class qrRetreiver:
"""docstring for qrRetreiver."""
def __init__(self):
"""instatiate qrRetreiver."""
"""class constructor."""
self.NAO_IP = "nao.local"
self.NAO_PORT = 9559
self.motion = ALProxy("ALMotion", "nao.local", self.NAO_PORT)
self.memory = ALProxy("ALMemory", self.NAO_IP, self.NAO_PORT)
self.nao = Nao()
pass
"""
REGION methodes
"""
def makeQr(self, text):
"""make a qrCode, with specified txt, returns it."""
code = pyqrcode.create(str(text))
code.png("./pics/" + str(text) + "_qr.png", scale=8)
content = open("./pics/" + str(text) + "_qr.png", "r").read()
return content
def getAll(self):
"""return all qrcodes."""
# reg = "(.*_qr)\.png\b"
reg = "*_qr.png"
ret_arr = []
for file in os.listdir("./pics"):
if fnmatch.fnmatch(file, reg):
ret_arr.append(file)
return ret_arr
def getImage(self):
"""main method, wait until qr code is found."""
period = 1000
qrCodeProxy = ALProxy("ALBarcodeReader", self.NAO_IP, self.NAO_PORT)
qrCodeProxy.subscribe("Testh_qr", period, 0.0)
detected = False
i = 0
while detected is False:
time.sleep(0.5)
val = self.memory.getData("BarcodeReader/BarcodeDetected")
print val
if val is not None:
if len(val) >= 1:
detected = True
todo = val[0][0]
ac = todo.split(" ", 1)
if len(ac) > 1:
action = self.nao.getAction().get(str(ac[0]))
action(str(ac[1]))
self.memory.insertData("BarcodeReader/BarcodeDetected", "")
else:
action = self.nao.getAction().get(todo)
action()
self.memory.insertData("BarcodeReader/BarcodeDetected", "")
i += 1
if i is 30:
detected = True
class _dialog(ALModule):
"""
class _dialog :wrapper arround naoqi events.
contains handlers for nao,callbacks called by server.py.
"""
def __init__(self, args):
"""class constructor."""
self.NAO_IP = "nao.local"
self.NAO_PORT = 9559
self.motion = ALProxy("ALMotion", "nao.local", self.NAO_PORT)
self.nao = Nao()
self.names = ["nathan", "michel", "sophie", "delphine"]
print "_dialog instance have been instanciated"
def __call__(self):
"""return instance, usefull if called from othet script."""
return self
def readInstuction(self):
"""reads, and returns jsonified isntructions."""
instru = json.loads(open('../dialog.json').read())
return instru
def stopDialog(self):
"""join the threads, will close when stop is heard."""
print "before join"
self.thread.join()
print "after join"
def updateJson(self, jsonFile):
"""write json file in dialog.json."""
f = open('../dialog.json', 'w')
print jsonFile
f.write(str(jsonFile))
def createsFaceEvent(self):
"""triger facecallback when face is detected."""
print "in face event"
self.memory = ALProxy("ALMemory", self.NAO_IP, self.NAO_PORT)
faceProxy = ALProxy("ALFaceDetection", self.NAO_IP, self.NAO_PORT)
period = 500
faceProxy.subscribe("Face_detect", period, 0.0)
detected = False
i = 0
while detected is False:
time.sleep(0.5)
val = self.memory.getData("FaceDetected")
if(val and isinstance(val, list) and len(val) >= 2):
self.faceCallback()
detected = True
else:
print "i can't see anyone right now"
i += 1
if (i is 30):
detected = True
self.nao.say("je n'ai vu personne , cliques sur le bouton réessayer")
def startReco(self):
"""spawn face event in a new Thread."""
print "will spawn thread"
self.thread = Thread(target=self.createsFaceEvent)
self.thread.start()
def getJson(self):
"""read and return dialog.json as a string."""
instru = open('../dialog.json').read()
return instru
def faceCallback(self):
"""function called when nao detects a face."""
print "face detected"
self.nao.say("j'ai vu quelqu'un")
self.vocabulary = ["stop"]
for line in self.readInstuction():
self.vocabulary.append(str(line))
print "instru :", line
# print "je suis pret"
self.nao.setVocabulary(self.vocabulary)
self.createVoiceEvent()
time.sleep(1)
def createVoiceEvent(self):
"""called to init voice event."""
voc_list = self.readInstuction()
WordRecognized = False
i = 0
end = True
while WordRecognized is False:
time.sleep(1)
val = self.memory.getData("WordRecognized")
anws = val[0]
# anws = raw_input("what didu say ?\n")
print "u said : ", anws
if anws == "stop":
self.nao.say("ok j'arette")
end = True
WordRecognized = True
elif (anws in self.names):
print "mmm ur called ", anws
self.nao.say("ha tu es" + anws)
end = False
self.memory.insertData("WordRecognized", " ")
elif anws != "auto":
if anws == "nao":
end = False
WordRecognized = True
self.nao.say("c'est moi !")
self.memory.insertData("WordRecognized", " ")
elif anws in self.vocabulary:
WordRecognized = True
end = False
# print voc_list[anws], anws
text = random.choice(voc_list[anws])
print "i'll say :", str(text['anwser'])
self.nao.say(str(text['anwser']))
ac = text['action'].split(" ", 1)
if len(ac) > 1:
action = self.nao.getAction().get(str(ac[0]))
if action is not None:
action(str(ac[1]))
elif len(ac) <= 0:
action = self.nao.getAction().get(str(text['action']))
if action is not None:
action()
self.memory.insertData("WordRecognized", " ")
else:
pass
else:
end = False
i += 1
if (i is 30):
WordRecognized = True
if end is False:
self.createVoiceEvent()
