from naoutil import broker
import naoutil.naoenv as naoenv
import naoutil.memory as memory
from fluentnao.nao import Nao
from startrek import Startrek
#########################
# SETUP
#########################
# Broker (must come first)
naoIp = "nao.local"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
# FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
nao = Nao(env, log)
#########################
# GO
#########################
# create greeter
startrek = Startrek(nao)
nao.say('touch my front head sensor to start')
nao.wait(2)
nao.say('rear head sensor to stop')
from providers.face_recog_provider import FaceRecogProvider
from providers.voice_recog_provider import VoiceRecogProvider
#from providers.voice_emotion_provider import VoiceEmotionProvider
#########################
# SETUP: Broker
naoIp = "192.168.1.18"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
#########################
# SETUP: FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
n = Nao(env, log)
# disable autonomous moves
n.env.add_proxy("ALAutonomousMoves")
autonomous_moves = n.env.proxies["ALAutonomousMoves"]
autonomous_moves.setExpressiveListeningEnabled(False)
#########################
# SETUP: Nao Consious
#============
# subscribers
sleepy_subscriber = SleepySubscriber(n)
look_around_subscriber = LookAroundSubscriber(n)
greeting_subscriber = GreetingSubscriber(n)
star_trek_subscriber = StarTrekSubscriber(n)
from naoutil import broker
import naoutil.naoenv as naoenv
import naoutil.memory as memory
from fluentnao.nao import Nao
from startrek import Startrek
#########################
# SETUP
#########################
# Broker (must come first)
naoIp = "nao.local"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
# FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
nao = Nao(env, log)
#########################
# GO
#########################
# create greeter
startrek = Startrek(nao)
nao.say('touch my front head sensor to start')
nao.wait(2)
nao.say('rear head sensor to stop')
from fluentnao.nao import Nao
from autonao.facerecog import FaceRecog
from autonao.greet import Greet
from autonao.autobody import Autobody
#########################
# SETUP
#########################
# Broker (must come first)
naoIp = "192.168.2.10"
broker.Broker('bootstrapBroker', naoIp=naoIp, naoPort=9559)
# FluentNao
env = naoenv.make_environment(None)
log = lambda msg: print(msg) # lambda for loggin to the console
nao = Nao(env, log)
#########################
# GO
#########################
# create greeter
greeter = Greet(nao)
# subscribe to face recog
faceRecog = FaceRecog(nao, memory)
faceRecog.add_subscriber(greeter)
Autobody(nao)
class NaoAgent(Agent):
def __init__(self, name, host, secret, selfIP, graphplan, actionplan,
pathplan):
self.naoqiInit(selfIP)
behaviours = [
SystemCore(),
TaskExecutor(),
self.createEventFSMBehaviour(),
Communicator()
]
Agent.__init__(self, name, host, secret, graphplan, actionplan,
pathplan, behaviours)
if pathplan != "":
self.initPathPlan(pathplan)
EVENT_ORDER_LISTEN = "EVENT_ORDER_LISTEN"
EVENT_ORDER_SIT_DOWN = "EVENT_ORDER_SIT_DOWN"
EVENT_ORDER_STAND_UP = "EVENT_ORDER_STAND_UP"
EVENT_ORDER_SAY_HI = "EVENT_ORDER_SAY_HI"
EVENT_SALLE_1_RAPHAEL = "EVENT_SALLE_1_RAPHAEL"
EVENT_SALLE_2_RAPHAEL = "EVENT_SALLE_2_RAPHAEL"
EVENT_SALLE_3_RAPHAEL = "EVENT_SALLE_3_RAPHAEL"
EVENT_SALLE_1_SAMIRA = "EVENT_SALLE_1_SAMIRA"
EVENT_SALLE_2_SAMIRA = "EVENT_SALLE_2_SAMIRA"
EVENT_SALLE_3_SAMIRA = "EVENT_SALLE_3_SAMIRA"
EVENT_RASSEMBLEMENT = "EVENT_RASSEMBLEMENT"
EVENT_POUSSEZ = "EVENT_POUSSEZ"
EVENT_TURTLE_MOVE = "EVENT_TURTLE_MOVE"
EVENT_TURTLE_PUSH = "EVENT_TURTLE_PUSH"
EVENT_MOVE = "EVENT_MOVE"
# will add a kind of map to the Agent
# this is intended to Nao only, since it has no navigation functions natively
# turtlebot has one and (even if possible) will not use this
def initPathPlan(self, pathplan):
self.pathfinder = PathPlan()
self.pathfinder.loadFromFile(pathplan)
def listenCall(self, myAgent, inputs, eventInputs):
myAgent.log("listen Call", "LISTEN_CALL")
def listenOrder(self, myAgent, inputs, eventInputs):
myAgent.log("listenOrder", "LISTEN_ORDER")
myAgent.say("i am listening")
def sitDown(self, myAgent, inputs, eventInputs):
myAgent.log("sitDown", "SIT_DOWN")
myAgent.nao.sit()
return 0
def standUp(self, myAgent, inputs, eventInputs):
myAgent.log("standUp", "STAND_UP")
myAgent.nao.stand()
return 0
def sayHi(self, myAgent, inputs, eventInputs):
myAgent.log("sayHi", "SAY_HI")
myAgent.sayAnimated(
"^start(animations/Stand/Gestures/Hey_1) Hello ! ^wait(animations/Stand/Gestures/Hey_1)"
)
return 0
def createTurtleOrder(self, turtleName, orderName, data):
def action(myAgent, inputs, eventInputs):
myAgent.say(turtleName + " go to " + self.destinationSpeech[data])
myAgent.behaviours["Communicator"].sendMoveOrder(turtleName, data)
return 0
return action
def sendGatherOrder(self, myAgent, inputs, eventInputs):
myAgent.log("send gather order", "OnGatherOrder")
communicator = myAgent.behaviours["Communicator"]
myAgent.say("Turtles ! Gather yourselves !")
communicator.sendGatherOrder()
return 0
def sendPushOrder(self, myAgent, inputs, eventInputs):
myAgent.log("send push order", "OnPushOrder")
communicator = myAgent.behaviours["Communicator"]
myAgent.say("Tortues poussez la boite!")
communicator.sendPushOrder()
return 0
def onHumanMoveEvent(self, myAgent, inputs, eventInputs):
msg = eventInputs[0]
content = msg.getContent().replace("\\\"", '"')
content = myAgent.parseAclMessageContent(content, True)
myAgent.log(content, "OnHumanMoveEvent")
myAgent.say("The camera indicates a change.")
pourcentage = int(float(content["prob"]) * 100)
speechBegin = "It detects "
speechEnd = " with " + str(pourcentage) + " percent of fiability."
if content["action"] == "detect_faces":
if content["nbFaces"] == 0:
myAgent.say("It detects no one")
elif content["nbFaces"] == 1:
if content["nbMale"] == 1:
myAgent.say("a man " + speechEnd)
else:
myAgent.say("a woman " + speechEnd)
else:
speech = speechBegin + str(
content["nbFaces"]) + " persons including " + str(
content["nbMale"]) + " men et " + str(
content["nbFemale"]) + " wemen" + str(speechEnd)
myAgent.say(speech)
else:
print content["classes"]
if len(content["classes"]) > 0:
speech = speechBegin + " the following things: " + ", ".join(
content["classes"])
else:
speech = "It detects nothing."
myAgent.say(speech)
def onTurtleMoveEvent(self, myAgent, inputs, eventInputs):
myAgent.log(str(eventInputs[0]), "OnTurtleMoveEvent")
msg = eventInputs[0]
communicator = myAgent.behaviours["Communicator"]
senderName = communicator.getSenderName(msg.getSender())
content = myAgent.parseAclMessageContent(msg)
actionName = content["action"]
status = content["status"]
if status == "succeeded":
speech = " has succeeded to go "
else:
speech = " has failed to go "
if actionName == "goNear":
speech = senderName + speech + " Near " + communicator.getOtherTurtleName(
senderName)
else:
speech = senderName + speech + " to " + myAgent.destinationSpeech[
actionName]
myAgent.say(speech)
def onTurtlePushEvent(self, myAgent, inputs, eventInputs):
myAgent.log("", "onTurtlePushEvent")
msg = eventInputs[0]
content = myAgent.parseAclMessageContent(msg)
status = content["status"]
if status != "succeeded":
speech = "Les tortues n'ont pas réussi à pousser la boîte"
else:
speech = "Les tortues ont réussi à pousser la boîte"
myAgent.say(speech)
def naoqiInit(self, selfIP):
speechEvents = dict()
speechEvents["nao listen"] = [NaoAgent.EVENT_ORDER_LISTEN, .37]
speechEvents["Hello nao"] = [NaoAgent.EVENT_ORDER_SAY_HI, .40]
speechEvents["sit down"] = [NaoAgent.EVENT_ORDER_SIT_DOWN, .40]
speechEvents["Stand up"] = [NaoAgent.EVENT_ORDER_STAND_UP, .30]
speechEvents["Tell Raphael to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_RAPHAEL, .27
]
speechEvents["Tell Raphael to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_RAPHAEL, .30
]
speechEvents["Tell Raphael to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_RAPHAEL, .30
]
speechEvents["Tell Samira to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_SAMIRA, .27
]
speechEvents["Tell Samira to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_SAMIRA, .30
]
speechEvents["Tell Samira to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_SAMIRA, .30
]
speechEvents["Tell one turtle to go near the other"] = [
NaoAgent.EVENT_RASSEMBLEMENT, .35
]
# rajout pour tester. Fabrice Gaignier
speechEvents["Turtles push the box"] = [NaoAgent.EVENT_POUSSEZ, .30]
# callbacks
def recognitionCallback(dataName, value, message):
d = dict(zip(value[0::2], value[1::2]))
self.lock.acquire()
if not self.isListening:
self.isListening = True
self.lock.release()
return
self.lock.release()
for word in d:
self.log(word + " " + str(d[word]))
if d[word] > speechEvents[word][1]:
self.log(speechEvents[word][0])
self.raiseEvent(speechEvents[word][0])
return
self.say("I did not understand")
def speechCallback(eventName, value, subscriberIdentifier):
if value[1] in ["thrown", "stopped", "done"
] and not self.isAnimatedSay:
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(2)
self.lock.acquire()
self.isListening = True
self.lock.release()
def animatedSpeechCallback(eventName, taskId, subscriberIdentifier):
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(5)
self.lock.acquire()
self.isListening = True
self.lock.release()
def touchChangeCallback(eventName, touchInfo, subscriberIdentifier):
for i in touchInfo:
self.log(i)
def rigthHandCallback(eventName, val, subscriberIdentifier):
self.log(val)
self.ip = selfIP
self.broker = Broker('bootstrapBroker', naoIp=self.ip, naoPort=9559)
# FluentNao
self.nao = Nao(naoenv.make_environment(None))
#self.nao.env.tts.setLanguage(language)
self.memory = memory
self.lock = Lock()
self.isListening = True
vocabulary = []
vocabulary.extend(speechEvents.keys())
try:
self.nao.env.speechRecognition.pause(False)
self.nao.env.speechRecognition.setVocabulary(vocabulary, False)
except RuntimeError as e:
self.nao.env.speechRecognition.pause(False)
self.log(e.message, "RuntimeError")
self.memory.subscribeToEvent('WordRecognized', recognitionCallback)
self.memory.subscribeToEvent('ALTextToSpeech/Status', speechCallback)
self.memory.subscribeToEvent('ALAnimatedSpeech/EndOfAnimatedSpeech',
animatedSpeechCallback)
# self.memory.subscribeToEvent('TouchChanged', touchChangeCallback)
# self.memory.subscribeToEvent('HandRightBackTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightLeftTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightRightTouched', rigthHandCallback)
self.destinationSpeech = dict()
self.destinationSpeech["salle1"] = "the room 1"
self.destinationSpeech["salle2"] = "the room 2"
self.destinationSpeech["salle3"] = "the room 3"
self.destinationSpeech["principale"] = "the principal room"
self.cameraEventSpeech = defaultdict(lambda: "")
self.cameraEventSpeech[
"moveIn"] = "La camera m'indique que quelqu'un est entré dans l'espace"
self.cameraEventSpeech[
"moveOut"] = "La camera m'indique que quelqu'un est sorti de l'espace"
def createEventFSMBehaviour(self):
LISTEN_CALL = "LISTEN_CALL"
LISTEN_ORDER = "LISTEN_ORDER"
SIT_DOWN = "SIT_DOWN"
STAND_UP = "STAND_UP"
SAY_HI = "SAY_HI"
RAPHAEL_SALLE_1 = "RAPHAEL_SALLE_1"
RAPHAEL_SALLE_2 = "RAPHAEL_SALLE_2"
RAPHAEL_SALLE_3 = "RAPHAEL_SALLE_3"
SAMIRA_SALLE_1 = "SAMIRA_SALLE_1"
SAMIRA_SALLE_2 = "SAMIRA_SALLE_2"
SAMIRA_SALLE_3 = "SAMIRA_SALLE_3"
RASSEMBLEMENT = "RASSEMBLEMENT"
POUSSEZ = "POUSSEZ"
ON_MOVE_EVENT = "ON_MOVE_EVENT"
ON_TURTLE_MOVE_EVENT = "ON_TURTLE_MOVE_EVENT"
ON_TURTLE_PUSH_EVENT = "ON_TURTLE_PUSH_EVENT"
INIT = "INIT"
def init(myAgent, inputs, eventInputs):
self.log("init", "START_STATE")
evfsm = EventFSMBehaviour("Liveness")
evfsm.createState(INIT, init)
evfsm.createState(LISTEN_CALL, NaoAgent.listenCall)
evfsm.createState(LISTEN_ORDER, NaoAgent.listenOrder)
evfsm.createState(SIT_DOWN, NaoAgent.sitDown)
evfsm.createState(STAND_UP, NaoAgent.standUp)
evfsm.createState(SAY_HI, NaoAgent.sayHi)
evfsm.createState(
RAPHAEL_SALLE_1,
self.createTurtleOrder("raphael", Vocabulary.GOTO, "salle1"))
evfsm.createState(
RAPHAEL_SALLE_2,
self.createTurtleOrder("raphael", Vocabulary.GOTO, "salle2"))
evfsm.createState(
RAPHAEL_SALLE_3,
self.createTurtleOrder("raphael", Vocabulary.GOTO, "salle3"))
evfsm.createState(
SAMIRA_SALLE_1,
self.createTurtleOrder("samira", Vocabulary.GOTO, "salle1"))
evfsm.createState(
SAMIRA_SALLE_2,
self.createTurtleOrder("samira", Vocabulary.GOTO, "salle2"))
evfsm.createState(
SAMIRA_SALLE_3,
self.createTurtleOrder("samira", Vocabulary.GOTO, "salle3"))
evfsm.createState(RASSEMBLEMENT, NaoAgent.sendGatherOrder)
# need something more advanced
evfsm.createState(POUSSEZ, NaoAgent.sendPushOrder)
evfsm.createState(ON_MOVE_EVENT, NaoAgent.onHumanMoveEvent)
evfsm.createState(ON_TURTLE_MOVE_EVENT, NaoAgent.onTurtleMoveEvent)
evfsm.createState(ON_TURTLE_PUSH_EVENT, NaoAgent.onTurtlePushEvent)
evfsm.createWaitingTransition(INIT, ON_MOVE_EVENT, NaoAgent.EVENT_MOVE)
evfsm.createWaitingTransition(INIT, ON_TURTLE_MOVE_EVENT,
NaoAgent.EVENT_TURTLE_MOVE)
evfsm.createWaitingTransition(INIT, ON_TURTLE_PUSH_EVENT,
NaoAgent.EVENT_TURTLE_PUSH)
evfsm.createWaitingTransition(INIT, LISTEN_CALL)
evfsm.createWaitingTransition(ON_MOVE_EVENT, ON_MOVE_EVENT,
NaoAgent.EVENT_MOVE)
evfsm.createWaitingTransition(ON_TURTLE_MOVE_EVENT,
ON_TURTLE_MOVE_EVENT,
NaoAgent.EVENT_TURTLE_MOVE)
evfsm.createWaitingTransition(ON_TURTLE_PUSH_EVENT,
ON_TURTLE_PUSH_EVENT,
NaoAgent.EVENT_TURTLE_PUSH)
evfsm.createMultiChoiceWaitingTransition()\
.fromState(LISTEN_CALL)\
.ifCondition(NaoAgent.EVENT_ORDER_LISTEN).goTo(LISTEN_ORDER)\
.elifCondition(NaoAgent.EVENT_ORDER_SAY_HI).goTo(SAY_HI) \
.create()
evfsm.createMultiChoiceWaitingTransition() \
.fromState(LISTEN_ORDER) \
.ifCondition(NaoAgent.EVENT_ORDER_SIT_DOWN).goTo(SIT_DOWN) \
.elifCondition(NaoAgent.EVENT_ORDER_STAND_UP).goTo(STAND_UP) \
.elifCondition(NaoAgent.EVENT_SALLE_1_RAPHAEL).goTo(RAPHAEL_SALLE_1) \
.elifCondition(NaoAgent.EVENT_SALLE_2_RAPHAEL).goTo(RAPHAEL_SALLE_2) \
.elifCondition(NaoAgent.EVENT_SALLE_3_RAPHAEL).goTo(RAPHAEL_SALLE_3) \
.elifCondition(NaoAgent.EVENT_SALLE_1_SAMIRA).goTo(SAMIRA_SALLE_1) \
.elifCondition(NaoAgent.EVENT_SALLE_2_SAMIRA).goTo(SAMIRA_SALLE_2) \
.elifCondition(NaoAgent.EVENT_SALLE_3_SAMIRA).goTo(SAMIRA_SALLE_3) \
.elifCondition(NaoAgent.EVENT_RASSEMBLEMENT).goTo(RASSEMBLEMENT) \
.elifCondition(NaoAgent.EVENT_POUSSEZ).goTo(POUSSEZ) \
.create()
evfsm.createSimpleTransition(SIT_DOWN, LISTEN_CALL, 0)
evfsm.createSimpleTransition(STAND_UP, LISTEN_CALL, 0)
evfsm.createSimpleTransition(SAY_HI, LISTEN_CALL, 0)
evfsm.createSimpleTransition(RAPHAEL_SALLE_1, LISTEN_CALL, 0)
evfsm.createSimpleTransition(RAPHAEL_SALLE_2, LISTEN_CALL, 0)
evfsm.createSimpleTransition(RAPHAEL_SALLE_3, LISTEN_CALL, 0)
evfsm.createSimpleTransition(SAMIRA_SALLE_1, LISTEN_CALL, 0)
evfsm.createSimpleTransition(SAMIRA_SALLE_2, LISTEN_CALL, 0)
evfsm.createSimpleTransition(SAMIRA_SALLE_3, LISTEN_CALL, 0)
evfsm.createSimpleTransition(RASSEMBLEMENT, LISTEN_CALL, 0)
evfsm.createSimpleTransition(POUSSEZ, LISTEN_CALL, 0)
evfsm.setStartingPoint(INIT)
return evfsm
def log(self, msg, module=""):
qi.logInfo(module, msg)
#print module, ":", msg
def say(self, text):
self.isAnimatedSay = False
self.log(text, "Say")
self.nao.say(text)
def sayAnimated(self, text):
self.isAnimatedSay = True
self.log(text, "Say")
self.nao.animate_say(text)
def parseAclMessageContent(self, aclMessage, isString=False):
def ascii_encode_dict(data):
if isinstance(data, dict):
return dict(
map(ascii_encode_dict, pair) for pair in data.items())
elif isinstance(data, list):
return [ascii_encode_dict(e) for e in data]
elif isinstance(data, unicode):
return data.encode('ascii')
else:
return data
try:
if not isString:
return json.loads(aclMessage.getContent(),
object_hook=ascii_encode_dict)
return json.loads(aclMessage, object_hook=ascii_encode_dict)
except Exception as e:
self.log(e.message, "Error: ")
return None
def takeDown(self):
print "TakeDown"
self.memory.unsubscribeToEvent('WordRecognized')
self.memory.unsubscribeToEvent('ALTextToSpeech/Status')
self.memory.unsubscribeToEvent('ALAnimatedSpeech/EndOfAnimatedSpeech')
# self.memory.unsubscribeToEvent('TouchChanged')
# self.memory.unsubscribeToEvent('HandRightBackTouched')
# self.memory.unsubscribeToEvent('HandRightLeftTouched')
# self.memory.unsubscribeToEvent('HandRightRightTouched')
self.broker.shutdown()
def naoqiInit(self, selfIP):
speechEvents = dict()
speechEvents["nao listen"] = [NaoAgent.EVENT_ORDER_LISTEN, .37]
speechEvents["Hello nao"] = [NaoAgent.EVENT_ORDER_SAY_HI, .40]
speechEvents["sit down"] = [NaoAgent.EVENT_ORDER_SIT_DOWN, .40]
speechEvents["Stand up"] = [NaoAgent.EVENT_ORDER_STAND_UP, .30]
speechEvents["Tell Raphael to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_RAPHAEL, .27
]
speechEvents["Tell Raphael to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_RAPHAEL, .30
]
speechEvents["Tell Raphael to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_RAPHAEL, .30
]
speechEvents["Tell Samira to go to the room number 1"] = [
NaoAgent.EVENT_SALLE_1_SAMIRA, .27
]
speechEvents["Tell Samira to go to the room number 2"] = [
NaoAgent.EVENT_SALLE_2_SAMIRA, .30
]
speechEvents["Tell Samira to go to the room number 3"] = [
NaoAgent.EVENT_SALLE_3_SAMIRA, .30
]
speechEvents["Tell one turtle to go near the other"] = [
NaoAgent.EVENT_RASSEMBLEMENT, .35
]
# rajout pour tester. Fabrice Gaignier
speechEvents["Turtles push the box"] = [NaoAgent.EVENT_POUSSEZ, .30]
# callbacks
def recognitionCallback(dataName, value, message):
d = dict(zip(value[0::2], value[1::2]))
self.lock.acquire()
if not self.isListening:
self.isListening = True
self.lock.release()
return
self.lock.release()
for word in d:
self.log(word + " " + str(d[word]))
if d[word] > speechEvents[word][1]:
self.log(speechEvents[word][0])
self.raiseEvent(speechEvents[word][0])
return
self.say("I did not understand")
def speechCallback(eventName, value, subscriberIdentifier):
if value[1] in ["thrown", "stopped", "done"
] and not self.isAnimatedSay:
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(2)
self.lock.acquire()
self.isListening = True
self.lock.release()
def animatedSpeechCallback(eventName, taskId, subscriberIdentifier):
self.lock.acquire()
self.isListening = False
self.lock.release()
sleep(5)
self.lock.acquire()
self.isListening = True
self.lock.release()
def touchChangeCallback(eventName, touchInfo, subscriberIdentifier):
for i in touchInfo:
self.log(i)
def rigthHandCallback(eventName, val, subscriberIdentifier):
self.log(val)
self.ip = selfIP
self.broker = Broker('bootstrapBroker', naoIp=self.ip, naoPort=9559)
# FluentNao
self.nao = Nao(naoenv.make_environment(None))
#self.nao.env.tts.setLanguage(language)
self.memory = memory
self.lock = Lock()
self.isListening = True
vocabulary = []
vocabulary.extend(speechEvents.keys())
try:
self.nao.env.speechRecognition.pause(False)
self.nao.env.speechRecognition.setVocabulary(vocabulary, False)
except RuntimeError as e:
self.nao.env.speechRecognition.pause(False)
self.log(e.message, "RuntimeError")
self.memory.subscribeToEvent('WordRecognized', recognitionCallback)
self.memory.subscribeToEvent('ALTextToSpeech/Status', speechCallback)
self.memory.subscribeToEvent('ALAnimatedSpeech/EndOfAnimatedSpeech',
animatedSpeechCallback)
# self.memory.subscribeToEvent('TouchChanged', touchChangeCallback)
# self.memory.subscribeToEvent('HandRightBackTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightLeftTouched', rigthHandCallback)
# self.memory.subscribeToEvent('HandRightRightTouched', rigthHandCallback)
self.destinationSpeech = dict()
self.destinationSpeech["salle1"] = "the room 1"
self.destinationSpeech["salle2"] = "the room 2"
self.destinationSpeech["salle3"] = "the room 3"
self.destinationSpeech["principale"] = "the principal room"
self.cameraEventSpeech = defaultdict(lambda: "")
self.cameraEventSpeech[
"moveIn"] = "La camera m'indique que quelqu'un est entré dans l'espace"
self.cameraEventSpeech[
"moveOut"] = "La camera m'indique que quelqu'un est sorti de l'espace"