def main():
parser = OptionParser()
parser.add_option("--pip", help="NAO's IP address.", dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi listens on.",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# Broker used to construct NAOqi modules and subscribe to other modules.
# Broker is active until the program terminates.
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # Listen to anyone.
0, # Use any free port.
pip, # Parent broker IP address.
pport) # Parent broker port.
global NAOInteraction
NAOInteraction = SpeechGestures("NAOInteraction")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "INTERRUPTED: Shutting down speech module now."
myBroker.shutdown()
sys.exit(0)
def main(ip, port):
""" Main entry point
"""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global walkTo
walkTo = walkTo("walkTo")
try:
while True:
time.sleep(1)
except SystemExit as e:
print("System error : {0}".format(e))
except KeyboardInterrupt:
print("")
print("Interrupted by user, shutting down")
finally:
myBroker.shutdown()
sys.exit(0)
def main():
# ----------> 命令行解析 <----------
global ROBOT_IP
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=ROBOT_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# 如果运行前指定ip参数，则更新ROBOT_IP全局变量;
# 其他模块会用到ROBOT_IP变量;
ROBOT_IP = pip
# ----------> 创建python broker <----------
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# ----------> 创建Robot ALProxy Module<----------
global tts, motion, autonomous
tts = ALProxy("ALTextToSpeech")
# 默认为英语语言包
tts.setLanguage("English")
motion = ALProxy("ALMotion")
# turn ALAutonomousLife off
autonomous = ALProxy("ALAutonomousLife")
autonomous.setState("disabled")
# ----------> 自己实现的类 <----------
global avoid
avoid = avoidance(ROBOT_IP, ROBOT_PORT) # 超声波避障类
global video
video = VideoImage(ROBOT_IP, ROBOT_PORT) # 拍照类
try:
video.addXtionCamera()
video.subscribeCamera()
video.setCamera(0)
# 开启线程避障
avoid.start()
video.takeRGBDimage(1000)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
avoid.stop() # 关闭避障
video.close() # 关闭视频传输模块
myBroker.shutdown() # 关闭代理Broker
sys.exit(0)
def main(ip, port):
""" Main entry point
"""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global tts, memory
tts = ALProxy("ALTextToSpeech", ip, port)
memory = ALProxy("ALMemory", ip, port)
global FrontTouch, MiddleTouch, RearTouch
global LeftFootTouch, RightFootTouch
FrontTouch = FrontTouch("FrontTouch")
MiddleTouch = MiddleTouch("MiddleTouch")
RearTouch = RearTouch("RearTouch")
LeftFootTouch = LeftFootTouch("LeftFootTouch")
RightFootTouch = RightFootTouch("RightFootTouch")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
"""主函数"""
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="192.168.1.101",
help="192.168.1.102")
parser.add_argument("--port", type=int, default=9559,
help="9987")
parser.add_argument("--facesize", type=float, default=0.1,
help="0.2")
args = parser.parse_args()
# 设置代理
myBroker = ALBroker("myBroker", "0.0.0.0", 0, args.ip, args.port)
global mymotion
mymotion = SoundAndMoveHead('mymotion')
mymotion.sound()
# 在类外部也能使用订阅事件，使事件被触发时，也能做出反应
# mymotion.memory.subscribeToEvent('ALSoundLocalization/SoundLocated','mymotion','test')
# global mymove
# mymove=MoveAfterSound('mymove')
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(robot_IP, robot_PORT=9559):
# We need this broker to be able to construct NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
robot_IP, # parent broker IP
robot_PORT) # parent broker port
# ----------> touch password system <----------
# 使用具体的类实例名称来初始化类;
global touchSystem
touchSystem = touchPasswd("touchSystem")
touchSystem.setPassword('123')
# touchSystem.skipVerify() # 直接跳过验证;
try:
# 没有通过验证，则一直循环等待;
while touchSystem.isVerify() == False:
time.sleep(1)
print 'verify succeed, exit!'
except KeyboardInterrupt:
# 中断程序
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
try:
signal.signal(signal.SIGINT, signal_handler)
print "[Execution server] - Press Ctrl + C to exit system correctly"
myBroker = ALBroker("myBroker", "0.0.0.0", 0, Constants.NAO_IP,Constants.PORT)
global Execution_server
Execution_server = MoveNaoModule("Execution_server")
rospy.spin()
except (KeyboardInterrupt, SystemExit):
print "[Execution server] - SystemExit Exception caught"
#unsubscribe()
myBroker.shutdown()
sys.exit(0)
except Exception, ex:
print "[Execution server] - Exception caught %s" % str(ex)
#unsubscribe()
myBroker.shutdown()
sys.exit(0)
def main():
parser = OptionParser()
parser.add_option('--ip', help='IP address of pepper.', dest='ip')
parser.add_option('--port', help='port.', dest='port', type='int')
parser.set_defaults(port=9559)
opts, args = parser.parse_args()
ip = opts.ip
port = opts.port
myBroker = ALBroker('myBroker', '0.0.0.0', 0, ip, port)
global memory
memory = ALProxy('ALMemory')
global engage
engage = EngagementZoneModule('engage', memory)
global QRCodeReader
QRCodeReader = QRCodeReaderModule('QRCodeReader', memory)
print("picture start")
takeAndShowPics = TakeAndShowPics(ip, port)
takeAndShowPics.start()
print("picture comp")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print()
print('Interrupted.')
myBroker.shutdown()
sys.exit()
def main(robot_IP, robot_PORT=9559):
# We need this broker to be able to construct NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
robot_IP, # parent broker IP
robot_PORT) # parent broker port
# ----------> touch password system <----------
# 使用具体的类实例名称来初始化类;
global touchSystem
touchSystem = touchPasswd("touchSystem")
touchSystem.setPassword('123')
# touchSystem.skipVerify() # 直接跳过验证;
try:
# 没有通过验证，则一直循环等待;
while touchSystem.isVerify() == False:
time.sleep(1)
print 'verify succeed, exit!'
except KeyboardInterrupt:
# 中断程序
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
parser = OptionParser()
parser.add_option('--ip', help='IP address of pepper.', dest='ip')
parser.add_option('--port', help='port.', dest='port', type='int')
parser.set_defaults(port=9559)
opts, args = parser.parse_args()
ip = opts.ip
port = opts.port
myBroker = ALBroker('myBroker', '0.0.0.0', 0, ip, port)
global QRCodeReader
QRCodeReader = QRCodeReaderModule('QRCodeReader')
# takeAndShowPics = TakeAndShowPics()
# p = multiprocessing.Process(target=takeAndShowPics.start)
# p.start()
takeAndShowPics = TakeAndShowPics(ip, port)
takeAndShowPics.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print()
print('Interrupted.')
myBroker.shutdown()
sys.exit()
def main(ip, port):
""" Main entry point
"""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global memory, sonar
memory = ALProxy("ALMemory", ip, port)
sonar = ALProxy("ALSonar", ip, port)
sonar.subscribe("SonarTestModule")
global LeftDetected, RightDetected, LeftNothing, RightNothing
LeftDetected = LeftDetected("LeftDetected")
RightDetected = RightDetected("RightDetected")
LeftNothing = LeftNothing("LeftNothing")
RightNothing = RightNothing("RightNothing")
try:
while True:
time.sleep(1)
# print "Left Sonar:", memory.getData("Device/SubDeviceList/US/Left/Sensor/Value")
print ""
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
sonar.unsubscribe("SonarTestModule")
myBroker.shutdown()
sys.exit(0)
def connectNaoQi(self):
try:
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip="127.0.0.1",
pport=9559)
parser.add_option("--robot_description",
help="Parent broker port. The IP address or your robot",
dest="name")
(opts, args_) = parser.parse_args()
self.pip = get_param('pip', None)
self.pport = get_param('pport', None)
self.description = opts.name
myBroker = ALBroker("myBroker","0.0.0.0",0,self.pip, self.pport)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(ip, port):
""" Main entry point
"""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global tts, memory
tts = ALProxy("ALTextToSpeech", ip, port)
memory = ALProxy("ALMemory", ip, port)
global FrontTouch, MiddleTouch, RearTouch
global LeftFootTouch, RightFootTouch
FrontTouch = FrontTouch("FrontTouch")
MiddleTouch = MiddleTouch("MiddleTouch")
RearTouch = RearTouch("RearTouch")
LeftFootTouch = LeftFootTouch("LeftFootTouch")
RightFootTouch = RightFootTouch("RightFootTouch")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global MarkovTickle
MarkovTickle = MarkovTickleModule("MarkovTickle")
print "Running, hit CTRL+C to stop script"
MarkovTickle.mainTask()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
# stop any post tasks
# eg void ALModule::stop(const int& id)
try:
myBroker.shutdown()
except Exception, e:
print "Error shutting down broker: ", e
try:
sys.exit(0)
except Exception, e:
print "Error exiting system: ", e
def play(args):
global broker, nao_motion, nao_video
nao_strategies = {'basic': Basic,
'human': Human}
other_strategies = {'vision': NAOVision,
'human': Human}
nao_strat = nao_strategies.get(args['--nao-strategy'], None)
other_strat = other_strategies.get(args['--other-strategy'], None)
if nao_strat is None:
exit("{0} is not a valid strategy. The valid strategies for NAO are basic and "
"human".format(args['--nao-strategy']))
if other_strat is None:
exit("{0} is not a valid strategy. The valid strategies for the other player are "
"vision and human".format(args['--other-strategy']))
basic.ALPHA_BETA_MAX_DEPTH = int(args['--max-depth'])
data.IP = args['--ip']
data.PORT = int(args['--port'])
broker = ALBroker("myBroker", "0.0.0.0", 0, data.IP, data.PORT)
nao_motion = MotionController()
nao_video = VideoController()
nao_tts = ALProxy("ALTextToSpeech", data.IP, data.PORT)
try:
loop = LogicalLoop(nao_motion=nao_motion, nao_video=nao_video, nao_tts=nao_tts,
ppA=float(args['--ppA']), cA=float(args['--cA']), rA=float(args['--rA']),
min_detections=int(args['--min-detections']), sloped=args['--sloped'],
dist=float(args['--dist']), nao_strategy=nao_strat, other_strategy=other_strat,
wait_disc_func=wait_for_disc, )
loop.loop()
except KeyboardInterrupt:
print "Keyboard interrupt"
finally:
broker.shutdown()
return 0
def main():
#IP = "localhost"
#PORT =51394
IP = "pepper.local"
PORT = 9559
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
IP, # parent broker IP
PORT)
global SoundLocator
SoundLocator = SoundLocatorModule("SoundLocator", IP, PORT)
try:
while True:
# print("-")
time.sleep(1)
pass
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
class ToMarkovChoiceGoodInput(unittest.TestCase):
""" Markov choice should give known result with known input.
"""
def setUp(self):
self.myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
self.MarkovTickle = MarkovTickleModule("MarkovTickle")
def tearDown(self):
self.MarkovTickle = None
self.myBroker.shutdown()
def testSmallMatrix(self):
testValue = self.MarkovTickle.markovChoice([1])
result = 0
self.assertEquals(testValue, result)
def testLargeMatrix(self):
testValue = self.MarkovTickle.markovChoice([0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
result = 0
self.assertGreaterEqual(testValue, result)
def testHugeMatrix(self):
""" Pass v large matrix e.g. 1000 elements."""
arraySize = 1000
array = np.random.random(arraySize)
arraySum = np.sum(array)
arrayNormalised = array / arraySum
testValue = self.MarkovTickle.markovChoice(arrayNormalised)
result = 0
self.assertGreaterEqual(testValue, result)
def main():
""" Punto de entrada al Módulo.
"""
parser = OptionParser()
parser.add_option("--pip",
help = "Parent broker IP, robot IP address",
dest = "pip")
parser.add_option("--pport",
help = "Parent broker IP, NaoQi port",
dest = "pport",
type = "int")
parser.set_defaults(
pip = NAO_IP,
pport = 9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# Nuevo broker para la construcción de nuevos módulos.
# Debe ejecutarse en tanto el programa exista.
myBroker = ALBroker("myBroker", "0.0.0.0", 0, pip, pport)
global ballSpy
ballSpy = ballSpyModule("ballSpy")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "KeyboardInterrupt, shutting down..."
myBroker.shutdown()
sys.exit(0)
def main():
###
# Summary: main execution method
# Parameters: --
# Return: --
###
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
myBroker = ALBroker("myBroker", "0.0.0.0", 0, pip, pport)
global bootloadr
bootloadr = Bootloader("bootloadr")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
'192.168.3.68', # parent broker IP
9559) # parent broker port
# Warning: Adviser must be a global variable
# The name given to the constructor must be the name of the
# variable
global Adviser
Adviser = AdviserModule("Adviser")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
Adviser.shutoff() # stop the module
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("myBroker", "0.0.0.0", 0, PEPPER_IP, 9559)
global PepperModule
PepperModule = PepperModuleClass("PepperModule")
while True:
#録音開始
PepperModule.startRecord()
# 30秒録音
time.sleep(30)
#録音終了
check = PepperModule.stopRecord()
index = check.find("satellite") #実行結果にファイル名が含まれているか検索
if index != -1: #ファイル名が含まれている = 曲が見つかったら
commands.getoutput(
"/usr/bin/python satellite.py") #アイドルオタク化プログラムを実行
myBroker.shutdown()
sys.exit(0)
else:
print "not found"
def __init__(self, broker_name, broker_ip=None, broker_port=0,
nao_id=None, nao_port=None, **kwargs):
if any(x in kwargs for x in
['brokerIp', 'brokerPort', 'naoIp', 'naoPort']):
warnings.warn('''brokerIp, brokerPort, naoIp and naoPort arguments
are respectively replaced by broker_ip,
broker_port, nao_id and nao_port''',
DeprecationWarning)
broker_ip = kwargs.pop('brokerIp', broker_ip)
broker_port = kwargs.pop('brokerPort', broker_port)
nao_id = kwargs.pop('naoIp', nao_id)
nao_port = kwargs.pop('naoPort', nao_port)
if kwargs:
raise TypeError('Unexpected arguments for Broker(): %s'
% ', '.join(kwargs.keys()))
nao_ip, nao_port = _resolve_ip_port(nao_id, nao_port)
# Information concerning our new python broker
if broker_ip is None:
broker_ip = _get_local_ip(nao_ip)
ALBroker.__init__(self, broker_name, broker_ip,
broker_port, nao_ip, nao_port)
self.broker_name = broker_name
self.broker_ip = broker_ip
self.broker_port = broker_port
self.nao_id = nao_id
self.nao_port = nao_port
def main():
# A dechiffrer... Mais permet d'employer des parametres
# reseau par defaut au sein des declarations d'objet dans
# le reste du programme...
parser = OptionParser()
parser.set_defaults(pip=IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
myBroker = ALBroker("myBroker", "0.0.0.0", 0, pip, pport)
# ########################################################
# Variable d'instance.
global TouchMeToSpeak
# Instanciation de l'objet TouchMeToSpeak.
TouchMeToSpeak = TouchMeToSpeakModule("TouchMeToSpeak")
# Tourne indefiniement...
try:
while True:
time.sleep(1)
# ...Jusqu'a la production de l'exception interruption clavier.
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(ip, port):
""" Main entry point
"""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
global IP1, PORT1
IP1 = ip
PORT1 = port
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global ReactToTouch
ReactToTouch = ReactToTouch("ReactToTouch")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def __init__(self, ip, port, simulation_mode=True):
self.ip = ip
self.port = port
self.camProxy = ALProxy("ALVideoDevice", self.ip, self.port)
self.postureProxy = ALProxy("ALRobotPosture", self.ip, self.port)
self.motionProxy = ALProxy("ALMotion", self.ip, self.port)
self.memoryProxy = ALProxy("ALMemory", self.ip, self.port)
self.blobProxy = ALProxy("ALColorBlobDetection", self.ip, self.port)
self.trackerProxy = ALProxy("ALTracker", self.ip, self.port)
self.ttsProxy = ALProxy("ALTextToSpeech", self.ip, self.port)
self.broker = ALBroker("pythonMotionBroker", "0.0.0.0", 0, self.ip,
self.port)
if simulation_mode == False:
self.autolifeProxy = ALProxy("ALAutonomousLife", self.ip,
self.port)
self.autolifeProxy.setState("disabled")
self.topCamera = self.camProxy.subscribeCamera(
"topCamera_pycli", 0, vision_definitions.kVGA,
vision_definitions.kBGRColorSpace, framerate)
self.bottomCamera = self.camProxy.subscribeCamera(
"bottomCamera_pycli", 1, vision_definitions.kQQVGA,
vision_definitions.kBGRColorSpace, framerate)
self.motionProxy.wakeUp()
self.enableExternalCollisionProtection()
self.postureProxy.goToPosture("StandInit", 1.0)
def initialize_broker(self):
self.myBroker = ALBroker("myBroker", "0.0.0.0", 0, "", 9559)
self.tts = ALProxy("ALTextToSpeech")
self.power = ALProxy("ALBattery")
self.system = ALProxy("ALSystem")
global REACT_TO_TOUCH
REACT_TO_TOUCH = ReactToTouch("REACT_TO_TOUCH")
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip="10.0.1.3",
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
asr = ALProxy("ALSpeechRecognition", "10.0.1.3", 9559)
asr.setLanguage("English")
# Example: Adds "yes", "no" and "please" to the vocabulary (without wordspotting)
vocabulary = ["yes", "no", "please"]
asr.setVocabulary(vocabulary, False)
# Start the speech recognition engine with user Test_ASR
asr.subscribe("Test_ASR")
# Warning: HumanGreeter must be a global variable
# The name given to the constructor must be the name of the
# variable
global SpeechDetector
SpeechDetector = SpeechDetectorModule("SpeechDetector")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
asr.unsubscribe("Test_ASR")
myBroker.shutdown()
sys.exit(0)
def initialize(robot_ip, robot_port, topf_path, csvf):
# creates the speech recognition proxy and a csv file
print "Have reached adialog main method"
createSpeechRecogProxy(robot_ip, robot_port)
createFile(csvf)
# creates dialog and posture proxies
dialog_p = ALProxy('ALDialog', robot_ip, robot_port)
postureProxy = ALProxy("ALRobotPosture", robot_ip, robot_port)
dialog_p.setLanguage("English")
tts = ALProxy('ALTextToSpeech', robot_ip, robot_port)
tts.say("starting")
postureProxy.goToPosture("StandInit", 0.5) # brings robot to standing pos.
# Load topic - absolute path is required
# TOPIC MUST BE ON ROBOT
topic = dialog_p.loadTopic(topf_path)
# Start dialog
dialog_p.subscribe('myModule')
# Activate dialog
dialog_p.activateTopic(topic)
# create broker
myBroker = ALBroker("myBroker", "0.0.0.0", 0, robot_ip, robot_port)
'''# creates a module called "Move"
global Move
Move = TestModule("Move")'''
# pressing key will unsubscribe from the topic
raw_input(u"Press 'Enter to exit.")
#speech recognition unsubscribing from test_asr wtf?:
asr.unsubscribe("Test_ASR")
# until interrupted, keep broker running
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
# Deactivate topic
dialog_p.deactivateTopic(topic)
# Unload topic
dialog_p.unloadTopic(topic)
# Stop dialog
dialog_p.unsubscribe('myModule')
# close file
f.close()
# exit
sys.exit(0)
def main():
""" Main entry point
"""
global AudioRecognition
global RedBall
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Create proxy to ALTextToSpeech for later use
# tts = ALProxy("ALTextToSpeech")
# Warning: AudioRecognition must be a global variable
# The name given to the constructor must be the name of the
# variable
AudioRecognition = AudioRecognitionModule("AudioRecognition")
AudioRecognition.connect(AudioRecognition)
TactileHead = TactileHeadModule("TactileHead",AudioRecognition)
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
AudioRecognition.disconnect(AudioRecognition)
AudioRecognition = None
sys.exit(0)
def main(robot_ip, robot_port, topf_path):
# creates the speech recognition proxy and a csv file
createSpeechRecogProxy(robot_ip, robot_port)
createFile(csvf)
# creates dialog and posture proxies
dialog_p = ALProxy('ALDialog', robot_ip, robot_port)
postureProxy = ALProxy("ALRobotPosture", robot_ip, robot_port)
dialog_p.setLanguage("English")
postureProxy.goToPosture("StandInit", 0.5) # brings robot to standing pos.
# Load topic - absolute path is required
# TOPIC MUST BE ON ROBOT
topic = dialog_p.loadTopic(topf_path)
# Start dialog
dialog_p.subscribe('myModule')
# Activate dialog
dialog_p.activateTopic(topic)
# create broker
myBroker = ALBroker("myBroker", "0.0.0.0",
0, robot_ip, robot_port)
# creates a module called "Move"
global Move
Move = TestModule("Move")
# pressing key will unsubscribe from the topic
raw_input(u"Press 'Enter to exit.")
asr.unsubscribe("Test_ASR")
# until interrupted, keep broker running
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
# Deactivate topic
dialog_p.deactivateTopic(topic)
# Unload topic
dialog_p.unloadTopic(topic)
# Stop dialog
dialog_p.unsubscribe('myModule')
# close file
f.close()
# exit
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address of your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
global myBroker
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: Objects must be a global variable
# The name given to the constructor must be the name of the
# variable
global HandTouch
HandTouch = HandTouchModule("HandTouch")
print "Running, hit CTRL+C to stop script"
while True:
time.sleep(1)
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
# stop any post tasks
# eg void ALModule::stop(const int& id)
try:
myBroker.shutdown()
except Exception, e:
print "Error shutting down broker: ", e
try:
sys.exit(0)
except Exception, e:
print "Error exiting system: ", e
def main():
""" Main entry point (cette partie du code (ALBroker, OptionParser, a ete reprise d'ici :
https://community.aldebaran-robotics.com/doc/1-14/dev/python/reacting_to_events.html
)
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: HumanGreeter must be a global variable
# The name given to the constructor must be the name of the
# variable
global HumanGreeter
HumanGreeter = HumanGreeterModule("HumanGreeter")
motion = ALProxy("ALMotion", pip, pport)
posture = ALProxy("ALRobotPosture", pip, pport)
tts = ALProxy("ALTextToSpeech", pip, pport)
motion.wakeUp()
posture.goToPosture("StandInit", 0.5)
try:
while True:
time.sleep(1)
tts.say("Rien")
except KeyboardInterrupt: #Quand on fait un ctrl+c
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
posture.goToPosture(
"LyingBack",
0.5) #on se couche sur le dos avant de couper les moteurs
motion.rest()
sys.exit(0)
def mainProcess(robotIP, robotPort=9559, hostIP, hostPort=8000):
#HOST_IP = "192.168.1.13"
#HOST_IP = "192.168.1.100"
HOST_IP = hostIP
#HOST_PORT = 8000
HOST_PORT = hostPort
#ROBOT_IP = "192.168.1.27"
#ROBOT_IP = "192.168.1.103"
ROBOT_IP = robotIP
#ROBOT_PORT = 9559
ROBOT_PORT = robotPort
global tts
tts = ALProxy("ALTextToSpeech", ROBOT_IP, ROBOT_PORT)
global player
player = ALProxy("ALAudioPlayer", ROBOT_IP, ROBOT_PORT)
global videoStream
videoStream = OpenCVModule(ROBOT_IP, ROBOT_PORT, CameraID=0, X=240, Y=320)
global motionProxy
motionProxy = ALProxy("ALMotion", ROBOT_IP, ROBOT_PORT)
motionProxy.wakeUp()
global memory
memory = ALProxy("ALMemory", ROBOT_IP, ROBOT_PORT)
global audio
audio = ALProxy("ALAudioDevice", ROBOT_IP, ROBOT_PORT)
myBroker = ALBroker("myBroker", "0.0.0.0", 0, ROBOT_IP, ROBOT_PORT)
global reactToTouch
reactToTouch = reactToTouchModule("reactToTouch")
global SoundReceiver
SoundReceiver = SoundReceiverModule("SoundReceiver")
SoundReceiver.start()
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind((HOST_IP, HOST_PORT))
sock.listen(10)
print "listening"
index = 0
try:
while True:
connection, address = sock.accept()
index += 1
thread.start_new_thread(child_connection,
(index, sock, connection))
except KeyboardInterrupt:
sock.close()
videoStream.unregisterImageClient()
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
myBroker = ALBroker("myBroker", "0.0.0.0", 0, pip, pport)
global emotional_demo
global memory
emotional_demo = emotional_demo_module("emotional_demo")
# # set some ALMemory values
# emotional_dictionary = {"happiness" : (1.00, 0.75),
# "sadness" : (-0.75, -0.75),
# "anger" : (-0.75, 0.75),
# "fear" : (-1.00, 0.00),
# "surprise" : (0.00, 0.50),
# "disgust" : (-0.4, 0.25),
# "thinking" : (0.25, 0.00)
# }
try:
valence_old = 0
arousal_old = 0
while True:
current_emotion = memory.getData("Emotion/Current")
valence = current_emotion[0][0]
arousal = current_emotion[0][1]
if abs(valence - valence_old) > 1e-10 or abs(arousal -
arousal_old) > 1e-10:
memory.raiseEvent("VAChanged", 1)
print "Current emotion in memory: ", current_emotion
time.sleep(0.1)
valence_old = valence
arousal_old = arousal
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
class ToMarkovChoiceBadInput(unittest.TestCase):
""" Markov choice should give error if bad input.
"""
def setUp(self):
self.myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
self.MarkovTickle = MarkovTickleModule("MarkovTickle")
def tearDown(self):
self.MarkovTickle = None
self.myBroker.shutdown()
def testSmallMatrix(self):
testValue = [2]
self.assertRaises(ValueError, self.MarkovTickle.markovChoice, testValue)
def testLargeMatrix(self):
""" Test larger matrix, not a p matrix. """
testValue = [0.9, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
self.assertRaises(ValueError, self.MarkovTickle.markovChoice, testValue)
def testBadMatrixFormat1(self):
""" Matrix not properly formed e.g. comma not decimal point. """
testValue = [0,1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
self.assertRaises(ValueError, self.MarkovTickle.markovChoice, testValue)
def testBadMatrixFormat2(self):
""" Matrix not properly formed e.g. decimal point not comma. """
# testValue = [0.1. 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
# self.assertRaises(ValueError, self.MarkovTickle.markovChoice, testValue)
# not a valid test as would need to pass a string to create a number like '0.1.'
pass
def testMultiRowMatrix(self):
""" More than a single row passed as argument. """
testValue = [[0.5, 0.5], [0.5, 0.5]]
self.assertRaises(ValueError, self.MarkovTickle.markovChoice, testValue)
def testWhatHappensIfPEquals1(self):
""" What happens if p = 1? """
testValue = self.MarkovTickle.markovChoice([0, 0, 1])
result = 2
self.assertEquals(testValue, result)
def testIsRandomRandom(self):
""" Is choice function returning a randomly distributed result across many runs? """
numRuns = 100000
transitionMatrix = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
# Run choice function many times.
list = [self.MarkovTickle.markovChoice(transitionMatrix) for i in range(numRuns)]
listHistogram, listBins = np.histogram(list)
listPercentage = [(x / float(numRuns))*100 for x in listHistogram]
testValue = np.sum(listPercentage)
result = 100.0
self.assertAlmostEqual(testValue, result)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip="10.0.1.3", pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
asr = ALProxy("ALSpeechRecognition", "10.0.1.3", 9559)
asr.setLanguage("English")
# Example: Adds "yes", "no" and "please" to the vocabulary (without wordspotting)
vocabulary = ["yes", "no", "please"]
asr.setVocabulary(vocabulary, False)
# Start the speech recognition engine with user Test_ASR
asr.subscribe("Test_ASR")
# Warning: HumanGreeter must be a global variable
# The name given to the constructor must be the name of the
# variable
global SpeechDetector
SpeechDetector = SpeechDetectorModule("SpeechDetector")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
asr.unsubscribe("Test_ASR")
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=NAO_PORT)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: HumanGreeter must be a global variable
# The name given to the constructor must be the name of the
# variable
topf_path = '/home/nao/naoqi/topic_pack/approach_key_words/app_mots_clefs_v4.top'
global HumanGreeter
HumanGreeter = HumanGreeterModule("HumanGreeter", topf_path)
HumanGreeter.set_dialogue()
log_file_name = "TEST_" + "NAME_OF_THE_TEST" + time.strftime(
"%Y%m%d-%H%M%S") + ".txt"
log_file = open(log_file_name, 'w')
# Print the history of the dialog with the robot and save it into a log file
print "_________HISTORIQUE DE LA DISCUSSION___________"
i = 1
for question, answer in zip(HumanGreeter.questions, HumanGreeter.answers):
print "Last thing understood by pepper was : " + question
log_file.write("Input number %d : %s \n" % (i, question))
print "Output of the robot : " + answer
log_file.write("Output number %d : %s : \n" % (i, answer))
i += 1
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(robotIp):
myBroker = ALBroker("GolfBroker", "0.0.0.0", 0, robotIp, 9559)
global GolfGreeter
GolfGreeter = GolfGreeterModule("GolfGreeter")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(ip, port):
global SpeechRecognition
# Setup the data broker.
myBroker = ALBroker("myBroker", "0.0.0.0", 0, ip, port)
SpeechRecognition = SpeechRecognition("SpeechRecognition")
try:
while True:
sleep(0.1)
except KeyboardInterrupt:
SpeechRecognition.onEnd()
myBroker.shutdown()
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
# Start Google cloud stt
global stt
credentials_json = '/home/cbarobotics/job/nao/tcs-stt.json'
stt = GoogleSTTClient(48000, credentials_json, transcription_cb)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exits
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: audioStreamer must be a global variable
# The name given to the constructor must be the name of the
# variable
global audioStreamer, audio_buffer
audioStreamer = AudioStreamerModule("audioStreamer", audio_buffer)
audioStreamer.start()
try:
for raw_audio_data in data_generator(audio_buffer):
# Do whatever you want with the data
# print ("got data - {}, {} ...".format(len(raw_audio_data), raw_audio_data[:10]))
stt.data_to_stream(raw_audio_data)
except KeyboardInterrupt:
print ("Interrupted by user, shutting down")
audioStreamer.stop()
myBroker.shutdown()
stt.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global Speller
Speller = SpellerModule("Speller")
Speller.beginSpelling(additionalStopCommand="connect")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
Speller.stop()
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global Speller
Speller = SpellerModule("Speller")
Speller.beginSpelling(additionalStopCommand="connect")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
Speller.stop()
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=NAO_PORT)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: Watson must be a global variable
# The name given to the constructor must be the name of the
# variable
global ALWatson
ALWatson = ALWatson("ALWatson")
beh = ALProxy("ALBehaviorManager")
try:
while True:
time.sleep(5)
command = ALWatson.heartbeat()
if "wave" in str(command):
beh.runBehavior("animations/Stand/Gestures/Hey_1")
continue
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main(ip, port):
broker = ALBroker('pythonBroker', '0.0.0.0', 9999, ip, port)
global memory
memory = ALProxy('ALMemory', ip, port)
global kehaola
kehaola = Kehaola('kehaola', ip, port)
kehaola.sub_all()
time.sleep(600)
kehaola.unsub_all()
broker.shutdown()
def main():
import time
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global PictureFramer
PictureFramer = PictureFramerModule("PictureFramer")
PictureFramer.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
PictureFramer.stop()
myBroker.shutdown()
def main():
import time
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global Template
Template = TemplateModule("Template")
Template.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
Template.stop()
myBroker.shutdown()
def main():
import time
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
global HeadMove
HeadMove = HeadMoveModule("HeadMove")
HeadMove.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
HeadMove.stop()
myBroker.shutdown()
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
myBroker = ALBroker("myBroker",
"0.0.0.0",
0,
pip,
pport)
global emotional_speech
global memory
emotional_speech = emotional_speech_module("emotional_speech")
# set some ALMemory values
valence = 1.0
arousal = 1.0
current_emotion = [(valence, arousal), ("valence_mood", "arousal_mood"), ("personality"), ("param1", "param2")]
memory.insertData("Emotion/Current", current_emotion)
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def __init__(self, ip, port, simulation_mode=True):
self.ip = ip
self.port = port
self.camProxy = ALProxy("ALVideoDevice", self.ip, self.port)
self.postureProxy = ALProxy("ALRobotPosture", self.ip, self.port)
self.motionProxy = ALProxy("ALMotion", self.ip, self.port)
self.memoryProxy = ALProxy("ALMemory", self.ip, self.port)
self.blobProxy = ALProxy("ALColorBlobDetection", self.ip, self.port)
self.trackerProxy = ALProxy("ALTracker", self.ip, self.port)
self.ttsProxy = ALProxy("ALTextToSpeech", self.ip, self.port)
self.broker = ALBroker("pythonMotionBroker", "0.0.0.0", 0,
self.ip, self.port)
if simulation_mode == False:
self.autolifeProxy = ALProxy("ALAutonomousLife", self.ip, self.port)
self.autolifeProxy.setState("disabled")
self.topCamera = self.camProxy.subscribeCamera("topCamera_pycli",
0, vision_definitions.kVGA, vision_definitions.kBGRColorSpace,
framerate)
self.bottomCamera = self.camProxy.subscribeCamera(
"bottomCamera_pycli", 1, vision_definitions.kQQVGA,
vision_definitions.kBGRColorSpace, framerate)
self.motionProxy.wakeUp()
self.enableExternalCollisionProtection()
self.postureProxy.goToPosture("StandInit", 1.0)
def main():
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, 9559)
# Initialize the node and name it.
rospy.init_node("action_manager", anonymous=True)
# Go to the main loop.
action_manager()
try:
pass
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAO_IP, NAO_PORT)
global PictureTaker
PictureTaker = PictureTakerModule("PictureTaker")
try:
PictureTaker.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
pass
except Exception as e:
print e
finally:
PictureTaker.stop()
myBroker.shutdown()
def main(ip, port):
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port) # parent broker port
global tts, memory, aup, leds
tts = ALProxy("ALTextToSpeech", ip, port)
memory = ALProxy("ALMemory", ip, port)
leds = ALProxy("ALLeds", ip, port)
aup = ALProxy("ALAudioPlayer", ip, port)
# 启动后需要提前加载第一个音乐文件
global PlayFileID
scan_mp3() # 先扫描文件夹
filename = MusicList[MusicPoint]
PlayFileID = aup.loadFile(filename)
global FrontTouch, MiddleTouch, RearTouch
global LeftFootTouch, RightFootTouch
global LeftHandLeftTouch, RightHandRightTouch
FrontTouch = FrontTouch("FrontTouch")
MiddleTouch = MiddleTouch("MiddleTouch")
RearTouch = RearTouch("RearTouch")
LeftFootTouch = LeftFootTouch("LeftFootTouch")
RightFootTouch = RightFootTouch("RightFootTouch")
LeftHandLeftTouch = LeftHandLeftTouch("LeftHandLeftTouch")
RightHandRightTouch = RightHandRightTouch("RightHandRightTouch")
# 创建一个线程，监听播放进度, 实现播放歌曲结束后自动切换下一首歌曲;
thread.start_new_thread(timer, ())
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
aup.stopAll()
print "Stop All Music"
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: NaoDetection must be a global variable
# The name given to the constructor must be the name of the
# variable
global NaoDetection
NaoDetection = PyNaoDetection("NaoDetection") #, 320, 240, 72.6)
try:
while True:
time.sleep(1)
#MarkerTracking.visual()
if cv2.waitKey(1) & 0xFF == ord('q')\
or NaoDetection.requested_to_exit:
break
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
NaoDetection.exit()
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
# It is needed to use a broker to be able to construct NAOQI
# modules and subscribe to other modules. The broker must stay
# alive until the program exists
try:
signal.signal(signal.SIGINT, signal_handler)
print "[Camera server] - Press Ctrl + C to exit system correctly"
myBroker = ALBroker("myBroker", "0.0.0.0", 0, Constants.NAO_IP,Constants.PORT)
CameraServer = CameraModule("CameraServer")
rospy.spin()
except AttributeError:
print "[Camera server] - - AttributeError"
#unsubscribe from camera
CameraServer.prox_camera.unsubscribe(self.nameId);#CameraServer.nameId);
myBroker.shutdown()
sys.exit(0)
except (KeyboardInterrupt, SystemExit):
print "[Camera server] - SystemExit Exception caught"
#unsubscribe from camera
CameraServer.prox_camera.unsubscribe(self.nameId);#CameraServer.nameId);
myBroker.shutdown()
sys.exit(0)
except Exception, ex:
print "[Camera server] - Exception caught %s" % str(ex)
#unsubscribe from camera
CameraServer.prox_camera.unsubscribe(self.nameId);#CameraServer.nameId);
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
# It is needed to use a broker to be able to construct NAOQI
# modules and subscribe to other modules. The broker must stay
# alive until the program exists
try:
signal.signal(signal.SIGINT, signal_handler)
print "[Core agent server] - Press Ctrl + C to exit system correctly"
myBroker = ALBroker("myBroker", "0.0.0.0", 0, Constants.NAO_IP,Constants.PORT)
global EmailRecognition
EmailRecognition = EmailRecognitionModule("EmailRecognition")
rospy.spin()
except AttributeError:
print "[Core agent server] - AttributeError"
EmailRecognition.unsubscribe()
myBroker.shutdown()
sys.exit(0)
except (KeyboardInterrupt, SystemExit):
print "[Core agent server] - SystemExit Exception caught"
EmailRecognition.unsubscribe()
myBroker.shutdown()
sys.exit(0)
except Exception, ex:
print "[Core agent server] - Exception caught %s" % str(ex)
EmailRecognition.unsubscribe()
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("SimpleRedBallDetectionBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAO_IP, # parent broker IP
NAO_PORT) # parent broker port
global RedBallDetection
RedBallDetection = RedBallDetectionModule("RedBallDetection")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAO_IP, # parent broker IP
NAO_PORT # parent broker port
)
text_analyzer = TextAnalyzerModule("TextAnalyzer")
try:
while True:
text_analyzer.say(input("Say something to Nao: "))
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAO_IP, # parent broker IP
NAO_PORT) # parent broker port
global Personal
Personal = PersonalModule("Personal")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
