def __init__(self, name):
self.quit = False
self.detectLock = False
self.standing = False
# Register our module with NAOqi
ALModule.__init__(self, name)
self.motion = ALProxy("ALMotion")
self.posture = ALProxy("ALRobotPosture")
self.tts = ALProxy("ALTextToSpeech")
# Register landmark detection module
self.memory = ALProxy("ALMemory")
self.ld = ALProxy("ALLandMarkDetection")
self.ld.subscribe("NaoMarkNavigator")
# Subscribe the "onFaceDetected" function to "FaceDetected".
self.memory.subscribeToEvent("LandmarkDetected",
"NaoMarkNavigator",
"onMarkDetected")
self.tts.say("Show me NAOMarks to control my movement.")
# Start detections.
self.startDetection()
def __init__(self, name):
ALModule.__init__(self, name)
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
self.word_from_nao = ["No output", 0.0]
# Create a proxy to ALTextToSpeech for later use
self.tts = ALProxy("ALTextToSpeech")
self.tts.setVolume(0.5)
self.asr = ALProxy("ALSpeechRecognition")
self.asr.pause(True)
# vocabulary = ["yes", "no", "please", "hello"]
# self.asr.setVocabulary(vocabulary, False)
# self.asr.pause(False)
self.asr.subscribe("ASR_External_Python")
# Subscribe to the FaceDetected event:
global memory
self.memory = ALProxy("ALMemory")
self.memory.subscribeToEvent("WordRecognized", "SpeachRec",
"onWordDetected")
self.asr.pause(True)
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
global memory
memory = ALProxy("ALMemory")
#开始识别
memory.raiseEvent("GLOABALSTATE",1)
#订阅语音识别和语义理解事件
memory.subscribeToEvent("SpeechResult",
"SpeechInstance",
"onSpeechResult")
#订阅识别超时事件
memory.subscribeToEvent("TimeOut",
"SpeechInstance",
"onTimeOut")
#订阅云端返回错误事件
memory.subscribeToEvent("ErrorEvent",
"SpeechInstance",
"onErrorEventHandle")
#订阅头部中间按键监听事件
memory.subscribeToEvent("MiddleTactilTouched",
"SpeechInstance",
"onMiddleHeadTouched")
#订阅头后部按键监听事件
memory.subscribeToEvent("RearTactilTouched",
"SpeechInstance",
"onRearHeadTouched")
def __init__(self, ip, port, _myBroker):
ALModule.__init__(self, "BasicMotions")
myBroker=_myBroker
bModulePresent = myBroker.isModulePresent("BasicMotions")
print("BasicMotions module status:", bModulePresent)
self.tts = ALProxy("ALTextToSpeech")
global memory
memory = ALProxy("ALMemory")
self.SubscribeAllTouchEvent()
self.NAOip = ip
self.NAOport = port
self.createEyeGroup()
self.eyeColor={'happy': 0x0000FF00,
'sad': 0x00600088,
'scared1': 0x00000060,
'scared2': 0x00000060,
'fear': 0x00000060,
'hope': 0x00FFB428,
'anger': 0x00FF0000}
self.eyeShape={'happy': "EyeTop",
'sad': "EyeBottom",
'scared1': "EyeNone",
'scared2': "EyeNone",
'fear': "EyeBottom",
'hope': "EyeTop",
'anger': "EyeTopBottom"}
self.bScared = False
def __init__(self, name, robot_controller, color="red", diameter=0.2):
ALModule.__init__(self, name)
self.name = name
self.blobDetector = robot_controller.blobProxy
if color == "red":
pprint("Looking for a red ball...")
self.blobDetector.setColor(*self.red)
elif color == "blue":
pprint("Looking for a blue ball...")
self.blobDetector.setColor(*self.blue)
elif color == "yellow":
pprint("Looking for a yellow ball...")
self.blobDetector.setColor(*self.yellow)
else:
pwrite(">> Warning << Invalid color set in BallDetector! ")
print("Defaulting to red...")
self.blobDetector.setColor(*self.red)
self.blobDetector.setObjectProperties(20, diameter, "Circle")
self.memoryProxy = robot_controller.memoryProxy
self.memoryProxy.subscribeToEvent("ALTracker/ColorBlobDetected",
self.name, "onBlobDetection")
self.motionProxy = robot_controller.motionProxy
self.camProxy = robot_controller.camProxy
pprint("BallDetector initialized!")
self.lock = threading.Lock()
self.info = None
def __init__(self, name):
""" Initialise module.
"""
ALModule.__init__(self, name)
# Globals for proxies
global touchProxy
global memoryProxy
self.rightHandFlag = False
self.leftHandFlag = False
self.subscriptionListRight = [
"HandRightBackTouched",
"HandRightLeftTouched",
"HandRightRightTouched"
]
self.subscriptionListLeft = [
"HandLeftBackTouched",
"HandLeftLeftTouched",
"HandLeftRightTouched"
]
# Setup proxies
try:
touchProxy = ALProxy("ALTouch")
except Exception, e:
print "Could not create proxy to ALTouch. Error: ", e
def __init__(self, name):
# 基类初始化
ALModule.__init__(self, name)
self.name = name # 记录实例的名称；订阅事件时要用到;
# ----------> 类成员变量 <----------
# 为机器人头部三块触摸区域指定编码;
# Head/Touch/Front =1
# Head/Touch/Middle =2
# Head/Touch/Rear =3
self.HEAD_FRONT = 1
self.HEAD_MIDDLE = 2
self.HEAD_REAR = 3
# 密码序列，只有按照下面序列依次触摸机器人，才会通过验证；
# 密码元素: 单个数字、字符；后面语音反馈，机器人需要念出密码元素;
self.password = [1,3,2,3,1,2]
# 记录用户的输入密码，最后用来与正确密码做比较；
self.input_passwd = []
# 验证标志, 输入正确密码会设置标志为True; 默认为False;
self.verify_flag = False
# naoqi.ALProxy
try:
# 语音反馈
self.tts = ALProxy("ALTextToSpeech")
# 触摸事件订阅
self.memory = ALProxy("ALMemory")
except Exception, e:
print "Could not create proxy by ALProxy in Class MP3player"
print "Error: ", e
def __init__(self):
ALModule.__init__(self, 'sensorModule')
modules.append(self)
self.memory = ALProxy('ALMemory')
try:
self.memory.subscribeToEvent("FrontTactilTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("RearTactilTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandLeftLeftTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandLeftRightTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandLeftBackTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandRightLeftTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandRightRightTouched",
"sensorModule",
"onTactilTouched")
self.memory.subscribeToEvent("HandRightBackTouched",
"sensorModule",
"onTactilTouched")
except Exception, e:
print e
def __init__(self,name):
ALModule.__init__(self, name)
rospy.init_node('acore_state_server')
self.moduleName = name
self.connectNaoQi()
self.startSubscriber()
self.dataNamesList = ["DCM/Time",
"Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AngleZ/Sensor/Value",
"Device/SubDeviceList/InertialSensor/GyroscopeX/Sensor/Value",
"Device/SubDeviceList/InertialSensor/GyroscopeY/Sensor/Value",
"Device/SubDeviceList/InertialSensor/GyroscopeZ/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value"]
self.FSRdataList = ["Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value",
"Device/SubDeviceList/LFoot/FSR/FrontRight/Sensor/Value",
"Device/SubDeviceList/LFoot/FSR/RearLeft/Sensor/Value",
"Device/SubDeviceList/LFoot/FSR/RearRight/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/FrontLeft/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/FrontRight/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/RearLeft/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/RearRight/Sensor/Value"]
self.MsgsInit()
def __init__(self, name):
self.quit = False
global memory
# Register our module with NAOqi
ALModule.__init__(self, name)
memory = ALProxy("ALMemory")
self.posture = ALProxy("ALRobotPosture")
self.tts = ALProxy("ALTextToSpeech")
# Disable autonomous movement.
self.am = ALProxy("ALAutonomousMoves")
self.am.setExpressiveListeningEnabled(False)
# Register speech recognition
self.asr = ALProxy("ALSpeechRecognition")
self.asr.setLanguage("English")
self.asr.setVisualExpression(True)
self.stopListening()
self.asr.setVocabulary(["sit", "stand", "goodbye"], False)
# Subscribe to the speech recognition events.
self.asr.subscribe("SpeechRecognition")
# Start speech recognition engine.
self.startListening()
# Subscribe the "onWordRecognized" function to "WordRecognized".
memory.subscribeToEvent("WordRecognized",
"SpeechRecognition",
"onWordRecognized")
def __init__(self, name):
ALModule.__init__(self, name)
print "Inicializacija"
self.pname = rospy.get_param('/pepper_name')
self.pub_sound = rospy.Publisher(self.pname + "/sound/located",
SoundLocated,
queue_size=10)
def __init__(self, name):
self.touched = False
ALModule.__init__(self, name)
# Subscribe to TouchChanged event:
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("TouchChanged", "ReactToTouch", "onTouched")
def __init__(self, name):
# 基类初始化
ALModule.__init__(self, name)
self.name = name # 记录实例的名称；订阅事件时要用到;
# ----------> 类成员变量 <----------
# 为机器人头部三块触摸区域指定编码;
# Head/Touch/Front =1
# Head/Touch/Middle =2
# Head/Touch/Rear =3
self.HEAD_FRONT = 1
self.HEAD_MIDDLE = 2
self.HEAD_REAR = 3
# 密码序列，只有按照下面序列依次触摸机器人，才会通过验证；
# 密码元素: 单个数字、字符；后面语音反馈，机器人需要念出密码元素;
self.password = [1, 3, 2, 3, 1, 2]
# 记录用户的输入密码，最后用来与正确密码做比较；
self.input_passwd = []
# 验证标志, 输入正确密码会设置标志为True; 默认为False;
self.verify_flag = False
# naoqi.ALProxy
try:
# 语音反馈
self.tts = ALProxy("ALTextToSpeech")
# 触摸事件订阅
self.memory = ALProxy("ALMemory")
except Exception, e:
print "Could not create proxy by ALProxy in Class MP3player"
print "Error: ", e
def __init__(self, name):
ALModule.__init__(self, name)
#
self.BIND_PYTHON(self.getName(), "callback")
self.tts = ALProxy("ALTextToSpeech", PEPPER_IP, 9559)
#
print("PepperModule Initialyze")
def __init__(self, name, memory):
ALModule.__init__(self, name)
self.__name = name;
self.__memory = memory;
self.__faceDetectedEvent = "FaceDetected";
self.__faceDetectedFunction = "onFaceDetected";
self.__pictureDetectedEvent = "PictureDetected";
self.__pictureDetectedFunction = "onPictureDetected";
self.__speechDetectedEvent = "SpeechDetected";
self.__speechDetectedFunction = "onSpeechDetected";
self.__wordRecognizedEvent = "WordRecognized";
self.__onWordRecognizedFunction = "onWordRecognized";
self.__lastWordRecognizedEvent = "LastWordRecognized";
self.__onLastWordRecognizedFunction = "onLastWordRecognized";
self.__handRightBackTouched = "HandRightBackTouched";
self.__handRightLeftTouched = "HandRightLeftTouched";
self.__handRightRightTouched = "HandRightRightTouched";
self.__handLeftBackTouched = "HandLeftBackTouched";
self.__handLeftLeftTouched = "HandLeftLeftTouched";
self.__handLeftRightTouched = "HandLeftRightTouched";
self.__frontTactilTouched = "FrontTactilTouched";
self.__middleTactilTouched = "MiddleTactilTouched";
self.__rearTactilTouched = "RearTactilTouched";
self.__onTactileEventFunction = "onTactileEvent";
def __init__(self, name):
ALModule.__init__(self, name)
try:
redBallDetectionProxy = ALProxy("ALRedBallDetection", NAO_IP, 9559)
except Exception, e:
print "Couldn't create proxy to ALRedBallDetection.\nError was:", e
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.tts = ALProxy("ALTextToSpeech")
self.posture = ALProxy("ALRobotPosture")
self.memory = ALProxy("ALMemory")
self.memory.subscribeToEvent("HandDetectedEvent", name, "handleDetection")
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 __init__(self, name):
ALModule.__init__(self, name)
self.callBack = None
self.globalObjectName = name
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("FaceDetected",self.globalObjectName,"onFaceDetected")
def __init__(self, name):
ALModule.__init__(self, name)
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
# Create proxy for later use
self.motionProxy = ALProxy("ALMotion")
self.postureProxy = ALProxy("ALRobotPosture")
self.ttsProxy = ALProxy("ALTextToSpeech")
self.ledsProxy = ALProxy("ALLeds")
self.videoRecorderProxy= ALProxy("ALVideoRecorder")
self.audioRecorderProxy = ALProxy("ALAudioRecorder")
self.checkRecorder = True
# Subscribe to LeftBumperPressed event:
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("LeftBumperPressed",
"ReactToTouch",
"onTouchedLeft")
#####################################
memory.subscribeToEvent("RightBumperPressed",
"ReactToTouch",
"onTouchedRight")
def __init__(self, name):
ALModule.__init__(self, name)
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
head_touch = 0
right_touch = 0
left_touch = 0
# Subscribe to TouchChanged event:
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("MiddleTactilTouched", "ReactToTouch",
"onheadTouched")
# memory.subscribeToEvent("FrontTactilTouched",
# "ReactToTouch",
# "onheadTouched")
# memory.subscribeToEvent("RearTactilTouched",
# "ReactToTouch",
# "onheadTouched")
memory.subscribeToEvent("HandRightBackTouched", "ReactToTouch",
"onrightTouched")
#memory.subscribeToEvent("HandRightLeftTouched",
# "ReactToTouch",
# "onrightTouched")
#memory.subscribeToEvent("HandRightRightTouched",
# "ReactToTouch",
# "onrightTouched")
memory.subscribeToEvent("HandLeftBackTouched", "ReactToTouch",
"onleftTouched")
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 __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
global memory
memory = ALProxy("ALMemory")
memory.subsribeToEvent("FaceDetected", "HumanGreeters", "reactToFaces")
def __init__(self, id):
# Id passed to constructor must same as id provided during event subscription
ALModule.__init__(self, id)
self.logger = Logger()
self.logger.logInfo('INFO', "Initializing module")
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
self.id = id
self.photo_counter = 0
self.last_photo_taken = -1
self.is_uploading_photo = False
# Stop NAO from moving around
self.awareness = ALProxy('ALBasicAwareness')
self.motion = ALProxy('ALMotion')
self.ttsProxy = ALProxy("ALTextToSpeech")
self.photo_capture_proxy = ALProxy("ALPhotoCapture", NAO_IP, 9559)
# 0: qqvga = 160 x 120
# 1: qvga = 320 x 240
# 2: vga = 640 x 480
# 3: xvga = 1280 x 960
self.photo_capture_proxy.setResolution(3)
self.photo_capture_proxy.setPictureFormat("jpg")
self.logger.logInfo('INFO', "Module initialized")
def __init__(self, name):
global memory
self.blockInput = False
# Register our module with NAOqi
ALModule.__init__(self, name)
memory = ALProxy("ALMemory")
memory.subscribeToEvent("RightBumperPressed",
"FiniteStateMachine",
"onRightBumperPressed")
memory.subscribeToEvent("LeftBumperPressed",
"FiniteStateMachine",
"onLeftBumperPressed")
self.leds = ALProxy("ALLeds")
# States of the FSM
self.earLedsOn = False
self.eyeColor = EYE_COLOR_A
# Turn stuff off.
self.leds.fadeRGB("EarLeds", 0x000000, 0)
self.leds.fadeRGB("FaceLeds", 0x000000, 0)
def __init__(self, name):
self.IP = "169.254.67.213"
self.PORT = 9559
ALModule.__init__(self, name)
try:
global memory
memory = ALProxy("ALMemory", self.IP, self.PORT)
except Exception as e:
print("Error: ", e)
try:
global faceProxy
faceProxy = ALProxy("ALFaceDetection", self.IP, self.PORT)
except Exception as e:
print("Error: ", e)
try:
global asr
asr = ALProxy("ALSpeechRecognition", self.IP, self.PORT)
except Exception as e:
print("Error: ", e)
try:
global tts
tts = ALProxy("ALTextToSpeech", self.IP, self.PORT)
except Exception as e:
print("Error: ", e)
vocabulary = ["x"]
asr.pause(True)
asr.setLanguage("English")
asr.setVocabulary(vocabulary, False)
asr.pause(False)
memory.subscribeToEvent("FaceDetected", "FaceDet", "onFaceDetected")
tts.setVolume(0.9)
def __init__(self):
print("开始")
ALModule.__init__(self, "humanEventWatcher")
global memory
memory = ALProxy("ALMemory", ip_robot, port_robot)
memory.subscribeToEvent("ALBasicAwareness/HumanTracked",
"humanEventWatcher",
"onHumanTracked")
memory.subscribeToEvent("ALBasicAwareness/PeopleLeft",
"humanEventWatcher",
"onPeopleLeft")
memory.subscribeToEvent("SpeechDetected",
"humanEventWatcher",
"onSpeechDetected")
memory.subscribeToEvent("ALSpeechRecognition / IsRunning",
"humanEventWatcher",
"onALSpeechDetected")
memory.subscribeToEvent("FrontTactilTouched",
"humanEventWatcher",
"onFrontTactilTouched")
memory.subscribeToEvent('WordRecognized', "humanEventWatcher", 'wordRecognized')
self.speech_reco = ALProxy("ALSpeechRecognition", ip_robot, port_robot)
self.text_to_speech=ALProxy("ALTextToSpeech", ip_robot, port_robot)
self.is_speech_reco_started = False
self.photo_apture=ALProxy("ALPhotoCapture", ip_robot, port_robot)
self.cameraMap = {
'Top': 0,
'Bottom': 1
}
self.camera_id=0
self.recordFolder = "/home/nao/recordings/cameras/"
self.flag=True
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.memory = ALProxy("ALMemory")
self.motion = ALProxy("ALMotion")
self.memory.subscribeToEvent("ColorDetectedEvent", name,
"handleDetection")
def __init__(self, name):
ALModule.__init__(self, name)
# Create proxies for the instance.
global memory
memory = ALProxy("ALMemory")
self.tts = ALProxy("ALTextToSpeech")
self.leds = ALProxy("ALLeds")
self.motion = ALProxy("ALMotion")
# Write empty valence and arousal values to memory.
valence = 0
arousal = 0
param1 = 'null'
current_emotion = [(valence, arousal),
("valence_mood", "arousal_mood"), ("personality"),
(param1, "param2")]
memory.insertData("Emotion/Current", current_emotion)
# Disable ALAutonomousLife to better demonstrate emotional actions.
self.autonomous_life = ALProxy("ALAutonomousLife")
if (self.autonomous_life.getState() != "disabled"):
self.autonomous_life.setState("disabled")
time.sleep(1.0)
self.motion.wakeUp()
# Run behaviour when a tactile touched.
memory.subscribeToEvent("VAChanged", self.getName(),
"express_current_emotion")
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.tts = ALProxy("ALTextToSpeech")
self.memory = ALProxy("ALMemory")
self.memory.subscribeToEvent("RedBallDetectedEvent", name,
"handleBallDetection")
def __init__(self, name):
ALModule.__init__(self, name)
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
# HUE service
self._hue = None
self._teller = None
# Create a proxy to ALTextToSpeech for later use
global tts
tts = ALProxy("ALTextToSpeech", NAO_IP, 9559)
# Subscribe to the FaceDetected event:
global memory
self.leds = ALProxy("ALLeds", NAO_IP, 9559)
memory = ALProxy("ALMemory")
memory.subscribeToEvent("MiddleTactilTouched",
"HumanGreeter",
"onMiddleTouchSensed")
# memory.unsubscribeToEvent("WordRecognized",
# "HumanGreeter")
speechrecog = ALProxy("ALSpeechRecognition")
speechrecog.setLanguage("French")
wordList = ["bleu", "rouge", "vert", "jaune",
"porte", "température", "meteo"]
try:
speechrecog.setVocabulary(wordList, True)
except Exception as ex:
_logger.warning("Got exception: %s", ex)
tts.say("Je suis prêt à recevoir des ordres")
def __init__(self, NAME):
ALModule.__init__(self, NAME)
try:
UpgradedBot().memory.unsubscribeToEvent("WordRecognized",
"GETVOICE")
except BaseException, e:
print(str(e))
def __init__(self, name):
ALModule.__init__(self, name)
# Create proxies for the instance.
global memory
memory = ALProxy("ALMemory")
self.tts = ALProxy("ALTextToSpeech")
self.leds = ALProxy("ALLeds")
self.motion = ALProxy("ALMotion")
# Write empty valence and arousal values to memory.
valence = 0
arousal = 0
param1 = 'null'
current_emotion = [(valence, arousal), ("valence_mood", "arousal_mood"), ("personality"), (param1, "param2")]
memory.insertData("Emotion/Current", current_emotion)
# Disable ALAutonomousLife to better demonstrate emotional actions.
self.autonomous_life = ALProxy("ALAutonomousLife")
if (self.autonomous_life.getState() != "disabled"):
self.autonomous_life.setState("disabled")
time.sleep(1.0)
self.motion.wakeUp()
# Run behaviour when a tactile touched.
memory.subscribeToEvent("VAChanged", self.getName(), "express_current_emotion")
def __init__(self, name):
ALModule.__init__(self, name)
self.memory = ALProxy("ALMemory")
self.subscriptions = []
print "... initialized " + self.getName()
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
#self.tts = ALProxy("ALTextToSpeech")
self.memory = ALProxy("ALMemory")
self.motion = ALProxy("ALMotion")
self.memory.subscribeToEvent("RedBallDetectedEvent", name, "handleBallDetection")
def __init__(self, name):
ALModule.__init__(self, name)
try:
self.asr = ALProxy("ALSpeechRecognition")
except Exception as e:
self.asr = None
self.memory = ALProxy("ALMemory")
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.PEPPER_IP = "172.18.33.122"
self.state = 0
self.fps = 30
self.resolution = vision_definitions.kVGA
self.colorSpace = vision_definitions.kRGBColorSpace
self.session = None
self.autonomousLifeProxy = None
self.memoryProxy = None
self.tabletProxy = None
self.tabletResolution = (1280, 800)
self.cameraProxy = None
self.cameraClient = None
self.lastImage = None
self.emotionsArray = []
self.classes = [
'angry', 'disgusted', 'fearful', 'happy', 'sad', 'surprised',
'neutral'
]
self.tts = None
self.faceService = None
self.trackingEnabled = True
def _validate(self, context):
"""
Component validated
"""
_logger.debug("Validating speech...")
# Register the module as a global in __main__
constants.register_almodule(self._name, self)
# Initialize the module
ALModule.__init__(self, self._name)
# Get the "memory" proxy, to register to callbacks
self._memory = ALProxy("ALMemory")
# Just to be sure...
try:
self._memory.unsubscribeToEvent("WordRecognized", self._name)
except:
_logger.debug("Speech wasn't yet registered")
# Create the proxy
self._recog = ALProxy("ALSpeechRecognition")
self._recog.setLanguage("French")
# We're ready
self._can_recog.set()
_logger.debug("Speech ready")
def __init__(self, name, robot_controller, color="red", diameter=0.2):
ALModule.__init__(self, name)
self.name = name
self.blobDetector = robot_controller.blobProxy
if color == "red":
pprint("Looking for a red ball...")
self.blobDetector.setColor(*self.red)
elif color == "blue":
pprint("Looking for a blue ball...")
self.blobDetector.setColor(*self.blue)
elif color == "yellow":
pprint("Looking for a yellow ball...")
self.blobDetector.setColor(*self.yellow)
else:
pwrite(">> Warning << Invalid color set in BallDetector! ")
print("Defaulting to red...")
self.blobDetector.setColor(*self.red)
self.blobDetector.setObjectProperties(20, diameter, "Circle")
self.memoryProxy = robot_controller.memoryProxy
self.memoryProxy.subscribeToEvent("ALTracker/ColorBlobDetected",
self.name, "onBlobDetection")
self.motionProxy = robot_controller.motionProxy
self.camProxy = robot_controller.camProxy
pprint("BallDetector initialized!")
self.lock = threading.Lock()
self.info = None
def __init__(self, name, broker):
ALModule.__init__(self, name)
self.object_gesture = ALProxy('NAOObjectGesture', broker)
self.memory = ALProxy('ALMemory', broker)
self.data = []
self.time_start = time.time()
def __init__(self, name): #contructor of the class, which takes two parameters, self refers to the instance of the class and the name parameter which is just a string
ALModule.__init__(self, name) #calling of the contructpor of the ALModule
self.tts = ALProxy("ALTextToSpeech", ip, 9559) #proxy creation on the tts module
self.asr = ALProxy("ALSpeechRecognition", ip, 9559) #proxy creation on the asr module
self.memory = ALProxy("ALMemory", ip, 9559) #proxy creation on the memory module
self.num1 = random.randint(1, 10) #here are two integers randomly selected from 1 to 10
self.num2 = random.randint(1, 10)
self.operator = random.choice("-") #here is randomly choosen operator which is then applied to the equation
self.tts.setLanguage("English") #set the the language which NAO uses for talking
if self.operator == "-": #NAO was programmed to create equations which have a positive result
if self.num1 > self.num2: #the numbers are compared in order to asure that the larger number is first
self.result = str(eval(str(self.num1) + self.operator + str(self.num2))) #the result is evaluated and put into a string so NOA can say it
self.operator = " minus " #and so is the operator
self.question = "What is the result of " + str(self.num1) + self.operator + str(self.num2) + "?" #the question is created
else:
self.result = str(eval(str(self.num2) + self.operator + str(self.num1)))
self.operator = " minus "
self.question = "What is the result of " + str(self.num2) + self.operator + str(self.num1) + "?"
else:
self.result = str(eval(str(self.num1) + self.operator + str(self.num2)))
self.operator = " plus "
self.question = "What is the result of " + str(self.num1) + self.operator + str(self.num2) + "?"
print self.question #the question is printed to the terminal
print self.result #the reslt is printed to the terminal
self.tts.say(self.question) #NAO tells the question
self.speech_recognition() #the speech_recognition method is called
def __init__(self, name):
global memory
self.codeProgression = 0
self.quit = False
# Register our module with NAOqi
ALModule.__init__(self, name)
memory = ALProxy("ALMemory")
self.tts = ALProxy("ALTextToSpeech")
self.motion = ALProxy("ALMotion")
# Subscribe to the rear tacile sensor touch event.
memory.subscribeToEvent("RearTactilTouched",
"BallTracker",
"onRearTactilTouched")
# Register speech recognition
self.asr = ALProxy("ALBallTracker")
self.asr.setLanguage("English")
self.asr.setVisualExpression(True)
# Subscribe to speech detection
memory.subscribeToEvent("WordRecognized",
"BallTracker",
"onWordRecognized")
# Create the tracker.
self.redBallTracker = ALProxy("ALRedBallTracker")
self.startListening()
def __init__(self, name, state):
ALModule.__init__(self, name)
self.state = state
self.leds = ALProxy("ALLeds")
self.logs.display("Subscribed to an ALLeds proxy",
"Good")
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.tts = ALProxy("ALTextToSpeech")
self.posture = ALProxy("ALRobotPosture")
self.memory = ALProxy("ALMemory")
self.memory.subscribeToEvent("HandDetectedEvent", name,
"handleDetection")
def __init__(self, name, Nao):
ALModule.__init__(self, name)
self.Nao = Nao
# Event subscriptions
self.Nao.memoryProxy.subscribeToEvent("NaoMultimediaRequest",
"NaoMultimedia",
"onNaoMultimediaRequest")
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
self.motionProxy = ALProxy("ALMotion")
# Subscribe to TouchChanged event:
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("TouchChanged", "ReactToTouch", "onTouched")
def __init__(self, name, spelling):
self.al = ALNetworkManager()
self.tts = ALProxy("ALTextToSpeech", NAO_IP, 9559)
self.memory = ALProxy("ALMemory")
self.module_name = name
self.spelling = spelling
self.connected = False
ALModule.__init__(self, name)
def __init__(self, name, event_root_path):
ALModule.__init__(self, name)
self.memory = ALProxy("ALMemory")
self.name = name
self.event_root_path = event_root_path
self.status = "stop"
self.status_handler = None
self.subscribed_on_received_status = False
def __init__(self, name, interaction_manager):
ALModule.__init__(self, name)
self._interaction_manager = interaction_manager
self._name = name
self._speech_count = 0
# register all necessary event handlers
self._register_event_handler()
def __init__(self, name, event_root_path):
ALModule.__init__(self, name)
self.memory = ALProxy("ALMemory")
self.name = name
self.event_root_path = event_root_path
self.status = "stop"
self.status_handler = None
self.subscribed_on_received_status = False
def __init__(self, _name):
self.name = _name
ALModule.__init__(self, _name)
self.memory = ALProxy("ALMemory")
self.speechRecognizer = ALProxy("ALSpeechRecognition")
for subscriber in self.speechRecognizer.getSubscribersInfo():
self.speechRecognizer.unsubscribe(subscriber[0])
vocabulary=["bravo"]
self.speechRecognizer.setVocabulary(vocabulary, False)
def __init__(self, ip, port, _myBroker):
self.NAOip = ip
self.NAOport = port
#========SETUP FOR MOTION=============
ALModule.__init__(self, "BasicMotions")
self.myBroker=_myBroker
bModulePresent = self.myBroker.isModulePresent("BasicMotions")
print("BasicMotions module status:", bModulePresent)
global memory
memory = ALProxy("ALMemory")
self.SubscribeAllTouchEvent()
self.createEyeGroup()
self.eyeColor={'happy': 0x0000FF00,
'sad': 0x00600088,
'scared1': 0x00000060,
'scared2': 0x00000060,
'fear': 0x00000060,
'hope': 0x00FFB428,
'anger': 0x00FF0000}
self.eyeShape={'happy': "EyeTop",
'sad': "EyeBottom",
'scared1': "EyeNone",
'scared2': "EyeNone",
'fear': "EyeBottom",
'hope': "EyeTop",
'anger': "EyeTopBottom"}
self.bScared = False
#=========SETUP FOR VOICE================
self.tts = ALProxy("ALTextToSpeech")
audioProxy = ALProxy("ALAudioDevice")
audioProxy.setOutputVolume(100)
#Valid Value:50 to 200
self.ttsPitch={ 'default': "\\vct=100\\",
'happy': "\\vct=120\\",
'sad': "\\vct=50\\",
'scared': "\\vct=150\\",
'fear': "\\vct=60\\",
'hope': "\\vct=100\\",
'anger': "\\vct=60\\"}
#Valid Value: 50 to 400"\\
self.ttsSpeed={ 'default': "\\rspd=100\\",
'happy': "\\rspd=100\\",
'sad': "\\rspd=70\\",
'scared': "\\rspd=130\\",
'fear': "\\rspd=100\\",
'hope': "\\rspd=100\\",
'anger': "\\rspd=110\\"}
#Valid Value: 0 to 100
self.ttsVolume={ 'default': "\\vol=050\\",
'happy': "\\vol=060\\",
'sad': "\\vol=035\\",
'scared': "\\vol=060\\",
'fear': "\\vol=050\\",
'hope': "\\vol=050\\",
'anger': "\\vol=060\\"}
#=================================================
self.createDialog()
def __init__(self, name):
ALModule.__init__(self, name)
try:
self.__sr = ALProxy("ALSpeechRecognition")
self.__sr.setLanguage("French")
except Exception, e:
print("Impossible de définir la restriction de vocabulaire")
print("Probable utilisation d'un robot virtuel, on continue")
self.__sr = None
def __init__(self, strName, address, port):
ALModule.__init__(self, strName)
self.outfile = None
self.outfiles = [None]*3
self.count = 9999999
self.check = False
self.audio = ALProxy("ALAudioDevice", address, port)
self.audio.setClientPreferences(self.getName(), 48000, [1,1,1,1], 0, 0)
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("ALTextToSpeech/TextDone",
"haiku_guru",
"on_tts_text_done")
def __init__(self, name, message):
ALModule.__init__(self, name)
self.message = message
self.logs = logs.logs()
self.tts = ALProxy("ALTextToSpeech")
self.logs.display("Subscribed to an ALTextToSpeech proxy",
"Good")
def __init__(self, name):
ALModule.__init__(self, name)
self.name = name
self.tts = ALProxy("ALTextToSpeech")
self.memory = ALProxy("ALMemory")
self.motion = ALProxy("ALMotion")
self.faceDetection = ALProxy("ALFaceDetection")
self.posture = ALProxy("ALRobotPosture")
self.seenFace = False
self.onCompleteCallback = None
def __init__(self, name,motionMaestro):
ALModule.__init__(self, name)
self.motionMaestro=motionMaestro
self.name=name
self.tts = ALProxy("ALTextToSpeech")
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("SonarLeftDetected",name,"sonarLeftHandler")
memory.subscribeToEvent("SonarRightDetected",name,"sonarRightHandler")
print "subbed to RL"
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
self.ears = ALProxy("ALSpeechRecognition")
self.memory = ALProxy("ALMemory")
self.log = ALProxy("ALLogger")
self.ears.subscribe("Conversation")
self.memory.subscribeToEvent("WordRecognized", "Conversation", "onWordRecognized")
def __init__(self, name):
ALModule.__init__(self, name)
# Create proxies for the instance.
self.motion = ALProxy("ALMotion")
# Run behaviour when a tactile touched.
global memory
memory = ALProxy("ALMemory")
memory.subscribeToEvent("TouchChanged", self.getName(), "emotive_motion")