def connect(self, hostname, portnumber):
try:
self.broker = broker.Broker('NaoRecorder', nao_id=hostname, nao_port=portnumber)
if self.broker:
self.env = naoenv.make_environment(None)
self.saved_alife_state = None
try:
self.saved_alife_state = self.env.alife.getState()
print "Autonomous life was {}".format(self.saved_alife_state)
self.env.alife.setState('disabled')
except RuntimeError:
pass
self.nao = nao.Nao(self.env, None)
try:
if self.event_handlers and self.vocabulary:
self.env.speechRecognition.setVocabulary(self.vocabulary.keys(), False)
except RuntimeError as e:
print localized_text('error_set_vocabulary').format(e)
self.do_subscribe()
return True
else:
return None
except IOError as e:
return None
except RuntimeError as e:
return None
def connect(self, hostname, portnumber):
self.broker = broker.Broker('NaoRecorder', naoIp=hostname, naoPort=portnumber)
if self.broker:
self.env = naoenv.make_environment(None)
self.nao = nao.Nao(self.env, None)
if self.event_handlers and self.vocabulary:
self.env.speechRecognition.setWordListAsVocabulary(self.vocabulary.keys(), False)
self.do_subscribe()
return True
else:
return None
def main(hostname, portnumber):
print "Connecting to {}:{}".format(hostname, portnumber)
b = broker.Broker('NaoRecorder', naoIp=hostname, naoPort=portnumber)
if b:
env = naoenv.make_environment(None)
memory.subscribeToEvent("HandLeftBackTouched", callback)
memory.subscribeToEvent("FrontTactilTouched", print_events)
print "waiting for events\n"
time.sleep(120)
print_events()
print "done\n"
from providers.time_provider import TimeProvider
from providers.face_recog_provider import FaceRecogProvider
from providers.voice_recog_provider import VoiceRecogProvider
from providers.voice_emotion_provider import VoiceEmotionProvider
#########################
# SETUP: Broker
naoIp = "nao.local"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
#########################
# SETUP: FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
n = Nao(env, log)
# disable autonomous moves
n.env.add_proxy("ALAutonomousMoves")
autonomous_moves = n.env.proxies["ALAutonomousMoves"]
autonomous_moves.setExpressiveListeningEnabled(False)
#########################
# SETUP: Nao Consious
#============
# subscribers
sleepy_subscriber = SleepySubscriber(n)
import math
import naoutil.naoenv as naoenv
import naoutil.memory as memory
import fluentnao.nao as nao
from datetime import datetime
from naoutil import broker
# naoutil broker & env
naoIp = "192.168.2.12"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
env = naoenv.make_environment(None) #using broker don't need ->, ipaddr="nao.local", port=9559)
# FluentNao
nao = nao.Nao(env, None)
def doSomething():
nao.arms.forward().elbows.bent()
nao.say('I did something')
# subscribe
# callbacks
def unsubscribe_callback(dataName, value, message):
memory.unsubscribeToEvent('FrontTactilTouched')
memory.unsubscribeToEvent('WordRecognized')
def subscribe_callback(dataName, value, message):
memory.subscribeToEvent('FrontTactilTouched', tactil_callback)
memory.subscribeToEvent('WordRecognized', speech_callback)
from providers.touch_provider import TouchProvider
from providers.time_provider import TimeProvider
from providers.face_recog_provider import FaceRecogProvider
from providers.voice_recog_provider import VoiceRecogProvider
#from providers.voice_emotion_provider import VoiceEmotionProvider
#########################
# SETUP: Broker
naoIp = "192.168.1.18"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
#########################
# SETUP: FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
n = Nao(env, log)
# disable autonomous moves
n.env.add_proxy("ALAutonomousMoves")
autonomous_moves = n.env.proxies["ALAutonomousMoves"]
autonomous_moves.setExpressiveListeningEnabled(False)
#########################
# SETUP: Nao Consious
#============
# subscribers
sleepy_subscriber = SleepySubscriber(n)
look_around_subscriber = LookAroundSubscriber(n)
def make_wanderer_environment(box_):
env = make_environment(box_)
env.set_application_name(WANDERER_NAME)
return env
def test_create_with_ip_and_port(self):
env = make_environment(MockBox(), ipaddr="127.0.0.1", port=9559)
set_mock_add_proxy(env, fake_add_proxy)
self.assertIsNotNone(env)
self.assertIsNotNone(env.motion)
def test_find_implicit_resources_dir(self):
env = make_environment(MockBox())
rp = env.resources_dir()
print "Implicit resources path = " + rp
self.assertNotEqual(None, rp, "Resources path should not be None")
def make_environment_with_fake_proxy(func):
env = make_environment(MockBox())
set_mock_add_proxy(env, func)
return env
import math
import naoutil.naoenv as naoenv
import naoutil.memory as memory
import fluentnao.nao as nao
from datetime import datetime
from naoutil import broker
# naoutil broker & env
naoIp = "192.168.2.10"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
env = naoenv.make_environment(
None) #using broker don't need ->, ipaddr="nao.local", port=9559)
# FluentNao
nao = nao.Nao(env, None)
def doSomething():
nao.arms.forward().elbows.bent()
nao.say('I did something')
# subscribe
# callbacks
def unsubscribe_callback(dataName, value, message):
memory.unsubscribeToEvent('FrontTactilTouched')
memory.unsubscribeToEvent('WordRecognized')
def subscribe_callback(dataName, value, message):
memory.subscribeToEvent('FrontTactilTouched', tactil_callback)
def test_create_with_ip_and_port(self):
env = make_environment(MockBox(), ipaddr="127.0.0.1", port=9559)
set_mock_add_proxy(env, fake_add_proxy)
self.assertIsNotNone(env)
self.assertIsNotNone(env.motion)
def test_find_implicit_resources_dir(self):
env = make_environment(MockBox())
rp = env.resources_dir()
print "Implicit resources path = " + rp
self.assertNotEqual(None, rp, "Resources path should not be None")
def make_environment_with_fake_proxy(func):
env = make_environment(MockBox())
set_mock_add_proxy(env, func)
return env
def make_wanderer_environment(box_):
env = make_environment(box_)
env.set_application_name(WANDERER_NAME)
return env
def naoqiInit(self, selfIP):
speechEvents = dict()
speechEvents["nao listen"] = [NaoAgent.EVENT_ORDER_LISTEN, .37]
speechEvents["Hello nao"] = [NaoAgent.EVENT_ORDER_SAY_HI, .40]
speechEvents["sit down"] = [NaoAgent.EVENT_ORDER_SIT_DOWN, .40]
speechEvents["Stand up"] = [NaoAgent.EVENT_ORDER_STAND_UP, .30]
speechEvents["Tell Raphael to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_RAPHAEL, .27
]
speechEvents["Tell Raphael to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_RAPHAEL, .30
]
speechEvents["Tell Raphael to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_RAPHAEL, .30
]
speechEvents["Tell Samira to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_SAMIRA, .27
]
speechEvents["Tell Samira to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_SAMIRA, .30
]
speechEvents["Tell Samira to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_SAMIRA, .30
]
speechEvents["Tell one turtle to go near the other"] = [
NaoAgent.EVENT_RASSEMBLEMENT, .35
]
# rajout pour tester. Fabrice Gaignier
speechEvents["Turtles push the box"] = [NaoAgent.EVENT_POUSSEZ, .30]
# callbacks
def recognitionCallback(dataName, value, message):
d = dict(zip(value[0::2], value[1::2]))
self.lock.acquire()
if not self.isListening:
self.isListening = True
self.lock.release()
return
self.lock.release()
for word in d:
self.log(word + " " + str(d[word]))
if d[word] > speechEvents[word][1]:
self.log(speechEvents[word][0])
self.raiseEvent(speechEvents[word][0])
return
self.say("I did not understand")
def speechCallback(eventName, value, subscriberIdentifier):
if value[1] in ["thrown", "stopped", "done"
] and not self.isAnimatedSay:
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(2)
self.lock.acquire()
self.isListening = True
self.lock.release()
def animatedSpeechCallback(eventName, taskId, subscriberIdentifier):
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(5)
self.lock.acquire()
self.isListening = True
self.lock.release()
def touchChangeCallback(eventName, touchInfo, subscriberIdentifier):
for i in touchInfo:
self.log(i)
def rigthHandCallback(eventName, val, subscriberIdentifier):
self.log(val)
self.ip = selfIP
self.broker = Broker('bootstrapBroker', naoIp=self.ip, naoPort=9559)
# FluentNao
self.nao = Nao(naoenv.make_environment(None))
#self.nao.env.tts.setLanguage(language)
self.memory = memory
self.lock = Lock()
self.isListening = True
vocabulary = []
vocabulary.extend(speechEvents.keys())
try:
self.nao.env.speechRecognition.pause(False)
self.nao.env.speechRecognition.setVocabulary(vocabulary, False)
except RuntimeError as e:
self.nao.env.speechRecognition.pause(False)
self.log(e.message, "RuntimeError")
self.memory.subscribeToEvent('WordRecognized', recognitionCallback)
self.memory.subscribeToEvent('ALTextToSpeech/Status', speechCallback)
self.memory.subscribeToEvent('ALAnimatedSpeech/EndOfAnimatedSpeech',
animatedSpeechCallback)
# self.memory.subscribeToEvent('TouchChanged', touchChangeCallback)
# self.memory.subscribeToEvent('HandRightBackTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightLeftTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightRightTouched', rigthHandCallback)
self.destinationSpeech = dict()
self.destinationSpeech["salle1"] = "the room 1"
self.destinationSpeech["salle2"] = "the room 2"
self.destinationSpeech["salle3"] = "the room 3"
self.destinationSpeech["principale"] = "the principal room"
self.cameraEventSpeech = defaultdict(lambda: "")
self.cameraEventSpeech[
"moveIn"] = "La camera m'indique que quelqu'un est entré dans l'espace"
self.cameraEventSpeech[
"moveOut"] = "La camera m'indique que quelqu'un est sorti de l'espace"
