def main():
global safe_file
global verbose
# Parse command-line.
args = parse_args()
safe_file = args.safe_file
verbose = args.verbose
# Verify .safe file.
verify_safe(safe_file, args.signature)
# Update robot.
try:
pycozmo.run_program(update,
protocol_log_level="INFO",
robot_log_level="DEBUG",
auto_initialize=False)
except Exception as e:
print("ERROR: {}".format(e))
sys.exit(3)
import time
import pycozmo
def on_camera_image(cli, image):
del cli
image.save("camera.png", "PNG")
def pycozmo_program(cli):
angle = (pycozmo.robot.MAX_HEAD_ANGLE_RAD - pycozmo.robot.MIN_HEAD_ANGLE_RAD) / 2
pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
cli.send(pkt)
pkt = pycozmo.protocol_encoder.EnableCamera(enable=True)
cli.send(pkt)
# Wait for image to stabilize.
time.sleep(1.5)
cli.add_handler(pycozmo.client.EvtNewRawCameraImage, on_camera_image, one_shot=True)
# Wait for image to be captured.
time.sleep(1)
pycozmo.run_program(pycozmo_program)
#!/usr/bin/env python
import time
import pycozmo
def pycozmo_program(cli: pycozmo.client.Client):
# Load animations - one time.
cli.load_anims("com.anki.cozmo/files/cozmo/cozmo_resources/assets/animations/")
# Print the names of all available animations.
names = cli.get_anim_names()
for name in sorted(names):
print(name)
time.sleep(2)
# Play an animation.
cli.play_anim("anim_launch_wakeup_01")
pycozmo.run_program(pycozmo_program, protocol_log_level="DEBUG")
import pycozmo
e = Event()
def on_nv_storage_op_result(cli: pycozmo.client.Client,
pkt: pycozmo.protocol_encoder.NvStorageOpResult):
del cli
print(pkt.result)
print(pkt.data)
if pkt.result != pycozmo.protocol_encoder.NvResult.NV_MORE:
e.set()
def pycozmo_program(cli: pycozmo.client.Client):
cli.conn.add_handler(pycozmo.protocol_encoder.NvStorageOpResult,
on_nv_storage_op_result)
pkt = pycozmo.protocol_encoder.NvStorageOp(
tag=pycozmo.protocol_encoder.NvEntryTag.NVEntry_CameraCalib,
length=1,
op=pycozmo.protocol_encoder.NvOperation.NVOP_READ)
cli.conn.send(pkt)
e.wait(timeout=20.0)
pycozmo.run_program(pycozmo_program, log_level="DEBUG")
# (0, 0) coordinate.
display_surface.blit(cv2ImageToSurface(im), (0, 0))
display_surface.blit(cv2ImageToSurface(cropped), (0,240))
# draw the distance detecting image
display_surface.blit(cv2ImageToSurface(boxImg), (0, 480))
# Draws the surface object to the screen.
pygame.display.update()
# iterate over the list of Event objects
# that was returned by pygame.event.get() method.
for event in pygame.event.get() :
# if event object type is QUIT
# then quitting the pygame
# and program both.
if event.type == pygame.QUIT :
# deactivates the pygame library
pygame.quit()
# quit the program.
quit()
# Run with 25 FPS.
time.sleep(1 / 25)
pycozmo.run_program(pycozmo_program, protocol_log_level="INFO", robot_log_level="DEBUG")
print("Stopped moving.")
def pycozmo_program(cli: pycozmo.client.Client):
cli.conn.add_handler(pycozmo.protocol_encoder.RobotState,
on_robot_state,
one_shot=True)
cli.conn.add_handler(pycozmo.protocol_encoder.RobotPoked, on_robot_poked)
cli.conn.add_handler(pycozmo.protocol_encoder.FallingStarted,
on_robot_falling_started)
cli.conn.add_handler(pycozmo.protocol_encoder.FallingStopped,
on_robot_falling_stopped)
cli.conn.add_handler(pycozmo.protocol_encoder.ButtonPressed,
on_button_pressed)
cli.add_handler(pycozmo.event.EvtRobotPickedUpChange, on_robot_picked_up)
cli.add_handler(pycozmo.event.EvtRobotChargingChange, on_robot_charging)
cli.add_handler(pycozmo.event.EvtCliffDetectedChange, on_cliff_detected)
cli.add_handler(pycozmo.event.EvtRobotWheelsMovingChange,
on_robot_wheels_moving)
while True:
try:
time.sleep(0.1)
except KeyboardInterrupt:
break
# Change the robot log level to DEBUG to see robot debug messages related to events.
pycozmo.run_program(pycozmo_program, robot_log_level="INFO")
