Hz
+        
+        # Timer for real-time publishing
+        self.publish_timer = QTimer()
+        self.publish_timer.timeout.connect(self.publishMessage)
+        
+    def updateSliders(self, x: float, y: float):
+        self.x_slider.setValue(int(x * 100))
+        self.y_slider.setValue(int(y * 100))
+        
+    def onSliderChanged(self, value: int, coord: str, label: QLabel):
+        float_value = value / 100.0
+        label.setText(f'{float_value:.2f}')
+        
+        if coord == 'X':
+            self.preview.setPosition(float_value, self.y_slider.value() / 100.0)
+        else:
+            self.preview.setPosition(self.x_slider.value() / 100.0, float_value)
+            
+    def onRealtimeChanged(self, state):
+        if state == Qt.Checked:
+            self.publish_timer.start(100)  # 10Hz
+        else:
+            self.publish_timer.stop()
+            
+    def publishMessage(self):
+        msg = AffectiveState()
+        msg.expression = self.expression_combo.currentText()
+        msg.trigger_source = self.trigger_group.checkedButton().text()
+        
+        msg.gaze_target = Point()
+        msg.gaze_target.x = self.x_slider.value() / 100.0
+        msg.gaze_target.y = self.y_slider.value() / 100.0
+        msg.gaze_target.z = 0.0
+        
+        msg.is_idle = self.idle_check.isChecked()
+        
+        self.publisher.publish(msg)
+        self.status_label.setText(f'Status: Published at {self.node.get_clock().now().to_msg().sec}')
+        
+    def closeEvent(self, event):
+        self.node.destroy_node()
+        rclpy.shutdown()
+        super().closeEvent(event)
+
+def main():
+    app = QApplication(sys.argv)
+    window = ExpressionsTestUI()
+    window.show()
+    sys.exit(app.exec_())
+
+if __name__ == '__main__':
+    main()

coffee_ws/src/coffee_expressions_test_ui/coffee_expressions_test_ui/expressions_test_ui.py

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>coffee_expressions_test_ui</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">kpatch</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>coffee_expressions_msgs</depend>
+  <depend>python3-pyqt5</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

coffee_ws/src/coffee_expressions_test_ui/package.xml

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/coffee_expressions_test_ui
+[install]
+install_scripts=$base/lib/coffee_expressions_test_ui

coffee_ws/src/coffee_expressions_test_ui/resource/coffee_expressions_test_ui

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'coffee_expressions_test_ui'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='kpatch',
+    maintainer_email='[email protected]',
+    description='Qt-based UI for testing coffee expressions',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'expressions_test_ui = coffee_expressions_test_ui.expressions_test_ui:main',
+        ],
+    },
+)

coffee_ws/src/coffee_expressions_test_ui/setup.cfg

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

coffee_ws/src/coffee_expressions_test_ui/setup.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

coffee_ws/src/coffee_expressions_test_ui/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'