def main():
""" Main entry point
First some broker stuff, to be able to put a temporary module in the NAO
"""
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", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
#first record a sound on the NAO
sr = SoundRecorder(NAO_IP, 9559)
sr.record()
#Now we are going to use a local module to send the sound to Wit.ai
global Wit
Wit = WitModule("Wit")
Wit.getFile()
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():
myBroker = ALBroker(
"NaoAppBroker",
"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 SpeechDetection, NaoWorkingMode
SpeechDetection = SpeechDetectionModule("SpeechDetection")
basicVideoProcessing = BasicVideoProcessing()
basicVideoProcessing.connectToCamera()
try:
while True:
img = basicVideoProcessing.getImageFromCamera()
if (img == None):
print "Image from camera is empty!"
break
else:
if NaoWorkingMode == None:
sample.sample()
elif NaoWorkingMode == "color":
print 'Working in color detection mode...'
#cv2.imshow('Color', img) - cos nie dziala, pewnie kwestia tego, ze to kod ladowany jako modul
elif NaoWorkingMode == "text":
print 'Working in text detection mode...'
elif NaoWorkingMode == "hand":
print 'Working in hand gesture detection mode...'
elif NaoWorkingMode == "phone":
print 'Working in mobile phone detection mode...'
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
except RuntimeError, err:
print "An error occured: " + str(err)
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():
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 main():
# ----------> avoidance <----------
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
global NowStandup
NowStandup = NowStandupModule("NowStandup")
global ReactToWhistle
ReactToWhistle = ReactToWhistleModule("ReactToWhistle")
global ra
ra = race(robot_IP, robot_PORT)
ra.postReady()
tts = ALProxy("ALTextToSpeech")
tts.say("I am Waiting for whistle!")
global FLAG
while FLAG == 0:
time.sleep(0.2)
#ra.run()
ra.sendReach()
def setup():
global videoProxy, cam, pythonBroker, ballDetectionProcess, volLevelProcess, audioVolume, ballLocation, ballLocated
manager = multiprocessing.Manager()
audioVolume = manager.Value('i', 0)
ballLocation = manager.Value('i', -1)
ballLocated = manager.Value('i', False)
# Set robot to default posture
motionProxy.setStiffnesses("Head", 0.8)
pythonBroker = ALBroker("pythonBroker", "0.0.0.0", 9600, ip, port)
# video processing
videoProxy, cam = camera.setupCamera(ip, port)
sleep(1)
ballDetectionProcess = multiprocessing.Process(name="ball-detection-proc",
target=detectBallProcess,
args=(
ballLocation,
ballLocated,
))
volLevelProcess = multiprocessing.Process(name="volume-measurement-proc",
target=volumeLevel,
args=(audioVolume, ))
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", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
#### Adding speechrecognition proxy
try:
proxy = ALProxy("ALSpeechRecognition", NAO_IP, 9559)
except Exception, e:
print "Oops, couldn't start a proxy"
print str(e)
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():
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 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():
# 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 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)
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 init(self):
global motionProxy
global postureProxy
global autoLifeProxy
global memoryProxy
global trackerProxy
global speechProxy
parser = OptionParser()
parser.add_option("--pip", help="Parent Broker Port", dest="pip")
parser.add_option("--pport", help="port", dest="pport")
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)
motionProxy = ALProxy("ALMotion")
postureProxy = ALProxy("ALRobotPosture")
autoLifeProxy = ALProxy("ALAutonomousLife")
memoryProxy = ALProxy("ALMemory")
trackerProxy = ALProxy("ALTracker")
speechProxy = ALProxy("ALAnimatedSpeech")
def main(ip, port):
'''
Main entry point
:param ip:
:param port:
:return:
'''
# We need this broker to be able to construct
# NAOqi module and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBrokerForStop",
"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
try:
ReactToTouch = ReactToTouch("ReactToTouch")
# input()
time.sleep(55 * 60)
myBroker.shutdown()
except Exception, e:
myBroker.shutdown()
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 ReactToTouch
global flag
ReactToTouch = ReactToTouch('ReactToTouch')
try:
while True:
if flag:
print
print 'The routine has finished in a clean way.'
myBroker.shutdown()
sys.exit(0)
except KeyboardInterrupt:
print
print 'Interrupted by user, shutting down'
myBroker.shutdown()
sys.exit(0)
def __init__(self, ip='10.30.0.110', port=9559, useSpanish=True):
self.ip = ip
self.port = port
self.useSpanish = useSpanish
self.session = qi.Session()
self.go_on = True
print('b')
myBroker = ALBroker("myBroker", "0.0.0.0", 0, self.ip, self.port)
#self.module = RobotModule( name = 'module')
self.session.connect("tcp://" + self.ip + ":" + str(self.port))
print('vv')
self.tts = self.session.service("ALTextToSpeech")
self.setLanguage('Spanish')
self.animatedSpeechProxy = self.session.service("ALAnimatedSpeech")
'''
self.motion = self.session.service("ALMotion")
self.motion.wakeUp()
self.motion.setBreathConfig([["Bpm", 6], ["Amplitude", 0.9]])
self.motion.setBreathEnabled("Body", True)
self.motion.setStiffnesses('Head', 1.0)
'''
self.configuration = {"bodyLanguageMode": "contextual"}
def setup():
global videoProxy, cam, ReactToTouch, Speecher, pythonBroker
say("You can give me commands during walking, such as left, right, stop and start."
)
# Set robot to default posture
motionProxy.setStiffnesses("Head", 0.8)
postureProxy.goToPosture("StandInit", 0.6667)
sleep(2)
pythonBroker = ALBroker("pythonBroker", "0.0.0.0", 9600, ip, port)
# video processing
videoProxy, cam = camera.setupCamera(ip, port)
# speecher
Speecher = SpeechRecognition("Speecher")
Speecher.getSpeech(wordlist, True)
# Touch sensors
ReactToTouch = ReactToTouch("ReactToTouch")
# sonars
sonar.subscribe("myS")
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():
""" 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=58422) #为机器人连接端口设置默认值，实体机器人默认为9559,虚拟机器人看配置，每次打开chroegraphe会改变
(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
def __init__(self, ip, port, publisher):
# Get a (unique) name for naoqi module which is based on the node name
# and is a valid Python identifier (will be useful later)
self.naoqi_name = "ros" + rospy.get_name().replace("/", "_")
#Start ALBroker (needed by ALModule)
self.broker = ALBroker(
self.naoqi_name + "_broker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
ip, # parent broker IP
port # parent broker port
)
#Init superclassALModule
ALModule.__init__(self, self.naoqi_name)
self.memory = ALProxy("ALMemory")
self.proxy = ALProxy("ALSpeechRecognition")
#Keep publisher to send word recognized
self.pub = publisher
#Install global variables needed by Naoqi
self.install_naoqi_globals()
def main():
global SpeechRecognitionMemoryModule
global StreamingAudioRecorderModule
global broker
logger.info("init watson")
watson = Watson(USERNAME, PASSWORD, URL)
token = get_token(watson)
stream = watson.recognize_stream(token)
logger.info("init remote pepper")
broker = ALBroker("myBroker", "0.0.0.0", 0, PEPPER_IP, PEPPER_PORT)
logger.info("init StreamingAudioRecorder")
recorder = StreamingAudioRecorderModule = StreamingAudioRecorder("StreamingAudioRecorderModule")
logger.info("init SpeechRecognitionMemory")
memory = SpeechRecognitionMemoryModule = SpeechRecognitionMemory("SpeechRecognitionMemoryModule", EVENT_ROOT_NAME)
logger.info("init SpeechToTextProxy")
proxy = STTProxy(recorder, stream, memory)
proxy.init()
logger.info("ready...")
# manual(proxy, duration=10, after_wait=3)
# service
while True:
time.sleep(1)
def setConnexion(naoConnected, naoWriting, naoStanding, NAO_IP, LANGUAGE,
effector):
if naoConnected:
port = 9559
myBroker = ALBroker(
"myBroker", #I'm not sure that pyrobots doesn't already have one of these open called NAOqi?
"0.0.0.0", # listen to anyone
0, # find a free port and use it
NAO_IP, # parent broker IP
port) # parent broker port
motionProxy = ALProxy("ALMotion", NAO_IP, port)
postureProxy = ALProxy("ALRobotPosture", NAO_IP, port)
textToSpeech = ALProxy("ALTextToSpeech", NAO_IP, port)
textToSpeech.setLanguage(LANGUAGE.capitalize())
#textToSpeech.setVolume(1.0)
if naoWriting:
if naoStanding:
#postureProxy.goToPosture("StandInit",0.2)
motionProxy.wbEnableEffectorControl(
effector, True) #turn whole body motion control on
else:
motionProxy.rest()
motionProxy.setStiffnesses(["Head", "LArm", "RArm"], 0.5)
motionProxy.setStiffnesses([
"LHipYawPitch", "LHipRoll", "LHipPitch",
"RHipYawPitch", "RHipRoll", "RHipPitch"
], 0.8)
motionProxy.wbEnableEffectorControl(
effector, False) #turn whole body motion control off
armJoints_standInit = motionProxy.getAngles(effector, True)
return myBroker, postureProxy, motionProxy, textToSpeech, armJoints_standInit
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 __init__(self, glade_file_path=c.GLADE_FILE_PATH):
self.glade_file_path = glade_file_path
# Gtk Builder Init
self.builder = Gtk.Builder()
self.builder.add_from_file(self.glade_file_path)
self.builder.connect_signals(self)
# Add UI Components
self.window = self.builder.get_object("ballWindow")
# Show UI
self.window.show_all()
self.myBroker = ALBroker("myBroker","0.0.0.0",0,"10.0.2.3",9559)
self.motion = ALProxy("ALMotion")
self.tracker = ALProxy("ALRedBallTracker")
self.vision = ALProxy("ALVideoDevice")
self.tts = ALProxy("ALTextToSpeech")
self.currentCamera = 0
self.setTopCamera(self)
self.tracker.setWholeBodyOn(False)
self.tracker.startTracker()
self.ballPosition = []
self.targetPosition = []
def __init__(self):
self.NAO_IP = "169.254.6.238"
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=self.NAO_IP,pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
#parse command line options
self.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 ALProxy
self.tts = ALProxy("ALTextToSpeech")
self.motion = ALProxy("ALMotion")
self.posture = ALProxy("ALRobotPosture")
self.memory = ALProxy("ALMemory")
self.tracker = ALProxy("ALTracker")
self.mark = ALProxy("ALLandMarkDetection")
self.photo = ALProxy("ALPhotoCapture")
self.sonar = ALProxy("ALSonar")
self.led = ALProxy("ALLeds")
self.video = ALProxy("ALVideoRecorder")
self.asr = ALProxy("ALSpeechRecognition")
self.aup = ALProxy("ALAudioPlayer")
self.fd = ALProxy("ALFaceDetection")
