def __init__(self, apar, cpar, session):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.date_time = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session, caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(session, caressestools.Settings.robotIP.encode('utf-8'))
self.td = TimeDateParser(self.language)
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
self.sMotion = self.session.service("ALMotion")
self.sNavigation = self.session.service("ALNavigation")
self.sMemory = self.session.service("ALMemory")
self.sBehavior = self.session.service("ALBehaviorManager")
self.sPosture = self.session.service("ALRobotPosture")
self.sTablet = self.session.service("ALTabletService")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.asr = asr
def __init__(self, apar, cpar, session):
Greet.__init__(self, apar, cpar, session)
self.animationTag = self.BOW_TAG
# Parse the action parameters
self.apar = self.apar.split(' ')
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.languageTag = self.cpar[3].title().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.setRobotLanguage()
self.setVoiceVolume(self.volume)
self.setVoiceSpeed(self.speed)
self.setVoicePitch(self.pitch)
self.sp = speech.Speech("speech_conf.json", self.languageTag.lower())
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.content = self.sp.script["Greet"]["other"]["0"][
self.languageTag.lower()].replace("$USERNAME$", self.username)
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.object_id = self.apar[0]
self.location_id = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.object_params = self.loadParameters("objects.json")
self.location_params = self.loadParameters("locations.json")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.asr = asr
def __init__(self, apar, cpar, session, output_handler, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.killcahrim = self.apar[0] == "True"
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.output_handler = output_handler
self.asr = asr
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.source_id = self.apar[0]
self.topic_id = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.source_params = self.loadParameters("news_sources.json")
suggested_source_IDs = [
option.replace('"', '') for option in self.suggestions
]
self.source_IDs = self.mergeAndSortIDs(self.source_params,
suggested_source_IDs)
self.source_options = self.getAllParametersAttributes(
self.source_params, self.source_IDs, "full")
self.topic_params = self.loadParameters("news_topics.json")
self.topic_IDs = self.mergeAndSortIDs(self.topic_params, [])
self.topic_options = self.getAllParametersAttributes(
self.topic_params, self.topic_IDs, "full")
# Initialize NAOqi services
self.sMemory = self.session.service("ALMemory")
self.sTablet = self.session.service("ALTabletService")
self.sTts = self.session.service("ALTextToSpeech")
self.sSpeechReco = self.session.service("ALSpeechRecognition")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.speech_source = self.__class__.__name__ + "-Source"
self.speech_topic = self.__class__.__name__ + "-Topic"
self.headlines_per_time = 4
self.paragraphs_per_time = 5
self.is_touched = False
self.asr = asr
def __init__(self, apar, cpar, session, output_handler, input_queue,
provided_event):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.item_id = self.apar[0]
self.room = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.items_params = self.loadParameters("ihouse_items.json")
suggested_items_IDs = [
option.replace('"', '') for option in self.suggestions
]
self.items_IDs = self.mergeAndSortIDs(self.items_params,
suggested_items_IDs)
self.items_options = self.getAllParametersAttributes(
self.items_params, self.items_IDs, "as-sensor")
# Output handler for sending messages
self.output_handler = output_handler
# Input queue for retrieving information
self.input_queue = input_queue
self.provided_event = provided_event
# Initialize NAOqi services
self.sTablet = self.session.service("ALTabletService")
self.sMemory = self.session.service("ALMemory")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
session, caressestools.Settings.robotIP.encode('utf-8'))
# self.topic_item = self.__class__.__name__
self.topic_item = "ReadiHouse"
self.topic_room = "IoT-iHouse-Room"
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.video_id = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
# Initialize NAOqi services
self.memory_service = session.service("ALMemory")
self.tablet_service = session.service("ALTabletService")
self.sAudio = self.session.service("ALAudioDevice")
self.yt = YoutubeHelper()
self.db = DatabaseHelper()
# Flag to keep action running
self.is_running = True
# Flag to keep track the ending of the music video
self.is_ended = False
self.is_site_loaded = False
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
caressestools.setTabletVolume(session, 15)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
session, caressestools.Settings.robotIP.encode('utf-8'))
self.subaction = None
self.params = None
self.search_keyword = ""
self.max_results = 8
self.again = True
self.asr = asr
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.meal_id = self.apar[0]
self.day_moment = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.meals_params = self.loadParameters("meals.json")
meal_conf = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"aux_files", "meals-conf.json")
with open(meal_conf) as f:
self.meals = json.load(f)
self.meals_IDs = [
m.encode('utf-8') for m in self.meals.keys()
if not self.meals[m.encode('utf-8')] == []
]
self.meals_options = self.getAllParametersAttributes(
self.meals_params, self.meals_IDs, "full")
# Initialize NAOqi services
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
session, caressestools.Settings.robotIP.encode('utf-8'))
self.asr = asr
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.location_id = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.locations_params = self.loadParameters("weather_locations.json")
suggested_locations_IDs = [option.replace('"', '') for option in self.suggestions]
self.locations_IDs = self.mergeAndSortIDs(self.locations_params, suggested_locations_IDs)
self.locations_options = self.getAllParametersAttributes(self.locations_params, self.locations_IDs, "full")
# Initialize NAOqi services
self.sTablet = self.session.service("ALTabletService")
self.sMemory = self.session.service("ALMemory")
self.sSpeechReco = self.session.service("ALSpeechRecognition")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session, caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(session, caressestools.Settings.robotIP.encode('utf-8'))
self.go_on = False
self.isPageFinished = False
self.user_input = None
self.asr = asr
def __init__(self, apar, cpar, session, output_handler):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
self.sMotion = self.session.service("ALMotion")
self.sMemory = self.session.service("ALMemory")
self.sSoundDet = self.session.service("ALSoundDetection")
self.sRecharge = self.session.service("ALRecharge")
self.sSpeechReco = self.session.service("ALSpeechRecognition")
self.sPosture = self.session.service("ALRobotPosture")
self.sBattery = self.session.service("ALBattery")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.sSoundDet.setParameter("Sensitivity", 0.7)
self.sound_detected = False
self.word_detected = False
self.is_touched = False
self.notify_user = False
self.output_handler = output_handler
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
self.sTablet = self.session.service("ALTabletService")
self.sMemory = self.session.service("ALMemory")
self.sSpeechReco = self.session.service("ALSpeechRecognition")
self.sBehavior = self.session.service("ALBehaviorManager")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session, caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(session, caressestools.Settings.robotIP.encode('utf-8'))
self.extension = "jpg"
self.path_take = "/data/home/nao/.local/share/PackageManager/apps/%s/html/images/"
self.path_show = "http://%s/apps/%s/images/%s"
self.must_stop = False
self.pic_list_received = False
self.pics = []
self.is_touched = False
self.asr = asr
def __init__(self, apar, cpar, session):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.map = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
self.sMotion = self.session.service("ALMotion")
self.sNavigation = self.session.service("ALNavigation")
self.sMemory = self.session.service("ALMemory")
self.sBehavior = self.session.service("ALBehaviorManager")
self.sPosture = self.session.service("ALRobotPosture")
self.sTablet = self.session.service("ALTabletService")
graph_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), "aux_files", "go_to", self.map)
self.file = GraphFile()
self.file.loadFile(graph_file, draw = False)
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session, caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(self.session, caressestools.Settings.robotIP.encode('utf-8'))
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.command = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
# Initialize NAOqi services
self.navigation_service = self.session.service("ALNavigation")
self.sMotion = self.session.service("ALMotion")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.distance_move_closer = 0.3
self.distance_move_farther = 0.1
self.asr = asr
def run(self):
# # If the interaction node is not set, Greet action is called before the ApproachUser. Therefore, it is better to
# # look for the user and face them before greeting them.
if caressestools.Settings.interactionNode == "":
self.lookForUser()
t = threading.Thread(name='greeting_gesture',
target=self.playGreetingAnimation)
# print "Greeting gesture"
t.start()
self.setVoiceVolume(self.volume)
self.setVoiceSpeed(self.speed)
self.setVoicePitch(self.pitch)
self.sp = speech.Speech("speech_conf.json", self.languageTag.lower())
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.sp.enableAnimatedSpeech(False)
self.sp.say(self.content, speech.TAGS[1])
time.sleep(1)
def __init__(self, apar, cpar, session):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.object_id = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.object_params = self.loadParameters("objects.json")
# Initialize NAOqi services
self.sMotion = self.session.service("ALMotion")
self.sMemory = self.session.service("ALMemory")
self.sPosture = self.session.service("ALRobotPosture")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.is_touched = False
def __init__(self, apar, cpar, session, output_handler, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.graph = self.apar[0]
self.goal_id = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.location_params = self.loadParameters("locations.json")
suggested_location_IDs = [
option.replace('"', '') for option in self.suggestions
]
self.location_IDs = self.mergeAndSortIDs(self.location_params,
suggested_location_IDs)
self.location_options = self.getAllParametersAttributes(
self.location_params, self.location_IDs, "full")
# Initialize NAOqi services
self.sMemory = session.service("ALMemory")
self.sMotion = session.service("ALMotion")
self.sNavigation = session.service("ALNavigation")
self.sLocalization = session.service("ALLocalization")
self.sPosture = session.service("ALRobotPosture")
self.sRecharge = session.service("ALRecharge")
self.running = True
self.r0_wf = None
self.r0_mf = None
self.enough_attempts = 4
self.closest_reached_threshold = 0.4
self.node_reached_threshold = 0.4
self.goal_reached_threshold = 0.2
self.graph_file = os.path.join(
os.path.dirname(os.path.realpath(__file__)), "aux_files", "go_to",
self.graph)
self.loadGraph(self.graph_file)
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.sMotion.setOrthogonalSecurityDistance(0.02)
self.sMotion.setTangentialSecurityDistance(0.02)
self.output_handler = output_handler
self.asr = asr
def run(self):
self.sp = speech.Speech("speech_conf.json", "english")
self.sp.enablePepperInteraction(
self.session, caressestools.Settings.robotIP.encode('utf-8'))
self.sp.say("I'm sorry, this action is not ready yet.")
def __init__(self, apar, cpar, session):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.reminder_id = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.reminder_params = self.loadParameters("reminders.json")
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(self.session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(self.session, self.volume)
caressestools.setVoiceSpeed(self.session, self.speed)
caressestools.setVoicePitch(self.session, self.pitch)
self.sp = speech.Speech("speech_conf.json",
self.language,
loadconf=False)
self.sp.enablePepperInteraction(
self.session,
caressestools.Settings.robotIP.encode('utf-8'),
initGoogle=False)
## ------------------------------------------------
## If Remind action is executed while the ChoiceManager in another action is running, the action running the
## ChoiceManager crashes if the function json.load()/json.loads() is called on a very long file/string. Therefore,
## here we need to call json.loads() only on the relevant (shorter) part of speech_conf.json.
conf_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'caressestools', "speech_conf.json")
with open(conf_file, 'r') as f:
conf = f.readlines()
conf_string = ""
for line in conf:
conf_string = conf_string + line
top = re.search(
r'\"' + speech.SUPPORTED_LANGUAGES +
'\": \[\n(( {4,}.*\n)*) {2}\](,\n {2}\"[A-Z]+-*[A-Z]+\": \{\n(( {4,}.*\n)*) {2}\})+',
conf_string)
rem = re.search(
r'\"' + self.__class__.__name__ + '\": \{\n(( {4,}.*\n)*) {2}\}',
conf_string)
if top is not None and rem is not None:
conf = json.loads("{%s,%s}" % (top.group(), rem.group()))
self.sp.loadScriptFromDict(conf)
self.sp.setLanguage(self.language.lower())
self.sp.loadKeywords()
## ------------------------------------------------
self.gen_rem_filename = os.path.join(
os.path.dirname(os.path.realpath(__file__)), 'parameters',
'reminder_generic.json')
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.message_id = self.apar[0]
self.recipient_id = self.apar[1]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.recipient_params = self.loadParameters("contacts.json")
suggested_recipients_IDs = [
option.replace('"', '') for option in self.suggestions
]
self.recipient_IDs = self.mergeAndSortIDs(self.recipient_params,
suggested_recipients_IDs)
self.recipient_options = []
## Get only the recipients whose Line ID is present
for id in self.recipient_IDs:
if not self.recipient_params["IDs"][id]["line"].encode(
'utf-8') == "":
self.recipient_options.append(
self.recipient_params["IDs"][id]["full"].encode('utf-8'))
self.msg_params = self.loadParameters("messages.json")
self.msg_IDs = self.msg_params["IDs"].keys()
self.msg_options_caregiver = []
self.msg_options_other = []
for id in self.msg_IDs:
if self.msg_params["IDs"][id]["compulsory-recipient"].encode(
'utf-8') == "caregiver":
self.msg_options_caregiver.append(
self.msg_params["IDs"][id]["full"].encode('utf-8'))
else:
self.msg_options_other.append(
self.msg_params["IDs"][id]["full"].encode('utf-8'))
# Initialize NAOqi services
self.sASR = self.session.service("ASR2")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session,
caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(
session, caressestools.Settings.robotIP.encode('utf-8'))
self.asr = asr
def setLang(self, lang):
self.language = lang
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(self.session, caressestools.Settings.robotIP.encode('utf-8'))
def __init__(self, apar, cpar, session, asr):
Action.__init__(self, apar, cpar, session)
# Parse the action parameters
self.apar = self.apar.split(' ')
self.recipient_id = self.apar[0]
# Parse the cultural parameters
self.cpar = self.cpar.split(' ')
self.volume = float(self.cpar[0])
self.speed = float(self.cpar[1])
self.pitch = float(self.cpar[2])
self.language = self.cpar[3].lower().replace('"', '')
self.username = self.cpar[4].replace('"', '')
self.suggestions = self.cpar[5].split(self.options_delimiter)
self.recipient_params = self.loadParameters("contacts.json")
suggested_recipients_IDs = [option.replace('"', '') for option in self.suggestions]
self.recipient_IDs = self.mergeAndSortIDs(self.recipient_params, suggested_recipients_IDs)
self.recipient_options = []
## Get only the recipients whose email or Telegram address is present
for id in self.recipient_IDs:
if not (self.recipient_params["IDs"][id]["email"].encode('utf-8') == "" and self.recipient_params["IDs"][id]["telegram"].encode('utf-8') == ""):
self.recipient_options.append(self.recipient_params["IDs"][id]["full"].encode('utf-8'))
# Initialize NAOqi services
self.sPosture = self.session.service("ALRobotPosture")
self.sAwareness = self.session.service("ALBasicAwareness")
self.sPhoto = self.session.service("ALPhotoCapture")
self.sTablet = self.session.service("ALTabletService")
self.sBehavior = self.session.service("ALBehaviorManager")
self.sMemory = self.session.service("ALMemory")
self.sASR = self.session.service("ASR2")
# Set the cultural parameters
caressestools.Language.setLanguage(self.language)
caressestools.setRobotLanguage(session, caressestools.Language.lang_naoqi)
caressestools.setVoiceVolume(session, self.volume)
caressestools.setVoiceSpeed(session, self.speed)
caressestools.setVoicePitch(session, self.pitch)
# Set up speech.py app to get information
self.sp = speech.Speech("speech_conf.json", self.language)
self.sp.enablePepperInteraction(session, caressestools.Settings.robotIP.encode('utf-8'))
self.extension = "jpg"
self.path_take = "/data/home/nao/.local/share/PackageManager/apps/%s/html/images/"
self.path_show = "http://%s/apps/%s/images/%s"
self.behaviors = {
"telegram": "pictures/send-by-telegram",
"email": "pictures/send-by-email",
"shutter": "pictures/play-shutter-sound",
"delete": "pictures/delete-picture"
}
directory = os.path.dirname(__file__)
file_path = os.path.join(directory, "aux_files", "email-conf.json")
with open(file_path) as f:
email_conf = json.load(f)
self.address = email_conf["address"].encode('utf-8')
self.password = email_conf["password"].encode('utf-8')
self.smtp = email_conf["smtp"].encode('utf-8')
self.asr = asr
