def reactToTheMistake2( pose, wordsBefore, wordsAfter, pause, factorSpeed = 1.0):
""" If the keys pressed are due to detection of mistake, the robot reacts.
The motionProxy is a physical movement and certain words which shows robot's remorse
"""
global blinkThread
#blinkThread.sleep()
#idleMovementMode("OFF")
blinkingModeOFF()
idleMovementModeOFF()
motionProxy.setBreathEnabled('Arms', False)
emotionReaction = EYEEMOTIONS(proxy)
times = changeSpeed(pose.times, factorSpeed)
id = motionProxy.post.angleInterpolationBezier(pose.names, times, pose.keys)
story.post.say(wordsBefore)
emotionReaction.set_emotion("happy")
turn_on_eye()
#time.sleep(pause)
#motionProxy.wait(id,0)
#time.sleep(1)
story.say(wordsAfter)
#time.sleep(5)
correctFlag = True
pitch_angle = 0.3
LookAtTheBook(pitch_angle)
motionProxy.setBreathEnabled('Arms', True)
#motionProxy.setBreathEnabled('Head', True)
#postureProxy.goToPosture("Stand", 1.0)
#readTheTaggedStory(selectedStory, correctFlag)
#readTheTaggedStoryWithLevel(selectedStory, correctFlag)
blinkingModeON("ON")
idleMovementModeON("ON")
def reactToTheMistake(emotion,
pose,
wordsBefore,
wordsAfter,
pause,
factorSpeed=1.0):
""" If the keys pressed are due to detection of mistake, the robot reacts.
The motionProxy is a physical movement and certain words which shows robot's remorse
"""
motionProxy.setBreathEnabled('Arms', False)
emotionReaction = EYEEMOTIONS(proxy)
times = changeSpeed(pose.times, factorSpeed)
id = motionProxy.post.angleInterpolationBezier(pose.names, times,
pose.keys)
story.post.say(wordsBefore)
emotionReaction.set_emotion(emotion)
turn_on_eye()
#time.sleep(pause)
#motionProxy.wait(id,0)
#time.sleep(1)
story.say(wordsAfter)
#time.sleep(5)
correctFlag = True
pitch_angle = 0.5
LookAtTheBook(pitch_angle)
motionProxy.setBreathEnabled('Arms', True)
def reactWithSpecificPoses(emotion, pose, pause, wordsAfter , factorSpeed = 1.0):
global blinkThread
#idleMovementMode("OFF")
#blinkingModeOFF()
#blinkThread.sleep()
motionProxy.setBreathEnabled('Arms', False)
emotionReaction = EYEEMOTIONS(proxy)
times = changeSpeed(pose.times, factorSpeed)
id = motionProxy.post.angleInterpolationBezier(pose.names, times, pose.keys)
audioReactionProxy.post.playFile("/home/nao/audio/wav/monsterGrowl.wav")
#story.post.say(wordsBefore)
emotionReaction.set_emotion(emotion)
#turn_on_eye()
#time.sleep(pause)
#motionProxy.wait(id,0)
#time.sleep(1)
#story.say(wordsAfter)
#time.sleep(5)
correctFlag = True
pitch_angle = 0.3
LookAtTheBook(pitch_angle)
motionProxy.setBreathEnabled('Arms', True)
def reactToBoredness(emotion, pose, pause, wordsAfter , factorSpeed = 1.0):
global blinkThread
#idleMovementMode("OFF")
#blinkingModeOFF()
#blinkThread.sleep()
motionProxy.setBreathEnabled('Arms', False)
emotionReaction = EYEEMOTIONS(proxy)
times = changeSpeed(pose.times, factorSpeed)
id = motionProxy.post.angleInterpolationBezier(pose.names, times, pose.keys)
#story.post.say(wordsBefore)
#emotionReaction.set_emotion(emotion)
#turn_on_eye()
#time.sleep(pause)
#motionProxy.wait(id,0)
#time.sleep(1)
#story.say(wordsAfter)
#time.sleep(5)
correctFlag = True
pitch_angle = 0.3
LookAtTheBook(pitch_angle)
motionProxy.setBreathEnabled('Arms', True)
#if wordsAfter != None:
story.say(wordsAfter)
def blinkingModeON(mode):
global blinkThread
blinkThread = threading.Timer(5, blinkingModeON, [mode])
emotionReaction = EYEEMOTIONS(proxy)
animationSelection = MOTION_ANIMATION_SELECTION()
if mode == "ON":
blinkThread.start()
emotionReaction.blink_eyes()
#animationSelection.reactionIdleMovement()
if mode == "OFF":
emotionReaction.turn_off_eye()
blinkThread.cancel()
def __init__(self, proxy):
tag = "=WordNum"
#self.eyeProxy = proxy
self.recordingReaction = EYEEMOTIONS(proxy)
class RECORDANDTRANSCRIBE:
def __init__(self, proxy):
tag = "=WordNum"
#self.eyeProxy = proxy
self.recordingReaction = EYEEMOTIONS(proxy)
def recordTheOutput(self, output):
CHUNK = 1024
FORMAT = pyaudio.paInt16
CHANNELS = 1
RATE = 44100
RECORD_SECONDS = 5
WAVE_OUTPUT_FILENAME = output
self.fileName = output
p = pyaudio.PyAudio()
stream = p.open(format=FORMAT,
channels=CHANNELS,
rate=RATE,
input=True,
frames_per_buffer=CHUNK)
print("* recording")
self.recordingReaction.set_emotion("listen")
frames = []
for i in range(0, int(RATE / CHUNK * RECORD_SECONDS)):
data = stream.read(CHUNK)
frames.append(data)
print("* done recording")
stream.stop_stream()
stream.close()
p.terminate()
wf = wave.open(WAVE_OUTPUT_FILENAME, 'wb')
wf.setnchannels(CHANNELS)
wf.setsampwidth(p.get_sample_size(FORMAT))
wf.setframerate(RATE)
wf.writeframes(b''.join(frames))
wf.close()
def getSpeechService(self):
credentials = GoogleCredentials.get_application_default().create_scoped(
['https://www.googleapis.com/auth/cloud-platform'])
http = httplib2.Http()
credentials.authorize(http)
return discovery.build(
'speech', 'v1beta1', http=http, discoveryServiceUrl=DISCOVERY_URL)
def transcribeTheOutput(self):
"""Transcribe the given audio file.
Args:
speech_file: the name of the audio file.
"""
with open(self.fileName, 'rb') as speech:
speech_content = base64.b64encode(speech.read())
service = self.getSpeechService()
service_request = service.speech().syncrecognize(
body={
'config': {
'encoding': 'LINEAR16', # raw 16-bit signed LE samples
'sampleRate': 44100, # 16 khz
'languageCode': 'en-US', # a BCP-47 language tag
},
'audio': {
'content': speech_content.decode('UTF-8')
}
})
response = service_request.execute()
print(json.dumps(response))
return response
