class StoppableThread(threading.Thread): def __init__(self, description): super(StoppableThread, self).__init__() self.running = False self.faceRecogn = FaceRecognitionHandler() self.motion = ALProxy("ALMotion", "nao.local", 9559) self.postureProxy = ALProxy("ALRobotPosture", "nao.local", 9559) def run(self): num = 0 self.faceRecogn.start() while self.running: #print "here" if num % 2 == 0: sensRotireCap = 1 num = 1 else: sensRotireCap = -1 num = 0 #while self.faceRecogn.speaking: # pass self.motion.moveTo(0.1, 0, 0, [ ["MaxStepX", 0.02], # step of 2 cm in front ["MaxStepY", 0.04], # default value ["MaxStepTheta", 0.4], # default value ["MaxStepFrequency", 0.0], # low frequency ["StepHeight", 0.01], # step height of 1 cm ["TorsoWx", 0.0], # default value ["TorsoWy", 0.1] ]) # torso bend 0.1 rad in front #while self.faceRecogn.speaking: # pass self.motion.angleInterpolation( ["HeadYaw", ], [math.radians(90*sensRotireCap)], [15], True) time.sleep(3) print "Search again" self.faceRecogn.isRunning = self.faceRecogn.isRunning & self.running self.postureProxy.goToPosture("Crouch", 0.5) def reset(self): self.running = False def set(self): self.running = True
def __init__(self, description): super(StoppableThread, self).__init__() self.running = False self.faceRecogn = FaceRecognitionHandler() self.motion = ALProxy("ALMotion", "nao.local", 9559) self.postureProxy = ALProxy("ALRobotPosture", "nao.local", 9559)