def setUpClass(self):
self.session = qi.Session()
self.session.connect('tcp://192.168.1.101:9559')
self.motion = self.session.service('ALMotion')
self.posture = self.session.service("ALRobotPosture")
self.animation_player = AnimationPlayer(self.session,
motion=self.motion)
self.motion.setCollisionProtectionEnabled('Arms', False)
self.motion.setExternalCollisionProtectionEnabled('All', False)
rest_position(session=self.session)
def testAnimationPlayerLayer(self):
loop = 10
config = Config.load(Version.PROGRAM_UNIXSTYLE_NAME + ".ini",
setAsDefault=True)
self.e = GameEngine(config)
animPlayer = AnimationPlayer(
framerate,
self.path,
self.basename, (self.e.view.geometry[2], self.e.view.geometry[3]),
loop=loop)
print "Rendering as a GameEngine Layer for %d loops." % loop
self.e.view.pushLayer(animPlayer)
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
self.e.run()
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops: %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0, \
(float(1000.0*animPlayer.nbrFrames*(loop+1)) / float(totalTime)))
self.e.view.popLayer(animPlayer)
self.e.quit()
class PointMoveTest(unittest.TestCase):
@classmethod
def setUpClass(self):
self.session = qi.Session()
self.session.connect('tcp://192.168.1.101:9559')
self.motion = self.session.service('ALMotion')
self.posture = self.session.service("ALRobotPosture")
self.animation_player = AnimationPlayer(self.session,
motion=self.motion)
self.motion.setCollisionProtectionEnabled('Arms', False)
self.motion.setExternalCollisionProtectionEnabled('All', False)
rest_position(session=self.session)
def test_reaction_won(self):
self.animation_player.play_win_animation()
def test_reaction_lost(self):
self.animation_player.play_lose_animation()
def test_reaction_draw(self):
self.animation_player.play_draw_animation()
def testAnimationPlayerSlave(self):
loop = 5
winWidth, winHeight = 800, 600
pygame.init()
flags = DOUBLEBUF | OPENGL | HWPALETTE | HWSURFACE
pygame.display.set_mode((winWidth, winHeight), flags)
animPlayer = AnimationPlayer(framerate,
self.path,
self.basename, (winWidth, winHeight),
loop=loop)
glViewport(0, 0, winWidth, winHeight) # Both required as...
glScissor(0, 0, winWidth, winHeight) # ...GameEngine changes it
glClearColor(0, 0, 0, 1.)
print "Rendering independently and fullscreen for %d loops." % loop
clock = pygame.time.Clock()
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
animPlayer.render()
pygame.display.flip()
clock.tick()
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops: %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0,
1000.0*animPlayer.nbrFrames*(loop+1) / float(totalTime))
# Testing animation change
# FIXME: another set of files would be more relevant (e.g. diff. resolution)
loop = 5
print "Let's go for another ride of %d loops." % loop
animPlayer.loop = loop
animPlayer.loadAnimation(self.path, self.basename)
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
animPlayer.render()
pygame.display.flip()
clock.tick()
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops: %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0,
1000.0*animPlayer.nbrFrames*(loop+1) / float(totalTime))
pygame.quit()
def testAnimationPlayerSlaveShowOff(self):
winWidth, winHeight = 500, 500
loop = 4
pygame.init()
flags = DOUBLEBUF | OPENGL | HWPALETTE | HWSURFACE
pygame.display.set_mode((winWidth, winHeight), flags)
animPlayer = AnimationPlayer(framerate,
self.path,
self.basename, (winWidth, winHeight),
loop=loop)
print "Rendering ourselves, doing what we want with the texture, for %d loops." % loop
glViewport(0, 0, winWidth, winHeight) # Both required as...
glScissor(0, 0, winWidth, winHeight) # ...GameEngine changes it
glClearColor(0, 0, 0, 1.)
x, y = 0.0, 1.0
fx, fy, ftheta = 1, 1, 1
theta = 0.0
time = 0.0
clock = pygame.time.Clock()
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
texture = animPlayer.getTexture()
# Save and clear both transformation matrices
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glClear(GL_COLOR_BUFFER_BIT)
glColor3f(1., 1., 1.)
glBindTexture(GL_TEXTURE_2D, texture)
glTranslatef(x, y, 0)
glRotatef(theta, 0, 0, 1.)
glScalef(.5, .5, 1.)
glCallList(animPlayer.animList)
# Restore both transformation matrices
glPopMatrix()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
pygame.display.flip()
x = (x + fx * time)
y = (y + fy * time)
theta = theta + ftheta
if x > 1.0 or x < -1.0:
fx = fx * -1
if y > 1.0 or y < -1.0:
fy = fy * -1
if theta > 90 or theta < -90:
ftheta = ftheta * -1
time = time + 0.00001
clock.tick(60)
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0, \
(float(1000.0*animPlayer.nbrFrames*(loop+1)) / float(totalTime)))
pygame.quit()
def testAnimationPlayerSlave(self):
loop = 5
winWidth, winHeight = 800, 600
pygame.init()
flags = DOUBLEBUF|OPENGL|HWPALETTE|HWSURFACE
pygame.display.set_mode((winWidth, winHeight), flags)
animPlayer = AnimationPlayer(framerate, self.path, self.basename,
(winWidth, winHeight), loop = loop)
glViewport(0, 0, winWidth, winHeight) # Both required as...
glScissor(0, 0, winWidth, winHeight) # ...GameEngine changes it
glClearColor(0, 0, 0, 1.)
print "Rendering independently and fullscreen for %d loops." % loop
clock = pygame.time.Clock()
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
animPlayer.render()
pygame.display.flip()
clock.tick()
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops: %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0,
1000.0*animPlayer.nbrFrames*(loop+1) / float(totalTime))
# Testing animation change
# FIXME: another set of files would be more relevant (e.g. diff. resolution)
loop = 5
print "Let's go for another ride of %d loops." % loop
animPlayer.loop = loop
animPlayer.loadAnimation(self.path, self.basename)
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
animPlayer.render()
pygame.display.flip()
clock.tick()
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops: %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0,
1000.0*animPlayer.nbrFrames*(loop+1) / float(totalTime))
pygame.quit()
def testAnimationPlayerSlaveShowOff(self):
winWidth, winHeight = 500, 500
loop = 4
pygame.init()
flags = DOUBLEBUF|OPENGL|HWPALETTE|HWSURFACE
pygame.display.set_mode((winWidth, winHeight), flags)
animPlayer = AnimationPlayer(framerate, self.path, self.basename,
(winWidth, winHeight), loop = loop)
print "Rendering ourselves, doing what we want with the texture, for %d loops." % loop
glViewport(0, 0, winWidth, winHeight) # Both required as...
glScissor(0, 0, winWidth, winHeight) # ...GameEngine changes it
glClearColor(0, 0, 0, 1.)
x, y = 0.0, 1.0
fx, fy, ftheta = 1, 1, 1
theta = 0.0
time = 0.0
clock = pygame.time.Clock()
startTime = pygame.time.get_ticks()
while not animPlayer.finished:
ticks = clock.get_time()
animPlayer.run(ticks)
texture = animPlayer.getTexture()
# Save and clear both transformation matrices
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glClear(GL_COLOR_BUFFER_BIT)
glColor3f(1., 1., 1.)
glBindTexture(GL_TEXTURE_2D, texture)
glTranslatef(x, y, 0)
glRotatef(theta, 0, 0, 1.)
glScalef(.5, .5, 1.)
glCallList(animPlayer.animList)
# Restore both transformation matrices
glPopMatrix()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
pygame.display.flip()
x = (x + fx*time)
y = (y + fy*time)
theta = theta + ftheta
if x > 1.0 or x < -1.0:
fx = fx * -1
if y > 1.0 or y < -1.0:
fy = fy * -1
if theta > 90 or theta < -90:
ftheta = ftheta * -1
time = time + 0.00001
clock.tick(60)
stopTime = pygame.time.get_ticks()
totalTime = stopTime - startTime
print "nbrFrames: %d, nbrLoops %d, Total time: %.02f s, Average fps: %.02f" % \
(animPlayer.nbrFrames, loop, totalTime/1000.0, \
(float(1000.0*animPlayer.nbrFrames*(loop+1)) / float(totalTime)))
pygame.quit()
def __init__(self, session, ip, motion, leds):
self.__session = session
self.__speech = Speech(self.__session)
self.__showScreen = ShowScreen(self.__session, ip)
self.__showScreen.show_screen("")
self.__game = TicTacToe(self.__session, self.__speech,
self.__showScreen)
self.__moveReader = MoveReader(self.__session, self.__game)
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__animationPlayer = AnimationPlayer(self.__session, motion)
self.__waiting_game_start = 1
self.__playing = 1
self.__program_running = 1
self.__motion = motion
self.__leds = leds
while self.__program_running:
while self.__waiting_game_start:
# Add the following for starting on Enter
#input = raw_input('Say ´lets play´ or press enter to start a game.')
#if input == "":
# self.__speechDetection.unsubscribe()
# self.look_at_player_and_say("Okay, Let's do this!", False)
# self.__waiting_game_start = 0
# self.__showScreen.show_screen("")
# self.__game.restart()
# self.__playing = 1
pass
while self.__playing:
delta = 0
self.__speech.say("Now make your move")
while delta != 1:
time.sleep(0.5)
delta = self.__moveReader.read_move()
if delta > 1:
self.look_at_player_and_say(
"Too many moves detected! Restore my image board",
True)
time.sleep(1)
self.__showScreen.show_screen(self.__game.get_url_params())
print self.__game.get_url_params()
delta2 = 1
while delta2 != 0:
delta2 = self.__moveReader.check_correct_board()
if delta2 > 0:
self.look_at_player_and_say("Wrong move.", True)
self.__game.say_move(self.__game.move_player2)
time.sleep(1)
self.__playing = self.__game.player_won() == 0
winner = self.__game.player_won()
if winner == 3:
self.__animationPlayer.play_draw_animation()
if winner == 2:
self.__animationPlayer.play_win_animation()
if winner == 1:
self.__animationPlayer.play_lose_animation()
print "End of Game"
self.__waiting_game_start = 1
self.__playing = 1
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__speechDetection.unsubscribe()
class GameHandler(object):
def __init__(self, session, ip, motion, leds):
self.__session = session
self.__speech = Speech(self.__session)
self.__showScreen = ShowScreen(self.__session, ip)
self.__showScreen.show_screen("")
self.__game = TicTacToe(self.__session, self.__speech,
self.__showScreen)
self.__moveReader = MoveReader(self.__session, self.__game)
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__animationPlayer = AnimationPlayer(self.__session, motion)
self.__waiting_game_start = 1
self.__playing = 1
self.__program_running = 1
self.__motion = motion
self.__leds = leds
while self.__program_running:
while self.__waiting_game_start:
# Add the following for starting on Enter
#input = raw_input('Say ´lets play´ or press enter to start a game.')
#if input == "":
# self.__speechDetection.unsubscribe()
# self.look_at_player_and_say("Okay, Let's do this!", False)
# self.__waiting_game_start = 0
# self.__showScreen.show_screen("")
# self.__game.restart()
# self.__playing = 1
pass
while self.__playing:
delta = 0
self.__speech.say("Now make your move")
while delta != 1:
time.sleep(0.5)
delta = self.__moveReader.read_move()
if delta > 1:
self.look_at_player_and_say(
"Too many moves detected! Restore my image board",
True)
time.sleep(1)
self.__showScreen.show_screen(self.__game.get_url_params())
print self.__game.get_url_params()
delta2 = 1
while delta2 != 0:
delta2 = self.__moveReader.check_correct_board()
if delta2 > 0:
self.look_at_player_and_say("Wrong move.", True)
self.__game.say_move(self.__game.move_player2)
time.sleep(1)
self.__playing = self.__game.player_won() == 0
winner = self.__game.player_won()
if winner == 3:
self.__animationPlayer.play_draw_animation()
if winner == 2:
self.__animationPlayer.play_win_animation()
if winner == 1:
self.__animationPlayer.play_lose_animation()
print "End of Game"
self.__waiting_game_start = 1
self.__playing = 1
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__speechDetection.unsubscribe()
def say_reaction(self, reaction_text):
self.__speech.say(text=reaction_text)
return True
def do_animation(self, animation):
return animation
def speech_callback(self, value):
print(value)
if value[0] == "Let's Play":
if value[1] > 0.3:
self.__speechDetection.unsubscribe()
self.look_at_player_and_say("Okay, Let's do this!", False)
self.__waiting_game_start = 0
self.__showScreen.show_screen("")
self.__game.restart()
if value[0] == "Stop":
if value[1] > 0.4:
self.__playing = 0
self.__waiting_game_start = 0
self.__program_running = 0
def look_at_player_and_say(self, text, warning_led):
self.__motion.setStiffnesses("Head", 1.0)
names = ["HeadYaw", "HeadPitch"]
angles = [78. * almath.TO_RAD, -30. * almath.TO_RAD]
times = [1., 1.]
is_absolute = True
self.__motion.angleInterpolation(names, angles, times, is_absolute)
if warning_led:
qi. async (self.rotate_eyes, delay=0)
self.__speech.say(text=text)
angles = [0., 0.]
times = [1., 1.]
is_absolute = True
self.__motion.angleInterpolation(names, angles, times, is_absolute)
def rotate_eyes(self):
self.__leds.setIntensity('RightFaceLedsRed', 1.0)
self.__leds.setIntensity('LeftFaceLedsRed', 1.0)
self.__leds.rotateEyes(16711680, 1, 6)
