class BrainProxy():
def __init__(self):
self.init_logger()
self.read_config()
self.log.info("Brain Proxy started")
self.host_name = str(self.config['serverHostName'])
# self.host_name = "nao2.local"
self.naoqi_port = int(self.config['naoQiPort'])
self.naoMotion = NaoMotion(self.host_name, self.naoqi_port)
self.ttsProxy = ALProxy("ALTextToSpeech", self.host_name, self.naoqi_port)
websocket.enableTrace(False)
self.ws_uri = "ws://localhost:" + str(self.config['websocketPort'])
self.ws = websocket.WebSocketApp(self.ws_uri,
on_message=self.on_message,
on_error=self.on_error,
on_close=self.on_close)
self.ws.on_open = self.on_open
self.ws.run_forever()
def on_message(self, ws, message):
self.log.info("Received : " + message)
sign = str(json.loads(message)['GESTURE'])
self.ttsProxy.say(sign)
# time.sleep(3)
self.log.info("Message sent to Al-TTS")
# self.naoMotion.handGesture(data)
self.naoMotion.walk(sign)
def on_error(self, ws, error):
print error
def on_close(self, ws):
self.log.info("Connection closed")
def on_open(self, ws):
self.ws.send("AL")
self.log.info("Connected to Brain")
def read_config(self):
with open('../config/hri.json') as config_file:
self.config = json.load(config_file)
self.log.info("Config file parsed")
def init_logger(self):
# logging.basicConfig()
self.log = logging.getLogger('brain')
self.log.setLevel(logging.INFO)
format = logging.Formatter("%(asctime)s - %(name)s - %(levelname)s - %(message)s")
ch = logging.StreamHandler(sys.stdout)
ch.setFormatter(format)
self.log.addHandler(ch)
def __init__(self):
self.init_logger()
self.read_config()
self.log.info("Command module started")
self.host_name = str(self.config['serverHostName'])
# self.host_name = "nao5.local"
self.naoqi_port = int(self.config['naoQiPort'])
self.naoMotion = NaoMotion(self.host_name, self.naoqi_port)
websocket.enableTrace(False)
self.ws_uri = "ws://localhost:" + str(self.config['websocketPort'])
self.ws = websocket.WebSocketApp(self.ws_uri,
on_message=self.on_message,
on_error=self.on_error,
on_close=self.on_close)
self.ws.on_open = self.on_open
self.ws.run_forever()
def __init__(self):
self.init_logger()
self.read_config()
self.log.info("Command module started")
self.host_name = str(self.config['serverHostName'])
# self.host_name = "nao5.local"
self.naoqi_port = int(self.config['naoQiPort'])
self.naoMotion = NaoMotion(self.host_name, self.naoqi_port)
websocket.enableTrace(False)
self.ws_uri = "ws://localhost:" + str(self.config['websocketPort'])
self.ws = websocket.WebSocketApp(self.ws_uri,
on_message=self.on_message,
on_error=self.on_error,
on_close=self.on_close)
self.ws.on_open = self.on_open
self.ws.run_forever()
class CommandModule():
def __init__(self):
self.init_logger()
self.read_config()
self.log.info("Command module started")
self.host_name = str(self.config['serverHostName'])
# self.host_name = "nao5.local"
self.naoqi_port = int(self.config['naoQiPort'])
self.naoMotion = NaoMotion(self.host_name, self.naoqi_port)
websocket.enableTrace(False)
self.ws_uri = "ws://localhost:" + str(self.config['websocketPort'])
self.ws = websocket.WebSocketApp(self.ws_uri,
on_message=self.on_message,
on_error=self.on_error,
on_close=self.on_close)
self.ws.on_open = self.on_open
self.ws.run_forever()
# When message received, command Nao Action
def on_message(self, ws, message):
self.log.info("Received : " + message)
msg = json.loads(message)
if "INFO" in msg:
if "FOV" not in msg['INFO']:
info = str(msg['INFO'])
self.naoMotion.gesture_to_speech(info)
if info == "Both hands are lost":
self.naoMotion.reset_hand()
elif "GESTURE" in msg:
sign = str(msg['GESTURE'])
if sign == "CLICK":
sign = "Wake Up"
self.naoMotion.gesture_to_speech(sign)
self.naoMotion.click_wake_up()
else:
self.naoMotion.gesture_to_speech(sign)
# self.naoMotion.gesture_to_motion(sign)
self.naoMotion.gesture_to_gesture(sign)
def on_error(self, ws, error):
print error
def on_close(self, ws):
self.log.info("Connection closed")
def on_open(self, ws):
self.ws.send("AL")
self.log.info("Connected to Brain")
# Read the common config file
def read_config(self):
with open('../config/hri.json') as config_file:
self.config = json.load(config_file)
self.log.info("Config file parsed")
# Initiate the logger with basic config
def init_logger(self):
logging.basicConfig()
self.log = logging.getLogger('command')
self.log.setLevel(logging.INFO)
format = logging.Formatter("%(asctime)s - %(name)s - %(levelname)s - %(message)s")
ch = logging.StreamHandler(sys.stdout)
ch.setFormatter(format)
self.log.addHandler(ch)
class CommandModule():
def __init__(self):
self.init_logger()
self.read_config()
self.log.info("Command module started")
self.host_name = str(self.config['serverHostName'])
# self.host_name = "nao5.local"
self.naoqi_port = int(self.config['naoQiPort'])
self.naoMotion = NaoMotion(self.host_name, self.naoqi_port)
websocket.enableTrace(False)
self.ws_uri = "ws://localhost:" + str(self.config['websocketPort'])
self.ws = websocket.WebSocketApp(self.ws_uri,
on_message=self.on_message,
on_error=self.on_error,
on_close=self.on_close)
self.ws.on_open = self.on_open
self.ws.run_forever()
# When message received, command Nao Action
def on_message(self, ws, message):
self.log.info("Received : " + message)
msg = json.loads(message)
if "INFO" in msg:
if "FOV" not in msg['INFO']:
info = str(msg['INFO'])
self.naoMotion.gesture_to_speech(info)
if info == "Both hands are lost":
self.naoMotion.reset_hand()
elif "GESTURE" in msg:
sign = str(msg['GESTURE'])
if sign == "CLICK":
sign = "Wake Up"
self.naoMotion.gesture_to_speech(sign)
self.naoMotion.click_wake_up()
else:
self.naoMotion.gesture_to_speech(sign)
# self.naoMotion.gesture_to_motion(sign)
self.naoMotion.gesture_to_gesture(sign)
def on_error(self, ws, error):
print error
def on_close(self, ws):
self.log.info("Connection closed")
def on_open(self, ws):
self.ws.send("AL")
self.log.info("Connected to Brain")
# Read the common config file
def read_config(self):
with open('../config/hri.json') as config_file:
self.config = json.load(config_file)
self.log.info("Config file parsed")
# Initiate the logger with basic config
def init_logger(self):
logging.basicConfig()
self.log = logging.getLogger('command')
self.log.setLevel(logging.INFO)
format = logging.Formatter(
"%(asctime)s - %(name)s - %(levelname)s - %(message)s")
ch = logging.StreamHandler(sys.stdout)
ch.setFormatter(format)
self.log.addHandler(ch)
