class Led:
@staticmethod
def conn():
try:
return ALProxy("ALLeds", Config.ip_addr, Config.port_num)
except Exception as e:
print("Exception -> Led.conn():", e)
return False
@staticmethod
def hexParaRGB(value):
value = value.lstrip('#')
lv = len(value)
return tuple(
int(value[i:i + lv // 3], 16) for i in range(0, lv, lv // 3))
@staticmethod
def mudar(r=0, g=0, b=0, hex="", group="AllLeds", async=True):
try:
if async:
return AsyncThread.call(
lambda: Led.mudar(r, g, b, hex, group, False))
if hex:
rgb = Led.hexParaRGB(hex)
r = rgb[0]
g = rgb[1]
b = rgb[2]
Led.conn().fadeRGB(group,
256 * 256 * r + 256 * g + b,
0.100000,
_async=True)
return True
except Exception as e:
print("Exception -> Led.mudar():", e)
return False
class Motor:
almotion = False
@staticmethod
def movimento():
try:
if Motor.almotion:
Motor.almotion.stopMove()
Motor.almotion = False
Motor.almotion = ALProxy('ALMotion', Config.ip_addr, Config.port_num)
Motor.almotion.stopMove()
return Motor.almotion
except Exception as e:
print("Exception -> Motor.movimento():", e)
return False
@staticmethod
def angulo(nome, tempo = 1.0, angulo = 0):
try:
motion = Motor.movimento()
if motion:
motion.angleInterpolationBezier(nome, tempo, angulo)
return True
except Exception as e:
print("Exception -> Motor.angulo():", e)
return False
"""
MENCAO - By Matheus Johann Araujo
As funcoes de nome "bracoEsquerdo(params...)" e
"bracoDireito(params...)" foram desenvolvidas por:
Laura Gabrielle de Lira Silva e
Wesley Oliveira de Souza
"""
@staticmethod
def bracoEsquerdo(nome, angulo = 0, tempo = 1.0, rigidez = 100, async = True):
if async:
return AsyncThread.call(lambda: Motor.bracoEsquerdo(nome, angulo, tempo, rigidez, False))
Motor.rigidezBracoEsquerdo(rigidez)
angulo = [[float(angulo) * almath.TO_RAD]]
tempo = [[tempo]]
if "antebraco" == nome:# Angulo -120 ate 120
nome = ["LElbowYaw"]
elif "mao" == nome:# Angulo -105 ate 105
nome = ["LWristYaw"]
elif "cotovelo" == nome:# Angulo -90 ate 0
nome = ["LElbowRoll"]
elif "ombro" == nome:# Angulo -18 ate 80
nome = ["LShoulderRoll"]
Motor.angulo(nome, tempo, angulo)
return True
class Comportamento:
@staticmethod
def conn():
try:
return ALProxy('ALBehaviorManager', Config.ip_addr,
Config.port_num)
except Exception as e:
print("Exception -> Comportamento.conn():", e)
return False
@staticmethod
def listar():
try:
bm = Comportamento.conn()
behaviors = bm.getUserBehaviorNames()
for i in range(len(behaviors)):
for j in range(2):
behaviors[i] = "/" + behaviors[i]
behaviors[i] = re.sub('/[^>]+?/', '', behaviors[i])
behaviors[i] = re.sub('/', '', behaviors[i])
return behaviors
except Exception as e:
print("Exception -> Comportamento.listar():", e)
return []
@staticmethod
def iniciar(nome, runBehavior=True, async=True):
try:
if async:
return AsyncThread.call(
lambda: Comportamento.iniciar(nome, runBehavior, False))
if nome in Comportamento.listar():
bm = Comportamento.conn()
if runBehavior:
bm.runBehavior(nome)
return True
else:
bm.startBehavior(nome)
return True
except Exception as e:
print("Exception -> Comportamento.iniciar():", e)
return False
class ModoAutonomo:
@staticmethod
def conn():
try:
ma = ALProxy('ALAutonomousLife', Config.ip_addr, Config.port_num)
print("ModoAutonomo.conn().getState():", str(ma.getState()))
return ma
except Exception as e:
print("Exception -> ModoAutonomo.conn():", e)
return False
@staticmethod
def alternar():
try:
ma = ModoAutonomo.conn()
if ma.getState() != "disabled":
return ModoAutonomo.desligar(ma)
elif ma.getState() == "disabled":
return ModoAutonomo.ligar(ma)
except Exception as e:
print("Exception -> ModoAutonomo.alternar():", e)
return False
@staticmethod
def ligar(ma=False, async=True):
try:
if async:
return AsyncThread.call(lambda: ModoAutonomo.ligar(ma, False))
if not ma:
ma = ModoAutonomo.conn()
if ma.getState() == "disabled":
ma.setState("safeguard")
print("ModoAutonomo.conn().getState():", str(ma.getState()))
return True
except Exception as e:
print("Exception -> ModoAutonomo.ligar():", e)
return False
g = rgb[1]
b = rgb[2]
Led.conn().fadeRGB(group,
256 * 256 * r + 256 * g + b,
0.100000,
_async=True)
return True
except Exception as e:
print("Exception -> Led.mudar():", e)
return False
@staticmethod
def alternar(on=False, group="AllLeds", async=True):
try:
if async:
return AsyncThread.call(lambda: Led.alternar(on, group, False))
leds = Led.conn()
if on:
leds.on(group)
return True
else:
leds.off(group)
return True
except Exception as e:
print("Exception -> Led.alternar():", e)
return False
@staticmethod
def botoesCabeca(b=0):
return Led.mudar(b=b, group="BrainLeds")
bm = Comportamento.conn()
if runBehavior:
bm.runBehavior(nome)
return True
else:
bm.startBehavior(nome)
return True
except Exception as e:
print("Exception -> Comportamento.iniciar():", e)
return False
@staticmethod
def parar(nome, posturaCrouch=True, async=False):
try:
if async:
return AsyncThread.call(
lambda: Comportamento.parar(nome, posturaCrouch, False))
if nome in Comportamento.listar():
Led.corpoVermelho(255)
bm = Comportamento.conn()
bm.stopBehavior(nome)
if posturaCrouch:
Motor.posturaCrouch()
else:
time.sleep(1)
Led.corpoVerde(255)
time.sleep(1)
Led.corpo(255, 255, 255)
return True
except Exception as e:
print("Exception -> Comportamento.parar():", e)
return False
class Ouvinte:
asr = False
@staticmethod
def conn():
try:
if not Ouvinte.asr:
Ouvinte.asr = ALProxy("ALSpeechRecognition", Config.ip_addr,
Config.port_num)
try:
Ouvinte.asr.removeAllContext()
Ouvinte.asr.unsubscribe("Test_ASR")
except:
pass
return Ouvinte.asr
except Exception as e:
print("Exception -> Ouvinte.conn():", e)
return Ouvinte.asr
@staticmethod
def idioma(linguagem="Brazilian"):
try:
Ouvinte.conn().setLanguage(linguagem)
return True
except Exception as e:
print("Exception -> Ouvinte.idioma():", e)
return False
precisao = 0.30
@staticmethod
def vocabulario(palavras=["ola", "matheus", "teste", "xuxu"],
precisao=30,
detectarPalavra=False):
try:
Ouvinte.conn().pause(True)
Ouvinte.conn().setVocabulary(palavras, detectarPalavra)
Ouvinte.precisao = float(precisao / 100)
Ouvinte.conn().pause(False)
return True
except Exception as e:
print("Exception -> Ouvinte.vocabulario():", e)
return False
@staticmethod
def parametro(sensibilidade="Sensitivity", hipoteses=0.2):
try:
Ouvinte.conn().setParameter(sensibilidade, hipoteses)
return True
except Exception as e:
print("Exception -> Ouvinte.parametro():", e)
return False
threadIniciar = False
@staticmethod
def iniciar(callback, async=True):
try:
if async:
Ouvinte.threadIniciar = AsyncThread.call(
lambda: Ouvinte.iniciar(callback, False))
return Ouvinte.threadIniciar
time.sleep(3)
Ouvinte.conn().subscribe("Test_ASR")
except Exception as e:
print("Exception -> Ouvinte.iniciar()-subscribe:", e)
while True:
try:
if Ouvinte.escutando:
leitura = Memoria.ler("WordRecognized")
if Ouvinte.precisao <= leitura[1]:
Ouvinte.conn().unsubscribe("Test_ASR")
callback(leitura)
Ouvinte.conn().subscribe("Test_ASR")
time.sleep(0.25)
except Exception as e:
print("Exception -> Ouvinte.iniciar()-while:", e)
@staticmethod
def pausar(valor=0):
try:
if valor == 0:
Ouvinte.conn().pause(Ouvinte.escutando)
Ouvinte.escutando = not Ouvinte.escutando
else:
Ouvinte.conn().pause(valor)
Ouvinte.escutando = not valor
print("Ouvinte.pausar()", not Ouvinte.escutando)
return True
except Exception as e:
print("Exception -> Ouvinte.pausar():", e)
return False
@staticmethod
def parar(timer=0, async=True):
try:
if async:
return AsyncThread.call(lambda: Ouvinte.parar(timer, False))
time.sleep(timer)
if Ouvinte.conn() and Ouvinte.threadIniciar:
if Ouvinte.threadIniciar.running():
Ouvinte.threadIniciar.stop()
Ouvinte.conn().unsubscribe("Test_ASR")
return True
except Exception as e:
print("Exception -> Ouvinte.parar():", e)
return False
class Audio:
@staticmethod
def conn(num):
try:
if num == 1:
return ALProxy('ALAudioDevice', Config.ip_addr, Config.port_num)
elif num == 2:
return ALProxy('ALAudioPlayer', Config.ip_addr, Config.port_num)
elif num == 3:
tts = ALProxy('ALTextToSpeech', Config.ip_addr, Config.port_num)
tts.setVolume(1)
return tts
elif num == 4:
return ALProxy('ALAnimatedSpeech', Config.ip_addr, Config.port_num)
except Exception as e:
print("Exception -> Audio.conn():", e)
return False
@staticmethod
def volume(vol = -1):
try:
vol = int(vol)
if vol > -1 and vol < 101:
Audio.conn(1).setOutputVolume(vol)
return Audio.conn(1).getOutputVolume()
except Exception as e:
print("Exception -> Audio.setVolume():", e)
return False
@staticmethod
def iniciarMusica(name = "", begin = 0, volume = 100, balance = 0, path = ""):
try:
volume = volume / 100
if name != "" and path == "":
path = os.getcwd()
#path = os.path.dirname(os.path.realpath(__file__))
path = path + "/" + name
print("Audio.iniciarMusica", path)
return Audio.conn(2).pCall("playFileFromPosition", path, float(begin), volume, balance)
except Exception as e:
print("Exception -> Audio.iniciarMusica():", e)
return False
@staticmethod
def pararMusica(id):
try:
Audio.conn(2).stop(id)
return True
except Exception as e:
print("Exception -> Audio.pararMusica():", e)
return False
@staticmethod
def pararMusicas():
try:
Audio.conn(2).stopAll()
return True
except Exception as e:
print("Exception -> Audio.pararMusicas():", e)
return False
@staticmethod
def falar(texto, animado = False, speed = 80, voice_shaping = 100, configuracao = { "speakingMovementMode": "contextual", "bodyLanguageMode": "contextual" }, async = False):
try:
if async:
return AsyncThread.call(lambda: Audio.falar(texto, animado, speed, voice_shaping, configuracao, False))
if animado:
modo = 4
else:
modo = 3
tts = Audio.conn(modo)
sentence = "\RSPD=" + str(speed) + "\ "
sentence += "\VCT=" + str(voice_shaping) + "\ "
sentence += str(texto)
sentence += "\RST\ "
if animado:
id = tts.pCall("say", str(sentence), configuracao)
else:
id = tts.pCall("say", str(sentence))
tts.wait(id, 0)
return True
except Exception as e:
print("Exception -> Audio.falar():", e)
return False
def ligar(ma=False, async=True):
try:
if async:
return AsyncThread.call(lambda: ModoAutonomo.ligar(ma, False))
if not ma:
ma = ModoAutonomo.conn()
if ma.getState() == "disabled":
ma.setState("safeguard")
print("ModoAutonomo.conn().getState():", str(ma.getState()))
return True
except Exception as e:
print("Exception -> ModoAutonomo.ligar():", e)
return False
@staticmethod
def desligar(ma=False, async=True):
try:
if async:
return AsyncThread.call(
lambda: ModoAutonomo.desligar(ma, False))
if not ma:
ma = ModoAutonomo.conn()
if ma.getState() != "disabled":
ma.setState("disabled")
print("ModoAutonomo.conn().getState():", str(ma.getState()))
#ma.stopAll()
return True
except Exception as e:
print("Exception -> ModoAutonomo.desligar():", e)
return False
tempo = [[tempo]]
if "antebraco" == nome:# Angulo -120 ate 120
nome = ["LElbowYaw"]
elif "mao" == nome:# Angulo -105 ate 105
nome = ["LWristYaw"]
elif "cotovelo" == nome:# Angulo -90 ate 0
nome = ["LElbowRoll"]
elif "ombro" == nome:# Angulo -18 ate 80
nome = ["LShoulderRoll"]
Motor.angulo(nome, tempo, angulo)
return True
@staticmethod
def bracoDireito(nome, angulo = 0, tempo = 1.0, rigidez = 100, async = True):
if async:
return AsyncThread.call(lambda: Motor.bracoDireito(nome, angulo, tempo, rigidez, False))
Motor.rigidezBracoDireito(rigidez)
angulo = [[float(angulo) * almath.TO_RAD]]
tempo = [[tempo]]
if "antebraco" == nome:# Angulo -120 ate 120
nome = ["RElbowYaw"]
elif "mao" == nome:# Angulo -105 ate 105
nome = ["RWristYaw"]
elif "cotovelo" == nome:# Angulo -90 ate 0
nome = ["RElbowRoll"]
elif "ombro" == nome:# Angulo -18 ate 80
nome = ["RShoulderRoll"]
Motor.angulo(nome, tempo, angulo)
return True
@staticmethod