def testNaoConnection(NAOip, NAOport):
worked = False
try:
print NAOip, NAOport
# naoBehavior = connectToProxy(NAOip, NAOport, "ALBehaviorManager")
# names = naoBehavior.getInstalledBehaviors()
# print "Names: ", names
naoMotions = BasicMotions(NAOip, NAOport)
print "Made Basic Motions"
naoMotions.naoSay("Connected!")
# naoMotions.naoSit()
# naoMotions.naoShadeHeadSay("Hello, the connection worked!")
testExpressions = False
if testExpressions:
genUtil = GenUtil(naoMotions)
genUtil.testExpressions()
worked = True
except Exception as e:
print "Connection Failed, maybe wrong IP and/or Port"
print e
print "Connection Test Finished"
return worked
def main(NAOip, NAOport):
print "OpenCV Version:", cv2.__version__
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAOip, # parent broker IP
NAOport) # parent broker port
global BasicMotions
BasicMotions = BasicMotions(NAOip, NAOport, myBroker)
EdgeDetector = EdgeDetection(NAOip, NAOport)
user_input = "Start"
delay = 1
while user_input != "end":
user_input = raw_input("Enter a command: ")
user_input = user_input.lower()
print(user_input)
if user_input == "speak":
BasicMotions.naoSay("Oh My Gawd, I can Speak!")
elif user_input == "sit":
BasicMotions.naoSit()
elif user_input == "stand":
BasicMotions.naoStand()
elif user_input == "standinit":
BasicMotions.naoStandInit()
elif user_input == "walk":
BasicMotions.naoWalk(0.5, 0.4)
elif user_input == "nod":
BasicMotions.naoNodHead()
elif user_input == "shake head":
BasicMotions.naoShadeHead()
elif user_input == "wave right":
BasicMotions.naoWaveRight()
elif user_input == "wave both":
BasicMotions.naoWaveBoth()
elif user_input == "rest":
BasicMotions.naoRest()
#=======EMOTION DISPLAY=============
elif user_input == "happymotion": # do 3
time.sleep(delay)
BasicMotions.happyEmotion()
elif user_input == "sadmotion": # do 5
time.sleep(delay)
BasicMotions.sadEmotion()
elif user_input == "scared1motion": # touch do 8
time.sleep(delay)
BasicMotions.scaredEmotion1()
elif user_input == "scared2motion": # step back, not use this
time.sleep(delay)
BasicMotions.scaredEmotion2()
elif user_input == "fear1motion": # do 6
time.sleep(delay)
BasicMotions.fear1Emotion()
elif user_input == "fear2motion": # do 2
time.sleep(delay)
BasicMotions.fear2Emotion()
elif user_input == "hope1motion": #do 4
time.sleep(delay)
BasicMotions.hope1Emotion()
elif user_input == "hope2motion": # do 1
time.sleep(delay)
BasicMotions.hope2Emotion()
elif user_input == "angermotion": # do 7
time.sleep(delay)
BasicMotions.angerEmotion()
elif user_input == "lookmotion":
time.sleep(delay)
BasicMotions.LookAtEdgeEmotion()
elif user_input == "edgemotion": # do 9
time.sleep(delay)
BasicMotions.FoundEdgeEmotion()
elif user_input == "scared3motion": # do 10
time.sleep(delay)
BasicMotions.scaredEmotion3()
#=======VOICE EFFECT=============
elif user_input == "happy":
BasicMotions.naoSayHappy(BasicMotions.HriDialogEOD['1good'])
#BasicMotions.happyEmotion()
elif user_input == "sad":
BasicMotions.naoSaySad(BasicMotions.HriDialogEOD['1bad'])
#BasicMotions.sadEmotion()
elif user_input == "scared":
BasicMotions.naoSayScared(BasicMotions.HriDialogEOD['31nono'])
#BasicMotions.scaredEmotion1()
elif user_input == "fear":
BasicMotions.naoSayFear(BasicMotions.HriDialogEOD['31nono'])
#BasicMotions.fearEmotion()
elif user_input == "hope":
BasicMotions.naoSayHope(BasicMotions.HriDialogEOD['2yes'])
#BasicMotions.hopeEmotion()
elif user_input == "anger":
BasicMotions.naoSayAnger(BasicMotions.HriDialogEOD['31nono'])
#BasicMotions.angerEmotion()
#=======EYE DISPLAY=============
elif user_input == "happyeye":
BasicMotions.setEyeEmotion('happy')
elif user_input == "sadeye":
BasicMotions.setEyeEmotion('sad')
elif user_input == "scared1eye":
BasicMotions.setEyeEmotion('scared1')
elif user_input == "scared2eye":
BasicMotions.setEyeEmotion('scared2')
elif user_input == "feareye":
BasicMotions.setEyeEmotion('fear')
elif user_input == "hopeeye":
BasicMotions.setEyeEmotion('hope')
elif user_input == "angereye":
BasicMotions.setEyeEmotion('anger')
elif user_input == "alarmingeye":
BasicMotions.blinkAlarmingEyes(5)
#=======TESTING INTERNAL FUNCTIONS=======
elif user_input == "blinktop":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeTop")
elif user_input == "blinkbottom":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeBottom")
elif user_input == "blinkfull":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeFull")
elif user_input == "eyecolor":
BasicMotions.setEyeColor(0x00FFFFFF,"LedEyeTop")
BasicMotions.setEyeColor(0x00FF00FF,"LedEyeCorner")
BasicMotions.setEyeColor(0x00FF00FF,"LedEyeBottom")
#==========TESTING CAMERA============
elif user_input == "img":
EdgeDetector.SetDebugMode(True)
i=0
BasicMotions.LookAtEdgeEmotion()
while True:
status, distance, angle = EdgeDetector.lookForEdge(20,8)
print "Edge: ", status,distance,angle
if status==True:
BasicMotions. FoundEdgeEmotion()
break
i+=1
if i>100:
print "Not close enough"
break
#============================================
elif user_input != "end":
print("That is not an availiable command")
print("=== Main Program Finished Running ===")
def main(NAOip, NAOport):
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAOip, # parent broker IP
NAOport) # parent broker port
global BasicMotions
BasicMotions = BasicMotions(NAOip, NAOport, myBroker)
user_input = "Start"
while user_input != "end":
user_input = raw_input("Enter a command: ")
user_input = user_input.lower()
print(user_input)
if user_input == "speak":
BasicMotions.naoSay("Oh My Gawd, I can Speak!")
elif user_input == "sit":
BasicMotions.naoSit()
elif user_input == "stand":
BasicMotions.naoStand()
elif user_input == "walk":
BasicMotions.naoWalk(0.5, 0.4)
elif user_input == "nod":
BasicMotions.naoNodHead()
elif user_input == "shake head":
BasicMotions.naoShakeHead()
elif user_input == "wave right":
BasicMotions.naoWaveRight()
elif user_input == "wave both":
BasicMotions.naoWaveBoth()
#=======EMOTION DISPLAY=============
elif user_input == "happymotion":
BasicMotions.happyEmotion()
elif user_input == "sadmotion":
BasicMotions.sadEmotion()
elif user_input == "scared1motion":
BasicMotions.scaredEmotion1()
elif user_input == "scared2motion":
BasicMotions.scaredEmotion2()
elif user_input == "fearmotion":
BasicMotions.fearEmotion()
elif user_input == "hopemotion":
BasicMotions.hopeEmotion()
elif user_input == "angermotion":
BasicMotions.angerEmotion()
#=======EMOTION DISPLAY=============
elif user_input == "happymotion":
BasicMotions.happyEmotion()
elif user_input == "sadmotion":
BasicMotions.sadEmotion()
elif user_input == "scared1motion":
BasicMotions.scaredEmotion1()
elif user_input == "scared2motion":
BasicMotions.scaredEmotion2()
elif user_input == "fearmotion":
BasicMotions.fearEmotion()
elif user_input == "hopemotion":
BasicMotions.hopeEmotion()
elif user_input == "angermotion":
BasicMotions.angerEmotion()
#=======VOICE EFFECT=============
elif user_input == "happy":
BasicMotions.naoSayHappy(BasicMotions.HriDialogEOD['1'])
elif user_input == "sad":
BasicMotions.naoSaySad(BasicMotions.HriDialogEOD['1'])
elif user_input == "scared":
BasicMotions.naoSayScared(BasicMotions.HriDialogEOD['1'])
elif user_input == "fear":
BasicMotions.naoSayFear(BasicMotions.HriDialogEOD['1'])
elif user_input == "hope":
BasicMotions.naoSayHope(BasicMotions.HriDialogEOD['1'])
elif user_input == "anger":
BasicMotions.naoSayAnger(BasicMotions.HriDialogEOD['1'])
#=======EYE DISPLAY=============
elif user_input == "happyeye":
BasicMotions.setEyeEmotion('happy')
elif user_input == "sadeye":
BasicMotions.setEyeEmotion('sad')
elif user_input == "scared1eye":
BasicMotions.setEyeEmotion('scared1')
elif user_input == "scared2eye":
BasicMotions.setEyeEmotion('scared2')
elif user_input == "feareye":
BasicMotions.setEyeEmotion('fear')
elif user_input == "hopeeye":
BasicMotions.setEyeEmotion('hope')
elif user_input == "angereye":
BasicMotions.setEyeEmotion('anger')
#=======TESTING INTERNAL FUNCTIONS=======
elif user_input == "blinktop":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeTop")
elif user_input == "blinkbottom":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeBottom")
elif user_input == "blinkfull":
BasicMotions.blinkEyes(random.randint(0x00000000, 0x00FFFFFF), 5.0, "EyeFull")
elif user_input == "eyecolor":
BasicMotions.setEyeColor(0x00FFFFFF,"LedEyeTop")
BasicMotions.setEyeColor(0x00FF00FF,"LedEyeCorner")
BasicMotions.setEyeColor(0x00FF00FF,"LedEyeBottom")
#============================================
elif user_input == "tts":
BasicMotions.TestTts();
#============================================
elif user_input != "end":
print("That is not an availiable command")
print("=== Main Program Finished Running ===")
def main(NAOip, NAOport, name):
print "***************************************************************************"
print "***************************************************************************"
print "Have You updated the _FSM_INPUT File for this interaction? (1) yes, (2) no: ",
textInput = str(raw_input()).lower()
print "***************************************************************************"
if textInput == "1":
naoMotions = BasicMotions(NAOip, NAOport)
robotName = name
genUtil = GenUtil(naoMotions)
genUtil.showFoodDB()
myBroker = ALBroker("myBroker", "0.0.0.0", 0, NAOip, NAOport)
global naoReactionChecker
naoReactionChecker = NAOReactionChecker.NAOReactionChecker(genUtil, NAOip, NAOport)
thread1 = ThreadedChecker(1, "Main Checker #1", genUtil)
thread2 = UserAffectGenerator(2, "User Affect Generator #1", 3, genUtil)
dateTime = genUtil.getDateTime()
[userName, userNumber, activityInteractionType, lastInteraction] = getFSMInputVars()
userInfo = initiateUserInfo(userName, userNumber, activityInteractionType, dateTime)
# runSomeTest(genUtil)
genUtil.showHappyEyes()
# naoMotions.naoSit()
print "NAO is currently: ", naoMotions.getPostureFamily()
speed = 0.2
if naoMotions.getPostureFamily() == "Sitting":
speed = 0.7
global sitTest
sitTest = False
if not sitTest:
naoMotions.naoStand(speed)
# naoMotions.naoWaveBoth()
naoMotions.naoAliveON()
# ============================================================= Start Functionality
print("State Machine Started")
print
print
thread1.start()
# thread2.start()
dietFitnessFSM = DietFitnessFSM(genUtil, robotName, userName, userNumber, activityInteractionType, lastInteraction)
[currentState, robotEmotionNum, obserExpresNum] = dietFitnessFSM.getFSMState()
appraiseState = False
user_input = "Start"
while currentState != 0:
print("=========================================================================================")
print "FSM Info: ", [currentState, robotEmotionNum, obserExpresNum]
if appraiseState:
genUtil.expressEmotion(obserExpresNum)
[currentState, robotEmotionNum, obserExpresNum, appraiseState] = dietFitnessFSM.activityFSM()
thread1.quit()
# thread2.quit()
genUtil.naoTurnOffEyes()
# naoMotions.naoSit()
NAOReactionChecker.ActuallyUnsubscribeAllEvents()
myBroker.shutdown()
naoMotions.naoAliveOff()
print
[stateTimeStamp, stateDateTime, fsmStateHist,
reHist, oeHist, driveStatHist, fsmStateNameHist] = dietFitnessFSM.getHistories()
print "History of TimeStamps: ", stateTimeStamp
print "History of DateTimes: ", stateDateTime
print "History of FSM States: ", fsmStateHist
print "History of FSM State Names: ", fsmStateNameHist
print "History of Robot Emotions: ", reHist
print "History of Observable Expressions: ", oeHist
print "History of Drive Statuses: ", driveStatHist
writeUserHistories(userName, userNumber, userInfo, dateTime,
stateTimeStamp, stateDateTime, fsmStateHist, reHist, oeHist, driveStatHist, fsmStateNameHist)
else:
print "Go updated the input file for this interaction"
print "It can be found at: ProgramDataFiles\_FSM_INPUT.json"
print
print("State Machine Finished")
