def events_and_callbacks_qi_framework():
"""Example of getting callbacks for events"""
# ALMemory acts as the hub for the distribution of event notifications.
# Source: https://developer.softbankrobotics.com/nao6/naoqi-developer-guide/naoqi-apis/naoqi-core/almemory
# Example: https://developer.softbankrobotics.com/nao6/naoqi-developer-guide/other-tutorials/python-sdk-tutorials/python-sdk-examples/vision/face
# Create a broker
# TODO(TK): why?
naoqi.ALBroker("pythonBroker", IP_ME, PORT_ME, IP_ROBOT, PORT_ROBOT)
proxy_memory = naoqi.ALProxy("ALMemory", IP_ROBOT, PORT_ROBOT)
# Register callback:
def mycallback(key, value):
print("qi callback: key={}, value={}".format(key, value))
sess = proxy_memory.session()
mem = sess.service("ALMemory")
sub = mem.subscriber("FaceDetected")
sub.signal.connect(functools.partial(mycallback, "FaceDetected"))
# Raise an event:
proxy_memory.raiseEvent("FaceDetected", str(datetime.datetime.now()))
proxy_memory.raiseEvent("AnotherEvent", str(datetime.datetime.now()))
time.sleep(0.1) # give it some time to process
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=NAO_PORT)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
try:
p = ALProxy("SpeechRecognition")
p.exit() # kill previous instance, useful for developing ;)
except:
pass
# Reinstantiate module
# Warning: SpeechRecognition must be a global variable
# The name given to the constructor must be the name of the
# variable
global SpeechRecognition
SpeechRecognition = SpeechRecognitionModule("SpeechRecognition", pip)
# uncomment for debug purposes
# usually a subscribing client will call start() from ALProxy
#SpeechRecognition.start()
#SpeechRecognition.startRecording()
#SpeechRecognition.calibrate()
#SpeechRecognition.enableAutoDetection()
#SpeechRecognition.startRecording()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: SoundReceiver must be a global variable
# The name given to the constructor must be the name of the
# variable
global SoundReceiver
SoundReceiver = SoundReceiverModule("SoundReceiver", pip)
SoundReceiver.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def events_and_callbacks_naoqi():
"""Example of getting callbacks for events"""
# ALMemory acts as the hub for the distribution of event notifications.
# Source: https://developer.softbankrobotics.com/nao6/naoqi-developer-guide/naoqi-apis/naoqi-core/almemory
# Example: https://developer.softbankrobotics.com/nao6/naoqi-developer-guide/other-tutorials/python-sdk-tutorials/python-sdk-examples/vision/face
class MyModule(naoqi.ALModule):
"""Mandatory docstring"""
def myCallback(self, key, value, message):
"""Mandatory docstring"""
print("Callback: key={}, value={}, message={}".format(
key, value, message))
# Create a broker
# TODO(TK): why?
naoqi.ALBroker("pythonBroker", IP_ME, PORT_ME, IP_ROBOT, PORT_ROBOT)
# Create an instance of our callback handling module, and add it to global scope:
global myModule # needs to be in global scope
myModule = MyModule("myModule")
# [naoqi] Subscribe to events:
proxy_memory = naoqi.ALProxy("ALMemory", IP_ROBOT, PORT_ROBOT)
print "FaceDetected events before={}".format(
proxy_memory.getEventHistory("FaceDetected"))
proxy_memory.subscribeToEvent("FaceDetected", "myModule", "myCallback")
# qi framework
def mycallback(key, value):
print("qi callback: key={}, value={}".format(key, value))
sess = proxy_memory.session()
mem = sess.service("ALMemory")
sub = mem.subscriber("FaceDetected")
sub.signal.connect(functools.partial(mycallback, "FaceDetected"))
# Raise an event:
proxy_memory.raiseEvent("FaceDetected", str(datetime.datetime.now()))
proxy_memory.raiseEvent("AnotherEvent", str(datetime.datetime.now()))
print "FaceDetected events after={}".format(
proxy_memory.getEventHistory("FaceDetected"))
time.sleep(0.1) # give it some time to process
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
try:
##
global SoundReceiver
global SpeechRecogModule
global SoundLocModule
global VisionRecogModule
try:
TTSProxy = naoqi.ALProxy("ALTextToSpeech", pip, pport)
# motionProxy = naoqi.ALProxy("ALMotion", pip, pport)
MemoryProxy = naoqi.ALProxy("ALMemory", pip, pport)
#naoqi.ALProxy('ALBasicAwareness',pip, pport).stopAwareness()
SoundReceiver = SoundReceiverModule('SoundReceiver', pip, pport)
SpeechRecogModule = SpeechRecoModule('SpeechRecogModule', pip,
pport)
VisionRecogModule = VisionRecoModule('VisionRecogModule', pip,
pport)
# SoundLocModule = SoundLocalizationModule('SoundLocModule', pip, pport)
except Exception, e:
print "Could not create proxy"
print "Error was: ", e
"""
#Detecta 'Ayuda' y guarda en qué dirección la detectó
"""
SpeechRecogModule.start()
# SoundLocModule.start()
TTSProxy.say('Pidame ayuda')
MemoryProxy.insertData("speechrecog", "None")
# MemoryProxy.insertData("azimuth", 0.0)
#MuevaLaCabeza(0.0)
while True:
readdata = ''
try:
readdata = MemoryProxy.getData("speechrecog")
# azimuth = float(MemoryProxy.getData("azimuth"))
except Exception as e:
print "readdata error", e
# azimuth = 0.0
if readdata == "ayuda":
#MuevaLaCabeza(11)
# print azimuth
MemoryProxy.insertData("speechrecog", "None")
break
TTSProxy.say('O key')
SpeechRecogModule.stop()
# SoundLocModule.stop()
# angle = azimuth
# h = 0.2
# x = h/sin(angle)
# y = h/cos(angle)
# motionProxy.moveTo(x, y, angle)
"""
#Se mueve hacia la dirección del sonido detectado
"""
"""
#Detecta ukulele
"""
VisionRecogModule.start()
TTSProxy.say('Muéstreme el ukelele')
MemoryProxy.insertData("visionrecog", "None")
while True:
readdata = ''
try:
readdata = MemoryProxy.getData("visionrecog")
except Exception as e:
print "readdata error", e
if readdata == "ukulele":
MemoryProxy.insertData("visionrecog", "None")
break
VisionRecogModule.stop()
TTSProxy.say('He visto el ukelele, ¡Afinemos!')
"""
#Empieza a escuchar cada cuerda, calcula la frecuencia más cercana y dar retroalimentación para afinarla
"""
SoundReceiver.start()
time.sleep(SLEEP_TIME)
i = 0
afinando = True
while (afinando):
TTSProxy.say("Toque la cuerda número " + str(i + 1) +
", que debe ser la nota " + NOTES[i])
time.sleep(SLEEP_TIME)
try:
lastfreq = [
MemoryProxy.getData("freqs" + str(j))
for j in range(0, 50)
]
print "ultimasFreq :", str(lastfreq)
except RuntimeError, e:
# catch exception
print "error read data", e
lastfreq = 0
if lastfreq != 0:
roundedfreqs = np.rint(lastfreq)
print roundedfreqs
medianfreq = mode(roundedfreqs)
print(medianfreq.mode[0])
#medianfreq = np.median(lastfreq)
TTSProxy.say("La frecuencia que escuché es de" +
str(medianfreq.mode[0]) + "hercios")
medianfreq = int(medianfreq.mode[0])
try:
logdiffarray = np.zeros(3)
print logdiffarray
logdiffarray[0] = log_diff(medianfreq, FREQ[i])
logdiffarray[1] = log_diff(medianfreq, FREQ[i] / 2)
logdiffarray[2] = log_diff(medianfreq, FREQ[i] * 2)
print logdiffarray
logdiff = 1
for diff in logdiffarray:
if np.abs(diff) < np.abs(logdiff):
logdiff = diff
print logdiff
except Exception, e:
print e
logdiff = 1
if np.abs(logdiff) <= PITCH_THRESHHOLD:
TTSProxy.say("La cuerda está afinada Muy Bien!")
if (i == len(NOTES) - 1):
afinando = False
else:
i += 1
else:
if logdiff > 0:
TTSProxy.say("La cuerda está muy alta, bájele")
else:
TTSProxy.say("La cuerda está muy baja, súbale")
def __init__(self, name='NaoBroker', nao_ip='localhost', nao_port=9559):
self.name = name #Make sure the name you pass to the constructor of ALModule matches the name of your variable.
if self.NaoBroker == None:
self.NaoBroker = naoqi.ALBroker(self.name, "0.0.0.0", 0, nao_ip,
nao_port)
print "Broker ", self.NaoBroker, " initialized at ", nao_ip, " ", nao_port
if self.naoqi == None:
self.naoqi = naoqi.ALModule.__init__(self, name)
try:
self.motionProxy = naoqi.ALProxy("ALMotion")
self.robotConfig = self.motionProxy.getRobotConfig()
for i in range(len(self.robotConfig[0])):
log(
str(self.robotConfig[0][i]) + ": " +
str(self.robotConfig[1][i]), 0)
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
try:
self.memoryProxy = naoqi.ALProxy("ALMemory")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
try:
self.tts = naoqi.ALProxy("ALTextToSpeech")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
try:
self.faceProxy = naoqi.ALProxy("ALFaceDetection")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.faceProxy = None
try:
self.ledProxy = naoqi.ALProxy("ALLeds")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.ledProxy = None
try:
self.trackfaceProxy = naoqi.ALProxy("ALFaceTracker")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.trackfaceProxy = None
try:
self.speechProxy = naoqi.ALProxy("ALSpeechRecognition")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.speechProxy = None
try:
self.audioProxy = naoqi.ALProxy("ALAudioDevice")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.audioProxy = None
try:
self.cameraProxy = naoqi.ALProxy("ALVideoDevice")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.cameraProxy = None
try:
self.playProxy = naoqi.ALProxy("ALAudioPlayer")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.playProxy = None
try:
self.videoProxy = naoqi.ALProxy("ALVisionToolbox")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.videoProxy = None
try:
self.sonarProxy = naoqi.ALProxy("ALSonar")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.sonarProxy = None
try:
self.sensorsProxy = naoqi.ALProxy("ALSensors")
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.sensorsProxy = None
try:
self.postureProxy = naoqi.ALProxy("ALRobotPosture")
self.postureList = self.postureProxy.getPostureList()
log(str(self.postureList), 0)
except RuntimeError as e:
log("Error when creating proxies:", 3)
log(str(e), 3)
self.postureProxy = None
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=NAO_PORT)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
try:
p = ALProxy("BaseSpeechReceiverModule")
p.exit() # kill previous instance
except:
pass
# Reinstantiate module
# Warning: ReceiverModule must be a global variable
# The name given to the constructor must be the name of the
# variable
global BaseSpeechReceiverModule
BaseSpeechReceiverModule = BaseSpeechReceiverModule("BaseSpeechReceiverModule", pip)
BaseSpeechReceiverModule.start()
if(False):
#one-shot recording for at least 5 seconds
SpeechRecognition = ALProxy("SpeechRecognition")
SpeechRecognition.start()
SpeechRecognition.setHoldTime(5)
SpeechRecognition.setIdleReleaseTime(1.7)
SpeechRecognition.setMaxRecordingDuration(10)
SpeechRecognition.startRecording()
else:
# auto-detection
SpeechRecognition = ALProxy("SpeechRecognition")
SpeechRecognition.start()
SpeechRecognition.setHoldTime(2.5)
SpeechRecognition.setIdleReleaseTime(1.0)
SpeechRecognition.setMaxRecordingDuration(10)
SpeechRecognition.setLookaheadDuration(0.5)
#SpeechRecognition.setLanguage("de-de")
#SpeechRecognition.calibrate()
SpeechRecognition.setAutoDetectionThreshold(5)
SpeechRecognition.enableAutoDetection()
#SpeechRecognition.startRecording()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option(
"--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(pip=NAO_IP, pport=NAO_PORT)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker(
"myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
try:
p = ALProxy("ReceiverTestModule")
p.exit() # kill previous instance
except:
pass
# Reinstantiate module
# Warning: ReceiverModule must be a global variable
# The name given to the constructor must be the name of the
# variable
global ReceiverTestModule
ReceiverTestModule = ReceiverTestModule("ReceiverTestModule", pip)
ReceiverTestModule.start()
SpeechRecognition = ALProxy("SpeechRecognition")
SpeechRecognition.start()
#SpeechRecognition.setLanguage("de-de")
SpeechRecognition.calibrate()
SpeechRecognition.enableAutoDetection()
# ROS node
rospy.init_node('pepper_listen', anonymous=True)
try:
while not rospy.is_shutdown():
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
except rospy.ROSInterruptException:
print "Interrupted by ROS, shutting down"
pass
myBroker.shutdown()
sys.exit(0)
