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 ===")