def __init__(self):
super(Nao, self).__init__()
self._isConnected = False
self._naoBroker = None
self._camera = NaoCamera()
self._behaviorProxy = None
self._motion = None
self._motionProxy = None
self._speechProxy = None
self._ledProxy = None
self._stiffness = 0.0
self._motionId = 0
self._sayId = 0
self._sayToFile = False
NaoMotionList.initialize()
class Nao(QtCore.QObject):
connected = QtCore.pyqtSignal()
disconnected = QtCore.pyqtSignal()
stiffnessChanged = QtCore.pyqtSignal(float)
def __init__(self):
super(Nao, self).__init__()
self._isConnected = False
self._naoBroker = None
self._camera = NaoCamera()
self._behaviorProxy = None
self._motion = None
self._motionProxy = None
self._speechProxy = None
self._ledProxy = None
self._stiffness = 0.0
self._motionId = 0
self._sayId = 0
self._sayToFile = False
NaoMotionList.initialize()
# END __init__()
def __del__(self):
NaoMotionList.destroy()
# END __del__()
# noinspection PyUnusedLocal
def connect(self, ipAddress, port, camIpAddr, camPort, ttsIpAddr, ttsPort):
self._naoBroker = naoqi.ALBroker("NaoBroker", "0.0.0.0", 0, ipAddress, port)
print " > Loading Camera..."
# TODO: using camIpAddr and camPort
self._camera.start()
print " > " + str(self._camera.getCameraProxy())
print " > Loading Text To Speech..."
if ipAddress == ttsIpAddr:
self._speechProxy = naoqi.ALProxy("ALTextToSpeech")
self._sayToFile = False
else:
self._speechProxy = naoqi.ALProxy("ALTextToSpeech", ttsIpAddr, ttsPort)
self._sayToFile = True
# END if
self._speechProxy.setVolume(0.85)
print " > " + str(self._speechProxy)
print " > Loading Behaviors..."
self._behaviorProxy = naoqi.ALProxy("ALBehaviorManager")
print " > " + str(self._behaviorProxy)
print " > Loading Motion..."
self._motionProxy = naoqi.ALProxy("ALMotion")
print " > " + str(self._motionProxy)
print " > Loading LEDs..."
self._ledProxy = naoqi.ALProxy("ALLeds")
print " > " + str(self._ledProxy)
self._isConnected = True
self.connected.emit()
return True
# END connect()
def disconnect(self):
self._motionProxy.setStiffnesses("Body", 0.0)
self._motionProxy.setStiffnesses("Head", 0.0)
self._isConnected = False
self._ledProxy = None
self._speechProxy = None
self._motionProxy = None
self._behaviorProxy = None
self._camera.stop()
self._naoBroker.shutdown()
self._naoBroker = None
self.disconnected.emit()
# END disconnect()
def isConnected(self):
return self._isConnected
# END isConnected()
def getCamera(self):
return self._camera
# END getCamera()
def getInstalledBehaviors(self):
return self._behaviorProxy.getInstalledBehaviors()
# END getInstalledBehaviors()
def behavior(self, bhv, post):
postId = self._behaviorProxy.post.runBehavior(bhv)
if not post:
self._behaviorProxy.wait(postId, 0)
# END if
# END behavior()
def motion(self, motion, post):
self._motion = naoqi.ALProxy("ALMotion")
if motion.getMethod() == NaoMotion.METHOD_BEZIER:
self._motionId = self._motion.post.angleInterpolationBezier(
motion.getNames(), motion.getTimes(), motion.getKeys()
)
else:
self._motionId = self._motion.post.angleInterpolation(
motion.getNames(), motion.getKeys(), motion.getTimes(), True
)
# END if
if not post:
self._motion.wait(self._motionId, 0)
# END if
# END motion()
def say(self, msg, post):
if self._sayToFile:
self._speechProxy.sayToFile(msg, "/tmp/fifo.raw")
self._sayId = None
post = True
else:
self._sayId = self._speechProxy.post.say(msg)
# END if
if not post:
self._speechProxy.wait(self._sayId, 0)
# END if
# END say()
def stopMoving(self):
if self._motion is not None:
self._motion.stopMove()
self._motion = None
# END if
# END stopMoving()
def stopSaying(self):
if self._speechProxy is not None:
self._speechProxy.stop(self._sayId)
# END if
# END stopSaying()
def wait(self, moving=True, saying=True):
if moving and self._motion is not None:
self._motion.wait(self._motionId, 0)
self._motion = None
# END if
if saying:
self._speechProxy.wait(self._sayId, 0)
# END if
# END wait()
def LEDNormal(self):
self.LEDsetIntensity(LEDNames.Face, 1.0, True)
self.LEDfadeRGB(LEDNames.Chest, 0x0000FF00, 0.5, True)
self.LEDfadeRGB(LEDNames.LeftEar, 0x00FF6100, 0.5, True)
self.LEDfadeRGB(LEDNames.RightEar, 0x00FF6100, 0.5, True)
# END LEDNormal()
def LEDfadeIntensity(self, name, intensity, seconds, post):
if not post:
self._ledProxy.fade(name, intensity, seconds)
else:
self._ledProxy.post.fade(name, intensity, seconds)
# END if
# END LEDfadeIntensity()
def LEDfadeRGB(self, name, rgb, seconds, post):
if not post:
self._ledProxy.fadeRGB(name, rgb, seconds)
else:
self._ledProxy.post.fadeRGB(name, rgb, seconds)
# END if
# END LEDfadeRGB()
def LEDsetIntensity(self, name, intensity, post):
if not post:
self._ledProxy.setIntensity(name, intensity)
else:
self._ledProxy.post.setIntensity(name, intensity)
# END if
# END LEDsetIntensity()
def LEDrandomEyes(self, duration, post):
if not post:
self._ledProxy.randomEyes(duration)
else:
self._ledProxy.post.randomEyes(duration)
# END if
# END LEDrandomEyes()
def tiltHeadUp(self):
self._motionProxy.changeAngles("HeadPitch", -0.20, 0.10)
# END tiltHeadUp()
def tiltHeadDown(self):
self._motionProxy.changeAngles("HeadPitch", 0.20, 0.10)
# END tiltHeadDown()
def turnHeadLeft(self):
self._motionProxy.changeAngles("HeadYaw", 0.20, 0.10)
# END turnHeadLeft()
def turnHeadRight(self):
self._motionProxy.changeAngles("HeadYaw", -0.20, 0.10)
# END turnHeadRight()
def setStiffness(self, stiffness):
if self._stiffness < stiffness:
if stiffness > 1.0:
stiffness = 1.0
# END if
while self._stiffness < stiffness:
self._stiffness += 0.05
if self._stiffness > 1.0:
self._stiffness = 1.0
# END if
self._motionProxy.setStiffnesses("Body", self._stiffness)
# END while
else:
if stiffness < 0.0:
stiffness = 0.0
# END if
while self._stiffness > stiffness:
self._stiffness -= 0.05
if self._stiffness < 0.0:
self._stiffness = 0.0
# END if
self._motionProxy.setStiffnesses("Body", self._stiffness)
# END while
# END if
self._stiffness = stiffness
self._motionProxy.setStiffnesses("Body", self._stiffness)
self.stiffnessChanged.emit(stiffness)
# END setStiffness()
def setVolume(self, volume):
self._speechProxy.setVolume(volume)
