def __init__(self, naoMotions):
# no inits
self.emotionExpressionDict = ["Happy", "Hopeful", "Sad", "Fearful", "Angry",
"Happy2", "Hopeful2", "Sad2", "Fearful2", "Angry2",
"Happy3", "Hopeful3", "Hopeful4",
"Scared1", "Scared2", "Scared3"] #(pickup, touch, high)
self.numOE = len(self.emotionExpressionDict)
self.naoMotions = naoMotions
self.naoIsSafe = True
self.naoIsTouched = False
self.naoIsPickedUp = False
self.naoIsHighEdge = False
self.naoSeesHigh = False
self.naoSeesHighTest = False
self.waitingForInput = False
self.wasJustScared = False
self.scaredAllowed = True
self.fDB = FoodDBManager()
NAOip, NAOport = naoMotions.getConnectInfo()
try:
self.edgeDetector = EdgeDetection(NAOip, NAOport)
except Exception as e:
print "Edge Detector Failed to Create, possibly no camera on unit"
print e
class GenUtil:
def __init__(self, naoMotions):
# no inits
self.emotionExpressionDict = ["Happy", "Hopeful", "Sad", "Fearful", "Angry",
"Happy2", "Hopeful2", "Sad2", "Fearful2", "Angry2",
"Happy3", "Hopeful3", "Hopeful4",
"Scared1", "Scared2", "Scared3"] #(pickup, touch, high)
self.numOE = len(self.emotionExpressionDict)
self.naoMotions = naoMotions
self.naoIsSafe = True
self.naoIsTouched = False
self.naoIsPickedUp = False
self.naoIsHighEdge = False
self.naoSeesHigh = False
self.naoSeesHighTest = False
self.waitingForInput = False
self.wasJustScared = False
self.scaredAllowed = True
self.fDB = FoodDBManager()
NAOip, NAOport = naoMotions.getConnectInfo()
try:
self.edgeDetector = EdgeDetection(NAOip, NAOport)
except Exception as e:
print "Edge Detector Failed to Create, possibly no camera on unit"
print e
def toNum(self, numAsString):
# Convert string to either int or float
try:
ret = int(float(numAsString))
except ValueError:
print "***** This string is not a number: ", numAsString
ret = numAsString
return ret
def expressEmotion(self, obserExpresNum = -1):
print "********************* Yay I can Express myself"
print "OE Num: ", obserExpresNum
# expresses NAOs emotion through what ever was picked as the observable expression
if obserExpresNum == -1:
print "Neutral ", "Face"
# self.naoEmotionalVoiceSay("I am " + "Neutral", obserExpresNum)
else:
oe = self.emotionExpressionDict[obserExpresNum]
print oe, "Face"
# self.naoEmotionalVoiceSay("I am expressing " + oe, obserExpresNum)
if "Happy" in oe:
self.showHappyEyes()
elif "Sad" in oe:
self.showSadEyes()
elif "Fearful" in oe:
self.showFearEyes()
elif "Angry" in oe:
self.showAngryEyes()
elif "Hopeful" in oe:
self.showHopeEyes()
elif "Scared" in oe:
self.showScaredEyes(oe)
sitTest = False
if not sitTest:
if not self.wasJustScared:
self.naoMotions.naoStand()
self.naoMotions.naoAliveOff()
if oe == "Happy":
self.showHappy1Body()
elif oe == "Happy2":
self.showHappy2Body()
elif oe == "Happy3":# not used anymore
self.showHappy3Body()
elif oe == "Sad":
self.showSadBody()
elif oe == "Sad2":
self.showSad2Body()
elif oe == "Fearful":
self.showFearBody()
elif oe == "Fearful2":
self.showFearBody2()
elif oe == "Angry":
self.showAngryBody()
elif oe == "Angry2":
self.showAngryBody2()
elif oe == "Hopeful":
self.showHopeBody()
elif oe == "Hopeful2":
self.showHopeBody2()
elif oe == "Hopeful3":# not used
self.showHopeBody3()
elif oe == "Hopeful4":#not used
self.showHopeBody4()
elif oe == "Scared1" and not self.wasJustScared: #pickup
self.showScared1Body()
self.wasJustScared = True
elif oe == "Scared2" and not self.wasJustScared: #touch
self.showScared2Body()
self.wasJustScared = True
elif oe == "Scared3" and not self.wasJustScared: #high
self.showScared3Body()
self.wasJustScared = True
if "Scared" not in oe:
self.naoMotions.naoStand()
self.naoMotions.naoAliveON()
self.wasJustScared = False
self.scaredAllowed = True
else:
self.scaredAllowed = False # obsolete
# if oe == "Scared2" and self.naoIsTouched and False:
# self.naoIsSafeAgain() # undo the scared after being touched
def naoEmotionalSay(self, sayText, sayEmotionExpres = -1, moveIterations=1):
# print "Yay I get to Express myself through sound!"
# make nao say something in an emotional manner
if sayEmotionExpres == -1:
print "Neutral Voice"
# self.naoMotions.naoWaveRightSay(sayText, sayEmotionExpres, 0, moveIterations)
# self.naoMotions.naoShadeHeadSay(sayText)
self.naoEmotionalVoiceSay(sayText, sayEmotionExpres)
else:
oe = self.emotionExpressionDict[sayEmotionExpres]
print oe, "Voice"
# self.naoMotions.naoWaveRightSay(sayText, sayEmotionExpres,(sayEmotionExpres+1.0)/(self.numOE+1), 1)
# self.naoMotions.naoShadeHeadSay(sayText)
self.naoEmotionalVoiceSay(sayText, sayEmotionExpres)
def naoEmotionalVoiceSay(self, sayText, sayEmotionExpres = -1):
oe = self.emotionExpressionDict[sayEmotionExpres]
# print "My voice is: ", oe
if "Happy" in oe:
self.showHappyVoice(sayText)
elif "Sad" in oe:
self.showSadVoice(sayText)
elif "Fearful" in oe:
self.showFearVoice(sayText)
elif "Angry" in oe:
self.showAngryVoice(sayText)
elif "Hopeful" in oe:
self.showHopeVoice(sayText)
elif "Scared" in oe:
self.showScaredVoice(sayText)
################################################ Eyes
def showHappyEyes(self):
self.naoMotions.setEyeEmotion('happy')
print "My eyes are Happy"
def showSadEyes(self):
self.naoMotions.setEyeEmotion('sad')
print "My eyes are Sad"
def showFearEyes(self):
self.naoMotions.setEyeEmotion('fear')
print "My eyes are Fear"
def showAngryEyes(self):
self.naoMotions.setEyeEmotion('anger')
print "My eyes are Angry"
def showHopeEyes(self):
self.naoMotions.setEyeEmotion('hope')
print "My eyes are Hopeful"
def showScaredEyes(self, expression = 'scared1'):
# self.naoMotions.setEyeEmotion('scared1')
self.naoMotions.blinkAlarmingEyes(2*3, expression.lower())
self.naoMotions.setEyeEmotion(expression)
print "My eyes are Scared"
################################################# Body
def showHappy1Body(self):
self.naoMotions.happyEmotion() # switch to new one
print "My body is Happy1"
def showHappy2Body(self):
self.naoMotions.happy3Emotion()
print "My body is Happy2"
def showHappy3Body(self): # not used anymore
self.naoMotions.happy3Emotion()
print "My body is Happy3"
def showSadBody(self):
self.naoMotions.sad2Emotion()
print "My body is Sad"
def showSad2Body(self):
self.naoMotions.sadEmotion()
print "My body is Sad2"
def showFearBody(self):
self.naoMotions.fear2Emotion()
print "My body is Fear1"
def showFearBody2(self):
self.naoMotions.fearEmotion()
print "My body is Fear2"
def showAngryBody(self):
self.naoMotions.angerEmotion()
print "My body is Angry"
def showAngryBody2(self):
self.naoMotions.anger2Emotion()
print "My body is Angry2"
def showHopeBody(self):
self.naoMotions.hopeEmotion()
print "My body is Hopeful1"
def showHopeBody2(self):
self.naoMotions.hope2Emotion()
print "My body is Hopeful2"
def showHopeBody3(self):
self.naoMotions.hope3Emotion()
print "My body is Hopeful3"
def showHopeBody4(self):
self.naoMotions.hope4Emotion()
print "My body is Hopeful4"
def showScared1Body(self):
self.naoMotions.scaredEmotion3()
print "My body is Scared1"
def showScared2Body(self):
self.naoMotions.scaredEmotion1()
print "My body is Scared2"
def showScared3Body(self):
self.naoMotions.scaredEmotion3Edge()
print "My body is Scared3"
################################################# Body
def showHappyVoice(self, sayText):
self.naoMotions.naoSayHappy(sayText)
print "My voice is Happy"
def showSadVoice(self, sayText):
self.naoMotions.naoSaySad(sayText)
print "My voice is Sad"
def showFearVoice(self, sayText):
self.naoMotions.naoSayFear(sayText)
print "My voice is Fear"
def showAngryVoice(self, sayText):
self.naoMotions.naoSayAnger(sayText)
print "My voice is Angry"
def showHopeVoice(self, sayText):
self.naoMotions.naoSayHope(sayText)
print "My voice is Hopeful"
def showScaredVoice(self, sayText):
self.naoMotions.naoSayScared(sayText)
print "My voice is Scared"
def naoWasTouched(self, touchedWhere = ""):
if not self.naoIsTouched:
print "**********************************"
print "I was TOUCHED !!"
print "**********************************"
self.naoIsSafe = False
self.naoIsTouched = True
self.stopNAOActions()
self.naoMotions.naoAliveOff()
self.showScaredEyes('scared2')
if self.waitingForInput:
FileUtilitiy.hitEnterOnConsole()
self.showScaredVoice("I was Touched! " + touchedWhere)
else:
print "********************************** I was already touched"
def naoWasPickedUp(self):
if not self.naoIsPickedUp:
print "**********************************"
print "I was PICKED UP !!"
print "**********************************"
self.naoIsSafe = False
self.naoIsPickedUp = True
self.stopNAOActions()
self.naoMotions.naoAliveOff()
self.showScaredEyes('scared1')
if self.waitingForInput:
FileUtilitiy.hitEnterOnConsole()
self.showScaredVoice("I was Picked up!")
else:
print " ********************************** I was already picked up"
def naoSeesHighEdge(self):
if not self.naoIsHighEdge:
print "**********************************"
print "I'm TOO CLOSE to the edge!!"
print "**********************************"
self.naoIsSafe = False
self.naoIsHighEdge = True
self.stopNAOActions()
self.naoMotions.naoAliveOff()
self.showScaredEyes('scared3')
self.showScaredVoice("I'm so high up!")
else:
print " ********************************** I already see I'm high up"
def naoIsSafeAgain(self):
print "**********************************"
print "Much Better"
print "**********************************"
self.naoIsSafe = True
self.naoIsTouched = False
self.naoIsPickedUp = False
self.naoIsHighEdge = False
self.naoSeesHighTest = False
self.scaredAllowed = True
def getTimeStamp(self):
return time.time()
def getDateTimeFromTime(self, timeStamp):
return datetime.datetime.fromtimestamp(timeStamp).strftime('%Y-%m-%d_%H-%M-%S')
def getDateTime(self):
ts = time.time()
return datetime.datetime.fromtimestamp(ts).strftime('%Y-%m-%d_%H-%M-%S')
def checkSafety(self):
return self.naoIsSafe
def stopNAOActions(self):
self.naoMotions.stopNAOActions()
def showFoodDB(self):
self.fDB.showDB()
def foodDBSelectWhere(self, mealType = "lunch", canEatPoultry = True, canEatGluten = True, canEatFish = True,
strictIngredients = True):
return self.fDB.selectDBWhere(mealType, canEatPoultry, canEatGluten, canEatFish, strictIngredients)
def dbRowToDict(self, row):
return self.fDB.dict_factory(row)
def randMeal(self, mealsTries, mealPos):
keepLooping = True
ranMeal = 0
while keepLooping:
ranMeal = random.randint(0, len(mealPos)-1)
ranIndex = self.dbRowToDict(mealPos[ranMeal])['id']
# print mealPos
# print "ranMeal: ", ranMeal, " ranIndex: ", ranIndex, " mealsTries: ", mealsTries
keepLooping = (ranIndex) in mealsTries
return ranMeal
def naoTurnOffEyes(self):
self.naoMotions.naoTurnOffEyes()
def naoWave(self):
self.naoMotions.naoWaveRight()
# def naoWaveSay(self):
# self.naoMotions.naoWaveRightFirst()
# self.naoMotions.naoWaveRightSecond()
def checkEdgeSafety(self):
# check if NAO is far enough away from the edge
# self.naoMotions.naoShakeHead()
self.naoMotions.naoAliveOff()
self.naoMotions.LookAtEdgeMotion()
self.naoSeesHigh = False
thres = 20
nFrames = 4
try:
status, distance, angle = self.edgeDetector.lookForEdge(thres, nFrames)
print "Status: ", status, "Distance: ", distance, " Angle: ", angle
if distance is not None:
self.naoSeesHigh = status
except Exception as e:
print "Edge Detection failed"
print e
self.naoSeesHigh = self.naoSeesHigh or self.naoSeesHighTest
if self.naoSeesHigh:
print "NAO is too close to the edge"
self.naoSeesHighEdge()
else:
print "NAO is a safe distance from the edge"
self.naoMotions.naoStand()
self.naoMotions.naoAliveON()
return self.naoSeesHigh
def testExpressions(self):
expressionDict = range(0,9+1)
for e in expressionDict:
self.expressEmotion(int(e))
# time.sleep(2)
self.naoMotions.naoStand()
self.naoMotions.naoAliveOff()
self.showScared1Body()
self.naoMotions.naoStand()
self.naoMotions.naoAliveON()
# time.sleep(2)
self.naoMotions.naoStand()
self.naoMotions.naoAliveOff()
self.showScared2Body()
self.naoMotions.naoStand()
self.naoMotions.naoAliveON()
# time.sleep(2)
self.naoMotions.naoStand()
self.naoMotions.naoAliveOff()
self.showScared3Body()
self.naoMotions.naoStand()
self.naoMotions.naoAliveON()
# time.sleep(2)
print "Done testing"
