def main(hostname, portnumber):
print "Connecting to {}:{}".format(hostname, portnumber)
b = broker.Broker('NaoRecorder', naoIp=hostname, naoPort=portnumber)
if b:
env = naoenv.make_environment(None)
memory.subscribeToEvent("HandLeftBackTouched", callback)
memory.subscribeToEvent("FrontTactilTouched", print_events)
print "waiting for events\n"
time.sleep(120)
print_events()
print "done\n"
def enable_speech_recognition(self):
if "WordRecognized" in self.event_handlers:
memory.subscribeToEvent("WordRecognized", self.event_handlers["WordRecognized"])
def do_subscribe(self):
if self.event_handlers:
for (key, value) in self.event_handlers.iteritems():
memory.subscribeToEvent(key, value)
memory.unsubscribeToEvent('RearTactilTouched')
# sigint
def tear_down_signal_handler(signal, frame):
tear_down()
sys.exit(0)
signal.signal(signal.SIGINT, tear_down_signal_handler)
# tactil
def tear_down_tactil_handler(dataName, value, message):
if value==1:
tear_down()
memory.subscribeToEvent('RearTactilTouched', tear_down_tactil_handler)
#######################
# FluentNao: example of basic event & handlers
# tactil
# def right_bumper_handler(dataName, value, message):
# if value==1:
# n.say('that is my right foot')
# def left_bumper_handler(dataName, value, message):
# if value==1:
# n.say('that is my left foot')
def subscribe_callback(dataName, value, message):
memory.subscribeToEvent('FrontTactilTouched', tactil_callback)
memory.subscribeToEvent('WordRecognized', speech_callback)
key = 'arms out'
if key in d and d[key] > t:
self.nao.arms.out()
key = 'hands open'
if key in d and d[key] > t:
self.nao.hands.open()
key = 'hands closed'
if key in d and d[key] > t:
self.nao.hands.close()
# speech recogn
vocab = ['stand','sit', 'crouch', 'arms forward', 'arms out', 'hands open', 'hands closed']
nao.env.speechRecognition.setVocabulary(vocab, True)
# on / off
memory.subscribeToEvent('FrontTactilTouched', subscribe_callback)
memory.subscribeToEvent('RearTactilTouched', unsubscribe_callback)
# events you can use
#RightBumperPressed, LeftBumperPressed, ChestButtonPressed, FrontTactilTouched
#MiddleTactilTouched, RearTactilTouched, HotJointDetected, HandRightBackTouched, HandRightLeftTouched
#HandRightRightTouched, HandLeftBackTouched, HandLeftLeftTouched, HandLeftRightTouched
#BodyStiffnessChanged, SimpleClickOccured, DoubleClickOccured, TripleClickOccured
#WordRecognized, LastWordRecognized, SpeechDetected" https://community.aldebaran-robotics.com/doc/1-14/naoqi/audio/alspeechrecognition-api.html#ALSpeechRecognitionProxy::setVisualExpression__bCR
#broker.shutdown()
def subscribe_callback(dataName, value, message):
memory.subscribeToEvent('FrontTactilTouched', tactil_callback)
memory.subscribeToEvent('WordRecognized', speech_callback)
def __init__(self, nao):
# args
self.nao = nao
# class state
self.logged_recog = {}
# callbacks
def unsubscribe_callback(dataName, value, message):
memory.unsubscribeToEvent('FrontTactilTouched')
memory.unsubscribeToEvent('WordRecognized')
def subscribe_callback(dataName, value, message):
memory.subscribeToEvent('FrontTactilTouched', tactil_callback)
memory.subscribeToEvent('WordRecognized', speech_callback)
def tactil_callback(dataName, value, message):
if value==1:
print 'pressed'
else:
print 'released'
def speech_callback(dataName, value, message):
print value
# zip into dictionary
d = dict(zip(value[0::2], value[1::2]))
t = .58
#key = 'sit'
#if key in d and d[key] > t:
# self.nao.sit()
#key = 'wake'
#if key in d and d[key] > t:
# self.nao.stiff()
# key = 'sleep'
# if key in d and d[key] > t:
# self.nao.relax()
key = 'data'
if key in d and d[key] > t:
self.nao.say('yes what do you want')
key = 'phasers'
if key in d and d[key] > t:
self.nao.say('fire when ready')
key = 'tractor'
if key in d and d[key] > t:
self.nao.say('engage and pull them in')
key = 'hailing'
if key in d and d[key] > t:
self.nao.say('bring up visuals')
key = 'torpedo'
if key in d and d[key] > t:
self.nao.say('shields up')
key = 'shields'
if key in d and d[key] > t:
self.nao.say('holding at 20 percent')
key = 'purple'
if key in d and d[key] > t:
self.nao.say('jovial loves that color')
# speech recogn
vocab = ['sit','wake', 'sleep', 'data', 'phasers', 'tractor', 'hailing', 'torpedo', 'shields', 'purple']
self.nao.env.speechRecognition.setVocabulary(vocab, True)
# on / off
memory.subscribeToEvent('FrontTactilTouched', subscribe_callback)
memory.subscribeToEvent('RearTactilTouched', unsubscribe_callback)
# sigint
def tear_down_signal_handler(signal, frame):
tear_down()
sys.exit(0)
signal.signal(signal.SIGINT, tear_down_signal_handler)
# tactil
def tear_down_tactil_handler(dataName, value, message):
if value == 1:
tear_down()
memory.subscribeToEvent('RearTactilTouched', tear_down_tactil_handler)
#######################
# FluentNao: example of basic event & handlers
# tactil
# def right_bumper_handler(dataName, value, message):
# if value==1:
# n.say('that is my right foot')
# def left_bumper_handler(dataName, value, message):
# if value==1:
# n.say('that is my left foot')
# memory.subscribeToEvent('RightBumperPressed', right_bumper_handler)
# memory.subscribeToEvent('LeftBumperPressed', left_bumper_handler)
# HELPERS
# shutdown with rear tactil
def tear_down(dataName, value, message):
if value==1:
# teardown
touch_provider.tear_down()
time_provider.tear_down()
face_recog_provider.tear_down()
voice_recog_provider.tear_down()
memory.subscribeToEvent('RearTactilTouched', tear_down)
# setup all providers
def setup():
# time: sleepy & look around
time_provider.add_subscriber(sleepy_subscriber)
time_provider.add_subscriber(look_around_subscriber)
time_provider.setup()
# tactile: laugh
touch_provider.add_subscriber(laugh_subscriber)
touch_provider.setup()
# face recog
face_recog_provider.add_subscriber(greeting_subscriber)
self.nao.arms.out()
key = 'hands open'
if key in d and d[key] > t:
self.nao.hands.open()
key = 'hands closed'
if key in d and d[key] > t:
self.nao.hands.close()
# speech recogn
vocab = [
'stand', 'sit', 'crouch', 'arms forward', 'arms out', 'hands open',
'hands closed'
]
nao.env.speechRecognition.setVocabulary(vocab, True)
# on / off
memory.subscribeToEvent('FrontTactilTouched', subscribe_callback)
memory.subscribeToEvent('RearTactilTouched', unsubscribe_callback)
# events you can use
#RightBumperPressed, LeftBumperPressed, ChestButtonPressed, FrontTactilTouched
#MiddleTactilTouched, RearTactilTouched, HotJointDetected, HandRightBackTouched, HandRightLeftTouched
#HandRightRightTouched, HandLeftBackTouched, HandLeftLeftTouched, HandLeftRightTouched
#BodyStiffnessChanged, SimpleClickOccured, DoubleClickOccured, TripleClickOccured
#WordRecognized, LastWordRecognized, SpeechDetected" https://community.aldebaran-robotics.com/doc/1-14/naoqi/audio/alspeechrecognition-api.html#ALSpeechRecognitionProxy::setVisualExpression__bCR
#broker.shutdown()
