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 == "happy1motion":
time.sleep(delay)
BasicMotions.happy1Emotion()
elif user_input == "happy2motion":
time.sleep(delay)
BasicMotions.happy2Emotion()
elif user_input == "sad1motion":
time.sleep(delay)
BasicMotions.sad1Emotion()
elif user_input == "sad2motion":
time.sleep(delay)
BasicMotions.sad2Emotion()
elif user_input == "scared1motion":
time.sleep(delay)
BasicMotions.scared1Emotion()
elif user_input == "scared2motion":
time.sleep(delay)
BasicMotions.scared2Emotion()
elif user_input == "worried1motion":
time.sleep(delay)
BasicMotions.worried1Emotion()
elif user_input == "worried2motion":
time.sleep(delay)
BasicMotions.worried2Emotion()
elif user_input == "interested1motion":
time.sleep(delay)
BasicMotions.interested1Emotion()
elif user_input == "interested2motion":
time.sleep(delay)
BasicMotions.interested2Emotion()
elif user_input == "anger1motion":
time.sleep(delay)
BasicMotions.anger1Emotion()
elif user_input == "anger2motion":
time.sleep(delay)
BasicMotions.anger2Emotion()
elif user_input == "lookmotion":
time.sleep(delay)
BasicMotions.LookAtEdgeEmotion()
elif user_input == "edgemotion":
time.sleep(delay)
BasicMotions.FoundEdgeEmotion()
#=======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 == "worried":
BasicMotions.naoSayWorried(BasicMotions.HriDialogEOD['31nono'])
#BasicMotions.fearEmotion()
elif user_input == "interested":
BasicMotions.naoSayInterested(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 == "scaredeye":
BasicMotions.setEyeEmotion('scared')
elif user_input == "worriedeye":
BasicMotions.setEyeEmotion('worried')
elif user_input == "interestedeye":
BasicMotions.setEyeEmotion('interested')
elif user_input == "angereye":
BasicMotions.setEyeEmotion('anger')
elif user_input == "alarmingeye":
BasicMotions.blinkAlarmingEyes(5,0x00FF7F00,"LedEye")
#=======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 ===")
