def __init__(self, ip):
self.s = Session()
self.s.connect(ip)
self.a_life = self.s.service('ALAutonomousLife')
self.behavior_manager = self.s.service('ALBehaviorManager')
self.is_recording_activity = False
self.file = None
def __init__(self):
self.connected = False
self.session = Session()
self.movePool1 = [
disco_right_hand, disco_left_hand, two_hand_air_pose,
one_hand_air_pose, shaking_head_pose, rolling_hands_right,
rolling_hands_left
]
self.movePool2 = [
sprinkler_pose, shaking_booty, hands_up_down_pose,
one_hand_air_rock_pose, hand_near_eyes_retro,
leg_hand_slip_dance_move
]
self.movePool3 = [
wave_move, egyptian_twist_move, squats_dance_move, duck_dance_move
]
self.movePool4 = [
hand_near_eyes_retro_left, hand_near_eyes_retro_right,
hand_near_eyes_retro, leg_twist_move, rolling_hands_left,
rolling_hands_right
]
self.movePool5 = [
rolling_hands_right, snap_right_move, snap_left_move,
clapping_in_the_air, dance_move1, leg_hand_slip_dance_move
]
self.movePool6 = [
hand_swinging,
stamp_foot_move,
two_hand_air_rock_pose,
robot_dance_move,
]
self.movePool7 = [kisses_pose, introduction_pose]
def __init__(self):
self.connected = False
self.session = Session()
self.movePool1 = [
kisses_pose, introduction_pose, stretch1_pose, stretch2_pose,
stretch3_pose, showMuscles1_pose, showMuscles2_pose
] # before starting
self.movePool2 = [
sprinkler_pose, shaking_booty, hands_up_down_pose,
one_hand_air_rock_pose, hand_near_eyes_retro,
leg_hand_slip_dance_move
]
self.movePool3 = [
wave_move, egyptian_twist_move, squats_dance_move, duck_dance_move,
disco_right_hand, disco_left_hand, rolling_hands_right,
rolling_hands_left
]
self.movePool4 = [
hand_near_eyes_retro_left, hand_near_eyes_retro_right,
hand_near_eyes_retro, leg_twist_move, rolling_hands_left,
rolling_hands_right
]
self.movePool5 = [
rolling_hands_right, snap_right_move, snap_left_move,
clapping_in_the_air, dance_move1, leg_hand_slip_dance_move,
shaking_head_pose
]
self.movePool6 = [
hand_swinging, stamp_foot_move, two_hand_air_rock_pose,
robot_dance_move, two_hand_air_pose, one_hand_air_pose
]
self.movePool7 = [
kisses_pose, introduction_pose, winner_pose, winner2_pose,
excited_pose, excited2_pose, lookHand_pose, proud_pose, happy_pose
] # for exiting
def fillLinksMap(address):
global docURLRoot
global naoqiVersion
session = Session()
session.connect('tcp://' + address + ':9559')
system = session.service("ALSystem")
naoqiVersion = system.systemVersion()
if naoqiVersion[:3] == "2.3":
docURLRoot = URL_2_3
elif naoqiVersion[:3] == "2.1":
docURLRoot = URL_2_1
else:
docURLRoot = URL_OTHER
url = docURLRoot + "index.html"
print "Parse : " + url
html = urlopen(url).read()
soup = BeautifulSoup.BeautifulSoup(html)
elements = soup.findAll("li")
for element in elements:
key = element.text.split(' ', 1)[0]
links = element.findAll("a")
if len(links) > 1:
# linksDicApi[key] = links[0]["href"]
linksDicOverview[key] = links[1]["href"]
def _iter_services(address):
session = Session()
session.connect('tcp://' + address + ':9559')
for servicesDesc in session.services():
module_name = servicesDesc["name"]
if not module_name.startswith('_'):
yield module_name, session.service(module_name)
def _iter_services(address):
session = Session()
session.connect('tcp://' + address + ':9559')
print "Number of services : " + str(len(session.services()))
for servicesDesc in session.services():
module_name = servicesDesc["name"]
if not module_name.startswith(
'_') and module_name not in BLACKLIST_MODULES:
yield module_name, session.service(module_name)
def __init__(self,
ip,
root_dir='/tmp/log_watcher',
message_start='',
message_stop='No way this exists in the logs',
message_category=''):
self.s = Session()
self.s.connect(ip)
self.log_manager = self.s.service("LogManager")
self.listener = self.log_manager.getListener()
self.root_dir = root_dir
self.signal_id = None
self.file_path = None
LogWatch.message_start = message_start
LogWatch.message_stop = message_stop
LogWatch.category_filter = message_category
self.cb = log_callback
def set_robot_version(self):
try:
s = Session()
s.connect(self.ip)
system = s.service('ALSystem')
version = system.systemVersion()
split_version = version.split('.')
if len(split_version) < 2:
raise Exception(
'Wrong version format returned: {}'.format(version))
if split_version[0] < 2:
raise Exception('Unhandled version: {}'.format(version))
if split_version[1] < 4:
### SHOULD test on 2.3 and predecessors
raise Exception('Unhandled version: {}'.format(version))
self.version = int(split_version[1])
self.exact_version = version
except Exception as e:
print 'Version number processing went wrong: '
print e.message
print 'Considering we run on 2.4'
self.version = 4
def __init__(self, pointcloud=True, laserscan=False):
self.pointcloud = pointcloud
self.laserscan = laserscan
# NaoqiNode.__init__(self, 'pepper_node')
self.session = Session()
self.session.connect('tcp://localhost:9559')
# ROS initialization;
self.connectNaoQi()
# default sensor rate: 25 Hz (50 is max, stresses Nao's CPU)
self.laserRate = rospy.Rate(
rospy.get_param(self.PARAM_LASER_RATE,
self.PARAM_LASER_RATE_DEFAULT))
self.laserShovelFrame = rospy.get_param(
self.PARAM_LASER_SHOVEL_FRAME,
self.PARAM_LASER_SHOVEL_FRAME_DEFAULT)
self.laserGroundLeftFrame = rospy.get_param(
self.PARAM_LASER_GROUND_LEFT_FRAME,
self.PARAM_LASER_GROUND_LEFT_FRAME_DEFAULT)
self.laserGroundRightFrame = rospy.get_param(
self.PARAM_LASER_GROUND_RIGHT_FRAME,
self.PARAM_LASER_GROUND_RIGHT_FRAME_DEFAULT)
self.laserSRDFrontFrame = rospy.get_param(
self.PARAM_LASER_SRD_FRONT_FRAME,
self.PARAM_LASER_SRD_FRONT_FRAME_DEFAULT)
self.laserSRDLeftFrame = rospy.get_param(
self.PARAM_LASER_SRD_LEFT_FRAME,
self.PARAM_LASER_SRD_LEFT_FRAME_DEFAULT)
self.laserSRDRightFrame = rospy.get_param(
self.PARAM_LASER_SRD_RIGHT_FRAME,
self.PARAM_LASER_SRD_RIGHT_FRAME_DEFAULT)
if self.pointcloud:
self.pcShovelPublisher = rospy.Publisher(self.TOPIC_LASER_SHOVEL +
'pointcloud',
PointCloud2,
queue_size=1)
self.pcGroundLeftPublisher = rospy.Publisher(
self.TOPIC_LASER_GROUND_LEFT + 'pointcloud',
PointCloud2,
queue_size=1)
self.pcGroundRightPublisher = rospy.Publisher(
self.TOPIC_LASER_GROUND_RIGHT + 'pointcloud',
PointCloud2,
queue_size=1)
self.pcSRDFrontPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_FRONT + 'pointcloud',
PointCloud2,
queue_size=1)
self.pcSRDLeftPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_LEFT + 'pointcloud',
PointCloud2,
queue_size=1)
self.pcSRDRightPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_RIGHT + 'pointcloud',
PointCloud2,
queue_size=1)
if self.laserscan:
self.laserShovelPublisher = rospy.Publisher(
self.TOPIC_LASER_SHOVEL + 'scan', LaserScan, queue_size=1)
self.laserGroundLeftPublisher = rospy.Publisher(
self.TOPIC_LASER_GROUND_LEFT + 'scan', LaserScan, queue_size=1)
self.laserGroundRightPublisher = rospy.Publisher(
self.TOPIC_LASER_GROUND_RIGHT + 'scan',
LaserScan,
queue_size=1)
self.laserSRDFrontPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_FRONT, LaserScan, queue_size=1)
self.laserSRDLeftPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_LEFT, LaserScan, queue_size=1)
self.laserSRDRightPublisher = rospy.Publisher(
self.TOPIC_LASER_SRD_RIGHT, LaserScan, queue_size=1)
self.laserSRDFrontPublisher_test = rospy.Publisher(
"~/pepper_navigation/front", LaserScan, queue_size=1)
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import cProfile
if __name__ == '__main__':
import cProfile
from qi import Session
s = Session()
s.connect('localhost')
dialog = s.service('ALDialog')
cProfile.run('dialog._preloadMain()')
def session(robot_ip, port):
""" Connect a session to a NAOqi """
ses = Session()
ses.connect("tcp://" + robot_ip + ":" + str(port))
return ses
