class LedsActuator:
def __init__(self, proxy):
assert proxy.__class__ is ALProxy;
self.__proxy = proxy;
self.__ledsNames, self.__colorsNames = self.__getLedsNames();
self.__animation = Animation();
self.__parallelism = False;
def setParallelism(self, value):
self.__parallelism = value;
#test OK
def getLedsNames(self):
return self.__ledsNames;
#test OK
def __getLedsNames(self):
names = [];
colorsNames = {};
for i in range(1,9):
name = "RightFaceLed%s" %(i);
names.append(name);
degree = (i-1)*45;
red = "Face/Led/Red/Right/%sDeg/Actuator/Value" %(degree);
green = "Face/Led/Green/Right/%sDeg/Actuator/Value" %(degree);
blue = "Face/Led/Blue/Right/%sDeg/Actuator/Value" %(degree);
tab = [red,green,blue];
colorsNames[name] = tab;
for i in range(8,0,-1):
name = "LeftFaceLed%s" %(i);
names.append(name);
degree = (i-1)*45;
red = "Face/Led/Red/Left/%sDeg/Actuator/Value" %(degree);
green = "Face/Led/Green/Left/%sDeg/Actuator/Value" %(degree);
blue = "Face/Led/Blue/Left/%sDeg/Actuator/Value" %(degree);
tab = [red,green,blue];
colorsNames[name] = tab;
return names, colorsNames;
#test OK
def getLedName(self, ledsNumber):
assert ledsNumber < len(self.__ledsNames);
return self.__ledsNames[ledsNumber];
#test OK
def getLedsNumber(self):
return len(self.__ledsNames);
#test OK
def allLedsOn(self):
name = "FaceLeds";
self.__proxy.on(name);
#test OK
def rightLedsOn(self):
name = "RightFaceLeds";
self.__proxy.on(name);
#test OK
def leftLedsOn(self):
name = "LeftFaceLeds";
self.__proxy.on(name);
#test OK
def allLedsOff(self):
name = "FaceLeds";
self.__proxy.off(name);
#test OK
def rightLedsOff(self):
name = "RightFaceLeds";
self.__proxy.off(name);
#test OK
def leftLedsOff(self):
name = "LeftFaceLeds";
self.__proxy.off(name);
#test OK
def getIntensity(self, ledNumber):
name = self.getLedName(ledNumber);
return self.__proxy.getIntensity(name);
#test OK
#renvoie red, green, blue
def getColor(self, ledNumber):
red, green, blue = 0,0,0;
name = self.getLedName(ledNumber);
tabColor = self.__colorsNames[name];
#print(self.__colorsNames)
redIntensity = self.__proxy.getIntensity(tabColor[0]);
greenIntensity = self.__proxy.getIntensity(tabColor[1]);
blueIntensity = self.__proxy.getIntensity(tabColor[2]);
red = int(redIntensity*255);
green = int(greenIntensity*255);
blue = int(blueIntensity*255);
return red, green, blue;
#test OK
def setIntensity(self, ledNumber, intensity):
name = self.getLedName(ledNumber);
self.__proxy.setIntensity(name, intensity);
#test OK
def setIntensities(self, ledNumber, redIntensity, greenIntensity, blueIntensity):
name = self.getLedName(ledNumber);
tabColor = self.__colorsNames[name];
self.__proxy.setIntensity(tabColor[0], redIntensity);
self.__proxy.setIntensity(tabColor[1], greenIntensity);
self.__proxy.setIntensity(tabColor[2], blueIntensity);
#test OK
def fadeIntensity(self, ledsNumber, intensity, duration):
name = self.getLedName(ledsNumber);
self.__proxy.fade(name, intensity, duration);
#test OK
def setColor(self, ledsNumber, red, green, blue):
name = self.getLedName(ledsNumber);
self.__setColor(name, red, green, blue);
#test OK
def __setColor(self, ledName, red, green, blue):
assert type(red) is int;
assert type(green) is int;
assert type(blue) is int;
assert red >= 0 and red <= 255;
assert green >= 0 and green <= 255;
assert blue >= 0 and blue <= 255;
tabColor = self.__colorsNames[ledName];
redIntensity = 0;
greenIntensity = 0;
blueIntensity = 0;
if red != 0 :
redIntensity = red/255.0;
if green != 0 :
greenIntensity = green/255.0;
if blue != 0 :
blueIntensity = blue/255.0;
## print(tabColor)
## print("ok")
## print(self.__colorsNames)
self.__proxy.setIntensity(tabColor[0], redIntensity);
self.__proxy.setIntensity(tabColor[1], greenIntensity);
self.__proxy.setIntensity(tabColor[2], blueIntensity);
#test OK
def fadeColor(self, ledNumber, red, green, blue, duration):
name = self.getLedName(ledNumber);
color = self.__RGBToInt(red, green, blue);
self.__proxy.fadeRGB (name, color, duration);
#test OK
def addLedAnimation(self, ledNumber, red, green, blue, time):
name = self.getLedName(ledNumber);
rgb = self.__RGBToInt(red, green, blue);
self.__animation.addValue(name, rgb, time);
#test OK
def resetAnimation(self):
self.__animation.reset();
#test OK
def playAnimation(self):
names = self.__animation.getNames();
values = self.__animation.getValues();
times = self.__animation.getTimes();
threads = [];
i = 0;
for name in names :
valuesTab = values[i];
timesTab = times[i];
thread = threading.Thread(None, self.__playLedAnimation, None, (name, valuesTab, timesTab), {});
threads.append(thread);
i=i+1;
for thread in threads:
thread.start();
#test OK
def __playLedAnimation(self, name, values, times):
assert len(values) == len(times);
durations = self.__getDurations(times);
for i in range(len(times)):
duration = durations[i];
color = values[i];
time.sleep(duration);
red,green,blue = self.__intToRGB(color);
self.__setColor(name, red, green, blue);
#test OK
def __getDurations(self, timesTab):
durationTab = [];
previousTime = -1;
if len(timesTab)>0:
previousTime = timesTab[0];
durationTab.append(previousTime);
for i in range(1, len(timesTab)):
currentTime = timesTab[i];
if currentTime <= previousTime :
string = "Times must be inscreasing at index %s : %s" %(i, timesTab[i])
raise Exception("TimeError", string);
else:
duration = currentTime - previousTime;
previousTime = currentTime;
durationTab.append(duration);
return durationTab;
#test OK
def displayLedsNumber(self, ledsWord):
for i in range(len(self.__ledsNames)):
print(ledsWord,i, ":", self.__ledsNames[i]);
#test OK
def displayAnimation(self, ledWord, valueWord, timeWord, characterNumbers):
names = self.__animation.getNames();
values = self.__animation.getValues();
times = self.__animation.getTimes();
for i in range(len(names)):
ledNumber = self.__ledsNames.index(names[i]);
print(ledWord,ledNumber," : ");
for j in range(len(values[i])):
string = " %s : %s" %(valueWord, hex(values[i][j]));
string = self.addSpaces(string, characterNumbers);
print(string,"-",timeWord,":",times[i][j]);
#test OK
#doublon !!!!
def addSpaces(self, string, characterTotalNumbers):
characterNumbers = len(string);
if characterTotalNumbers > characterNumbers:
spaceNumbers = characterTotalNumbers - characterNumbers;
string = string+spaceNumbers*' ';
return string;
#test OK
def __displayColorsNames(self):
for name in self.__ledsNames:
print(name,' :');
tab = self.__colorsNames[name];
print(" ",tab[0]);
print(" ",tab[1]);
print(" ",tab[2]);
#test OK
def __RGBToInt(self, red, green, blue):
assert type(red) is int;
assert type(green) is int;
assert type(blue) is int;
assert red >= 0 and red <= 255;
assert green >= 0 and green <= 255;
assert blue >= 0 and blue <= 255;
color = int('%02x%02x%02x' %(red, green, blue), 16);
#to check
#print(hex(color));
return color;
#test OK
def __intToRGB(self, rgb):
blue, green, red = [(rgb >> (8*i)) & 255 for i in range(3)];
return red,green,blue;
def test(self):
rgb = self.__RGBToInt(85,127,12);
print(self.__intToRGB(rgb));
class ALProxy():
# staticNao = NaoCommunicationVirtual.AbstractNaoEvenement
# (remplace les fonctions du robot réel pour les events)
staticNao=None
# virtualNao = Nao3D
# (remplace les membres du robot réel)
virtualNao=None
vocabList = []
typeRobot="T14"
membres={0:"HeadYaw",1:"HeadPitch",
2:"LShoulderPitch",3:"LShoulderRoll",4:"LElbowYaw",5:"LElbowRoll",6:"LWristYaw",7:"LHand",
8:"RShoulderPitch",9:"RShoulderRoll",10:"RElbowYaw",11:"RElbowRoll",12:"RWristYaw",13:"RHand"}
membresVirtual={0:"teteG2", 1:"teteG0",#ok
2:"bicepsG0",3:"bicepsG2",4:"coudeG1",5:"coudeG2",6:"mainG1",7:"doigt1G0",#ok
8:"bicepsD0",9:"bicepsD2",10:"coudeD1",11:"coudeD2",12:"mainD1",13:"doigt1D0"#ok
}
jointsAll={"T14":["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"],
"H21":['HeadYaw', 'HeadPitch',
'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll',
'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll',
'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll',
'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll'],
#not tested, may not work :
"H25":['HeadYaw', 'HeadPitch',
'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', "LWristYaw", "LHand",
'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll',
'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll',
'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll',"RWristYaw", "RHand"]
}
parallelism = False;
def __init__(self,name=0,adress=0,port=0):
self.name=name
self.membre=None
# Différence par rapport à naoqi :
# Dans l'interface OpenGL, les rotations des membres droits sont inversé par la symétrie
# Donc en fait les angles pour la partie gauche et la partie droite sont les memes
# alors que dans naoqi, les parties droite et gauche sont gérées indépendemment
# Solution :
# Après copie de la liste renvoyée par le naoqi réel,
# on copie tous les éléments de la partie gauche pour les coller et remplacer ceux de
# la partie droite.
# Données : [angleMin, angleMax, vitesseMin, vitesseMax]
self.limitsAll={"T14":[[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-0.671951770782 , 0.514872133732 , 7.19407272339 , 1.20000004768 ],
[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-0.314159274101 , 1.32645022869 , 7.19407272339 , 1.20000004768 ], [-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-1.54461634159 , -0.0349065847695 , 7.19407272339 , 1.20000004768 ], [-1.82386910915 , 1.82386910915 , 24.6229305267 , 0.759999990463 ], [0.0 , 1.0 , 8.32999992371 , 0.550000011921 ],
[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [1.32645022869, -0.314159274101 , 7.19407272339 , 1.20000004768 ], [2.08566856384 , -2.08566856384 , 8.26797389984 , 1.20000004768 ], [ -0.0349065847695, -1.54461634159 , 7.19407272339 , 1.20000004768 ], [1.82386910915 , -1.82386910915 , 24.6229305267 , 0.759999990463 ], [0.0 , 1.0 , 8.32999992371 , 0.550000011921 ]],
"H21":[[-2.0856685638427734, 2.0856685638427734, 8.267973899841309, 1.2000000476837158], [-0.6719517707824707, 0.514872133731842, 7.194072723388672, 1.2000000476837158],
[-2.0856685638427734, 2.0856685638427734, 8.267973899841309, 1.2000000476837158], [-0.3141592741012573, 1.326450228691101, 7.194072723388672, 1.2000000476837158], [-2.0856685638427734, 2.0856685638427734, 8.267973899841309, 1.2000000476837158], [-1.5446163415908813, -0.03490658476948738, 7.194072723388672, 1.2000000476837158],
[-1.1452850103378296, 0.7407177090644836, 4.161737442016602, 3.200000047683716], [-0.37943458557128906, 0.7904596328735352, 4.161737442016602, 3.200000047683716], [-1.535889744758606, 0.4839797914028168, 6.40239143371582, 3.200000047683716], [-0.09232791513204575, 2.112546443939209, 6.40239143371582, 3.200000047683716], [-1.1894419193267822, 0.9225810170173645, 6.40239143371582, 3.200000047683716], [-0.3977605402469635, 0.7689920663833618, 4.161737442016602, 3.200000047683716],
[-1.1452850103378296, 0.7407177090644836, 4.161737442016602, 3.200000047683716], [-0.37943458557128906, 0.7904596328735352, 4.161737442016602, 3.200000047683716], [-1.535889744758606, 0.4839797914028168, 6.40239143371582, 3.200000047683716], [-0.09232791513204575, 2.112546443939209, 6.40239143371582, 3.200000047683716], [-1.1894419193267822, 0.9225810170173645, 6.40239143371582, 3.200000047683716], [-0.3977605402469635, 0.7689920663833618, 4.161737442016602, 3.200000047683716],
[-2.0856685638427734, 2.0856685638427734, 8.267973899841309, 1.2000000476837158], [-0.3141592741012573, 1.326450228691101, 7.194072723388672, 1.2000000476837158], [-2.0856685638427734, 2.0856685638427734, 8.267973899841309, 1.2000000476837158], [-1.5446163415908813, -0.03490658476948738, 7.194072723388672, 1.2000000476837158]],
#not tested
"H25":[[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-0.671951770782 , 0.514872133732 , 7.19407272339 , 1.20000004768 ],
[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-0.314159274101 , 1.32645022869 , 7.19407272339 , 1.20000004768 ], [-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-1.54461634159 , -0.0349065847695 , 7.19407272339 , 1.20000004768 ], [-1.82386910915 , 1.82386910915 , 24.6229305267 , 0.759999990463 ], [0.0 , 1.0 , 8.32999992371 , 0.550000011921 ],
[-1.1452850103378296, 0.7407177090644836, 4.161737442016602, 3.200000047683716], [-0.37943458557128906, 0.7904596328735352, 4.161737442016602, 3.200000047683716], [-1.535889744758606, 0.4839797914028168, 6.40239143371582, 3.200000047683716], [-0.09232791513204575, 2.112546443939209, 6.40239143371582, 3.200000047683716], [-1.1894419193267822, 0.9225810170173645, 6.40239143371582, 3.200000047683716], [-0.3977605402469635, 0.7689920663833618, 4.161737442016602, 3.200000047683716],
[-1.1452850103378296, 0.7407177090644836, 4.161737442016602, 3.200000047683716], [-0.37943458557128906, 0.7904596328735352, 4.161737442016602, 3.200000047683716], [-1.535889744758606, 0.4839797914028168, 6.40239143371582, 3.200000047683716], [-0.09232791513204575, 2.112546443939209, 6.40239143371582, 3.200000047683716], [-1.1894419193267822, 0.9225810170173645, 6.40239143371582, 3.200000047683716], [-0.3977605402469635, 0.7689920663833618, 4.161737442016602, 3.200000047683716],
[-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-0.314159274101 , 1.32645022869 , 7.19407272339 , 1.20000004768 ], [-2.08566856384 , 2.08566856384 , 8.26797389984 , 1.20000004768 ], [-1.54461634159 , -0.0349065847695 , 7.19407272339 , 1.20000004768 ], [-1.82386910915 , 1.82386910915 , 24.6229305267 , 0.759999990463 ], [0.0 , 1.0 , 8.32999992371 , 0.550000011921 ]]
}
self.ledMnM={'RightFaceLed8':"eye1D", 'RightFaceLed7':"eye2D",
'RightFaceLed6':"eye3D", 'RightFaceLed5':"eye4D",
'RightFaceLed4':"eye5D", 'RightFaceLed3':"eye6D",
'RightFaceLed2':"eye7D", 'RightFaceLed1':"eye8D",
'LeftFaceLed8':"eye8G", 'LeftFaceLed7':"eye7G",
'LeftFaceLed6':"eye6G", 'LeftFaceLed5':"eye5G",
'LeftFaceLed4':"eye4G", 'LeftFaceLed3':"eye3G",
'LeftFaceLed2':"eye2G", 'LeftFaceLed1':"eye1G"
}
self.ledIntensities={'RightFaceLed1':[.0,.0,.0],
'RightFaceLed2':[.0,.0,.0],
'RightFaceLed3':[.0,.0,.0],
'RightFaceLed4':[.0,.0,.0],
'RightFaceLed5':[.0,.0,.0],
'RightFaceLed6':[.0,.0,.0],
'RightFaceLed7':[.0,.0,.0],
'RightFaceLed8':[.0,.0,.0],
'LeftFaceLed8':[.0,.0,.0],
'LeftFaceLed7':[.0,.0,.0],
'LeftFaceLed6':[.0,.0,.0],
'LeftFaceLed5':[.0,.0,.0],
'LeftFaceLed4':[.0,.0,.0],
'LeftFaceLed3':[.0,.0,.0],
'LeftFaceLed2':[.0,.0,.0],
'LeftFaceLed1':[.0,.0,.0]}
self.ledColors={'RightFaceLed1': ['Face/Led/Red/Right/0Deg/Actuator/Value', 'Face/Led/Green/Right/0Deg/Actuator/Value', 'Face/Led/Blue/Right/0Deg/Actuator/Value'], 'RightFaceLed3': ['Face/Led/Red/Right/90Deg/Actuator/Value', 'Face/Led/Green/Right/90Deg/Actuator/Value', 'Face/Led/Blue/Right/90Deg/Actuator/Value'], 'RightFaceLed2': ['Face/Led/Red/Right/45Deg/Actuator/Value', 'Face/Led/Green/Right/45Deg/Actuator/Value', 'Face/Led/Blue/Right/45Deg/Actuator/Value'], 'RightFaceLed5': ['Face/Led/Red/Right/180Deg/Actuator/Value', 'Face/Led/Green/Right/180Deg/Actuator/Value', 'Face/Led/Blue/Right/180Deg/Actuator/Value'], 'RightFaceLed4': ['Face/Led/Red/Right/135Deg/Actuator/Value', 'Face/Led/Green/Right/135Deg/Actuator/Value', 'Face/Led/Blue/Right/135Deg/Actuator/Value'], 'RightFaceLed7': ['Face/Led/Red/Right/270Deg/Actuator/Value', 'Face/Led/Green/Right/270Deg/Actuator/Value', 'Face/Led/Blue/Right/270Deg/Actuator/Value'], 'RightFaceLed6': ['Face/Led/Red/Right/225Deg/Actuator/Value', 'Face/Led/Green/Right/225Deg/Actuator/Value', 'Face/Led/Blue/Right/225Deg/Actuator/Value'], 'RightFaceLed8': ['Face/Led/Red/Right/315Deg/Actuator/Value', 'Face/Led/Green/Right/315Deg/Actuator/Value', 'Face/Led/Blue/Right/315Deg/Actuator/Value'], 'LeftFaceLed1': ['Face/Led/Red/Left/0Deg/Actuator/Value', 'Face/Led/Green/Left/0Deg/Actuator/Value', 'Face/Led/Blue/Left/0Deg/Actuator/Value'], 'LeftFaceLed3': ['Face/Led/Red/Left/90Deg/Actuator/Value', 'Face/Led/Green/Left/90Deg/Actuator/Value', 'Face/Led/Blue/Left/90Deg/Actuator/Value'], 'LeftFaceLed2': ['Face/Led/Red/Left/45Deg/Actuator/Value', 'Face/Led/Green/Left/45Deg/Actuator/Value', 'Face/Led/Blue/Left/45Deg/Actuator/Value'], 'LeftFaceLed5': ['Face/Led/Red/Left/180Deg/Actuator/Value', 'Face/Led/Green/Left/180Deg/Actuator/Value', 'Face/Led/Blue/Left/180Deg/Actuator/Value'], 'LeftFaceLed4': ['Face/Led/Red/Left/135Deg/Actuator/Value', 'Face/Led/Green/Left/135Deg/Actuator/Value', 'Face/Led/Blue/Left/135Deg/Actuator/Value'], 'LeftFaceLed7': ['Face/Led/Red/Left/270Deg/Actuator/Value', 'Face/Led/Green/Left/270Deg/Actuator/Value', 'Face/Led/Blue/Left/270Deg/Actuator/Value'], 'LeftFaceLed6': ['Face/Led/Red/Left/225Deg/Actuator/Value', 'Face/Led/Green/Left/225Deg/Actuator/Value', 'Face/Led/Blue/Left/225Deg/Actuator/Value'], 'LeftFaceLed8': ['Face/Led/Red/Left/315Deg/Actuator/Value', 'Face/Led/Green/Left/315Deg/Actuator/Value', 'Face/Led/Blue/Left/315Deg/Actuator/Value']}
self.language="french"
self.volume=0
self.listLimits={"Body":[]}
self.animation = Animation()
#test ok
@staticmethod
def associateVirtualRobot(nao):
ALProxy.virtualNao=nao
@staticmethod
def associateStaticNao(nao):
ALProxy.staticNao=nao
@staticmethod
def getFunction(functionName):
functionsByName={
"onWordRecognized":ALProxy.staticNao._wordRecognizedEvent,
"onPictureDetected":ALProxy.staticNao._pictureDetectedEvent,
"onFaceDetected":ALProxy.staticNao._faceDetectedEvent,
"onTactileDetected":ALProxy.staticNao._tactileEvent,
"onWordDetected":ALProxy.staticNao._speechDetectedEvent}
return functionsByName[functionName]
@staticmethod
def eventCall(function, args):
##try:
if function != "onWordDetected":
ALProxy.getFunction(function)(*args)
return 1
else :
for mot in args[0].split():
if mot.strip() in ALProxy.vocabList :
ALProxy.getFunction(function)()
return 1
else :
print(mot.strip()+" is not in Vocabulary list")
##except:
## print("Pas de AbstractNaoEvenement instancié")
return 0
@staticmethod
def setType(robot="T14"):
ALProxy.typeRobot=robot
#reconstruction des membres
ALProxy.membres={}
for a in range(len(ALProxy.jointsAll[robot])):
ALProxy.membres[a]=ALProxy.jointsAll[robot][a]
if robot=="T14":
ALProxy.membresVirtual={0:"teteG2", 1:"teteG0",#ok
2:"bicepsG0", 3:"bicepsG2", 4:"coudeG1", 5:"coudeG2", 6:"mainG1", 7:"doigt1G0",#ok
8:"bicepsD0", 9:"bicepsD2", 10:"coudeD1", 11:"coudeD2", 12:"mainD1", 13:"doigt1D0"#ok
}
elif robot=="H21":
ALProxy.membresVirtual={0:"teteG2", 1:"teteG0",#ok
2:"bicepsG0", 3:"bicepsG2", 4:"coudeG1", 5:"coudeG2",#ok
6:'hancheG1', 7:'cuisseG1', 8:'cuisseG0', 9:'molletG0', 10:'piedG0', 11:'piedG1',
12:'hancheD1', 13:'cuisseD1', 14:'cuisseD0', 15:'molletD0', 16:'piedD0', 17:'piedD1',
18:"bicepsD0", 19:"bicepsD2",20:"coudeD1",21:"coudeD2"
}
elif robot=="H25":
ALProxy.membresVirtual={0:"teteG2", 1:"teteG0",#ok
2:"bicepsG0", 3:"bicepsG2", 4:"coudeG1", 5:"coudeG2", 6:"mainG1", 7:"doigt1G0",
8:'hancheG1', 9:'cuisseG1', 10:'cuisseG0', 11:'molletG0', 12:'piedG0', 13:'piedG1',
14:'hancheD1', 15:'cuisseD1', 16:'cuisseD0', 17:'molletD0', 18:'piedD0', 19:'piedD1',
20:"bicepsD0", 21:"bicepsD2", 22:"coudeD1", 23:"coudeD2", 24:"mainD1", 25:"doigt1D0"
}
@staticmethod
def getKeys():
l = []
Virtual={0:"teteG2", 1:"teteG0",#ok
2:"bicepsG0", 3:"bicepsG2", 4:"coudeG1", 5:"coudeG2", 6:"mainG1", 7:"doigt1G0",
8:'hancheG1', 9:'cuisseG1', 10:'cuisseG0', 11:'molletG0', 12:'piedG0', 13:'piedG1',
14:'hancheD1', 15:'cuisseD1', 16:'cuisseD0', 17:'molletD0', 18:'piedD0', 19:'piedD1',
20:"bicepsD0", 21:"bicepsD2", 22:"coudeD1", 23:"coudeD2", 24:"mainD1", 25:"doigt1D0"
}
for a in range(len(Virtual)):
l.append(Virtual[a])
return l
@staticmethod
def setParallelism(paral):
ALProxy.parallelism = paral
#test ok
def setLanguage(self, language):
self.language=language
#test ok
def getLanguage(self):
return self.language
#test ok
def say(self, text):
#print("NAO dit : "+str(text))
self.virtualNao.addSpeaking(text)
if not ALProxy.parallelism:
self.timePerCharacter=0.1
TimerT.sleep(len(text)*self.timePerCharacter)
def setVolume(self, value):
self.volume=value
def getVolume(self):
return self.volume
#test ok
def getJointNames(self, part="Body"):
return self.jointsAll[self.typeRobot]
#test ok
def getLimits(self, part="Body"):
return self.limitsAll[self.typeRobot]
#test ok
def getStiffnesses(self, part="Body"):
r=[]
for a in self.membres.keys():
num=self.getNumberFromName(a)
nom=self.membresVirtual[num][:-1]
r.append(self.virtualNao.getMembre(nom).stiffness)
return r
def getStiffness(self, numeroMoteur):
print("not implemented")
def setStiffnesses(self, part="Body", value=1):
names=self.getNamesFromPart(part)
for a in names:
self.virtualNao.getMembre(a[:-1]).stiffness=value
def setStiffness(self, numeroMoteur, taux):
print("not implemented")
def getAngles(self, part="Body", isStg=True):
return [0,0,0,0]
#a verifier
def getMinAngle(self, numero):
return self.limitsAll[self.typeRobot][0]
#a verifier
def getMaxAngle(self, numero):
return self.limitsAll[self.typeRobot][1]
def angleInterpolation(self, name, motorAngle, time, isAbsolute):
num=self.getNumberFromName(name)
nom=self.membresVirtual[num][:-1]
n=int(self.membresVirtual[num][-1])
#print(self.virtualNao.getMembre(nom).rotate, nom)
if nom[:5] == "doigt":
self.virtualNao.getMembre("doigt3"+nom[-1]).setAngleFromPercent(0,100-motorAngle)
self.virtualNao.getMembre("doigt2"+nom[-1]).setAngleFromPercent(0,100-motorAngle)
self.virtualNao.getMembre("doigt1"+nom[-1]).setAngleFromPercent(0,100)#=fixe
else :
self.virtualNao.getMembre(nom).setAngle(n,motorAngle/3.14*180,time)
if not ALProxy.parallelism:
TimerT.sleep(time)
def getAnimationData(self):
names = self.animation.getNames()
values = self.animation.getValues()
times = self.animation.getTimes()
return names, angles, times
def addMotionAnimation(self, numeroMoteur, position, temps):
self.animation.addValue(self.getNameFromNumber(numeroMoteur), position, temps);
def resetAnimation(self):
self.animation.reset();
#test OK
def playAnimation(self):
names = self.animation.getNames();
values = self.animation.getValues();
times = self.animation.getTimes();
threads = [];
i = 0;
for name in names :
valuesTab = values[i];
timesTab = times[i];
thread = threading.Thread(None, self.__playMotorAnimation, None, (name, valuesTab, timesTab), {});
threads.append(thread);
i=i+1;
for thread in threads:
thread.start();
#test OK
def __playMotorAnimation(self, name, values, times):
assert len(values) == len(times);
durations = self.__getDurations(times);
for i in range(len(times)):
duration = durations[i];
motorAngle = values[i];
time.sleep(duration);
self.angleInterpolation(name, motorAngle, duration, True);
#test OK
def __getDurations(self, timesTab):
durationTab = [];
previousTime = -1;
if len(timesTab)>0:
previousTime = timesTab[0];
durationTab.append(previousTime);
for i in range(1, len(timesTab)):
currentTime = timesTab[i];
if currentTime <= previousTime :
string = "Times must be inscreasing at index %s : %s" %(i, timesTab[i])
raise Exception("TimeError", string);
else:
duration = currentTime - previousTime;
previousTime = currentTime;
durationTab.append(duration);
return durationTab;
def getNumberFromName(self, name):
num=0
for x in self.membres:
if name==self.membres[x]:
return x
print("error numberName")
return num
def getNameFromNumber(self, number):
return self.membres[number]
def getNamesFromPart(self, part):
if part.lower()=="body":
return self.membresVirtual.values()
for x in self.membres.keys():
if self.membres[x]==part:
return [self.membresVirtual[x]]
print("error Names part", part)
return []
def getAvailableLanguages(self):
return ["fr"]
###############" LED
def getListFromName(self, name):
result=[]
if name in self.ledMnM.keys():
return [self.ledMnM[name]]
elif "Right" in name:
for x in self.ledMnM.keys():
if "Right" in x: result.append(self.ledMnM[x])
elif "Left" in name:
for x in self.ledMnM.keys():
if "Left" in x: result.append(self.ledMnM[x])
else:result=self.ledMnM.values()
return result
def getListNamesFromName(self, name):
result=[]
if name in self.ledMnM.keys():
return [name]
elif "Right" in name:
for x in self.ledMnM.keys():
if "Right" in x: result.append(x)
elif "Left" in name:
for x in self.ledMnM.keys():
if "Left" in x: result.append(x)
else:result=self.ledMnM.values()
return result
def setIntensity(self, name, intensity):
#print(intensity)
if name in self.ledMnM.keys():
a=self.ledMnM[name]
color=[intensity,intensity,intensity]
self.ledIntensities[name]=color
else:
for b in self.ledColors.keys():
if name in self.ledColors[b]:
#detection de la composante de couleur
pos=self.ledColors[b].index(name)
name=b
a=self.ledMnM[b]
self.ledIntensities[name][pos]=intensity
break
self.virtualNao.setEye(self.ledIntensities[name],a)
def getIntensity(self,name):
return self.ledIntensities[name]
def on(self,name):
a=self.getListFromName(name)
self.virtualNao.setEyes(1,a)
def off(self,name):
a=self.getListFromName(name)
self.virtualNao.setEyes(0,a)
def fade(self,name, intensity, duration):
pass
def fadeRGB (self, name, color, duration):
pass
def setWordListAsVocabulary(self, vocabList):
ALProxy.vocabList = vocabList
def startSpeechRecognition(self):
pass
### SOUND
def playFile(self, fichier):
self.virtualNao.addSinging(fichier,5)
if not ALProxy.parallelism:
self.timePerCharacter=1
TimerT.sleep(5)
def stop(self):
pass
def playSine(self, frequence, gain, pan, duree):
self.virtualNao.addSinging(" frequence : "+str(frequence), duree)
if not ALProxy.parallelism:
self.timePerCharacter=1
TimerT.sleep(duree)
class Button():
def __init__(self, text, on_click_deferred, on_click_return_value, window_values, surface, hover_animation_surface = None, mouse_down_animation = None, spritesheet_dimensions=(2, 2), font_size='big'): #spritesheet for potential fancy animations later
self.x, self.y, self.w, self.h = window_values
self.font_size = font_size
self.text = text
self.surface = surface
self.text_label = render_text(text, (0,0,0), font_size)
self.get_text_draw_coords()
self.on_click_deferred = on_click_deferred
self.on_click_return_value = on_click_return_value
hover_animation_surface = None
if hover_animation_surface:
self.on_hover_animation = Animation(TileSheet(hover_animation_surface, 292, 120, spritesheet_dimensions[0], spritesheet_dimensions[1]), 10, 4)
else:
self.on_hover_animation = None
if mouse_down_animation:
self.mouse_down_animation = Animation(TileSheet(mouse_down_animation, 292, 120, 1, 1), 10, 1)
else:
self.mouse_down_animation = None
self.on_hover_animation_active = False
self.mouse_down_animation_active = False
def on_click(self):
if self.mouse_down_animation:
self.mouse_down_animation.done = True
self.on_click_deferred.value = self.on_click_return_value
def on_mouse_down(self):
if not self.mouse_down_animation_active and self.mouse_down_animation:
self.mouse_down_animation_active = True
def on_hover(self):
if not self.on_hover_animation_active and self.on_hover_animation:
self.on_hover_animation_active = True
def on_hover_off(self):
self.mouse_down_animation_active = False
def update(self, time=1):
if self.mouse_down_animation_active:
if self.mouse_down_animation.done:
self.mouse_down_animation.done = False
self.mouse_down_animation.reset()
#self.mouse_down_animation_active = False
self.mouse_down_animation.update(time)
elif self.on_hover_animation_active:
if self.on_hover_animation.done:
self.on_hover_animation.done = False
self.on_hover_animation.reset()
self.on_hover_animation_active = False
self.on_hover_animation.update(time)
def draw(self):
if self.mouse_down_animation_active:
self.mouse_down_animation.draw(screen, self.x, self.y)
elif self.on_hover_animation_active:
self.on_hover_animation.draw(screen, self.x, self.y)
else:
screen.blit(self.surface, (self.x, self.y))
screen.blit(self.text_label, (self.text_x, self.text_y))
def mouse_over_button(self, mouse_pos):
return Utils.point_in_rect(mouse_pos, (self.x, self.y, self.w, self.h))
def get_text_draw_coords(self):
if self.font_size == "big":
text_w = font.size(self.text)[0]
text_h = font.size(self.text)[1]
elif self.font_size == "small":
text_w = font_small.size(self.text)[0]
text_h = font_small.size(self.text)[1]
self.text_x = self.x + 0.5 * self.w - 0.5 * text_w
self.text_y = self.y + 0.5 * self.h - 0.5 * text_h
