def init():
NAO_IP = "nao.local"
NAO_PORT = 9559
print "init"
global memory
memory = ALProxy("ALMemory", NAO_IP, NAO_PORT)
global broker
broker = ALBroker("pythonBroker", "0.0.0.0", 0, NAO_IP, NAO_PORT)
global motion
motion = ALProxy("ALMotion", "nao.local", NAO_PORT)
motion.setStiffnesses("Body", 1.0)
global dialog
dialog = ALProxy('ALDialog', NAO_IP, NAO_PORT)
dialog.setLanguage("French")
global aas
aas = ALProxy("ALAnimatedSpeech", NAO_IP, NAO_PORT)
global asr
asr = ALProxy("ALSpeechRecognition", NAO_IP, NAO_PORT)
global vocabulary
vocabulary = ["oui", "non", "nathan", "michel", "test", "viens"]
asr.subscribe("Test_ASR")
asr.pause(True)
asr.setVocabulary(vocabulary, False)
asr.pause(False)
asr.NameFound = False
print "init end"
try:
p = ALProxy("faceHandlerModule")
p.exit() # kill previous instance
except:
pass
try:
q = ALProxy("voiceHandlerModule")
q.exit()
except:
pass
