class Controller:
def __init__(self):
self.nao = NAO(self)
self.kinect = Kinect()
self.xaalproxy = xAALProxy()
def run(self):
while raw_input("continu ? (Y/N)") == "Y":
if self.kinect.fallDetection():
self.nao.say("detecter la chute")
self.nao.say("detecter la chute")
self.nao.moveToPerson()
self.nao.verifyPersonState(5)
if not self.nao.getVerifyState() % 2:
self.nao.say("Ne t'inquiete pas, je vais demander a quelqu'un pour t'aider")
print "verifystate ", self.nao.getVerifyState()
self.scenario()
self.nao.response(0)
self.nao.say("merci d'etre venu")
else:
self.nao.say("tres bien")
def waitPersonResponse(self, timeout):
count = 0
self.nao.resetVerifyState()
while not self.nao.getVerifyState():
time.sleep(3)
count += 1
if (timeout != 0) and (count > timeout):
print "waitpersonresponse timeout!"
return False
print "getpersonresponse"
return self.nao.getVerifyState() % 2
def sendMail(self):
link = self.webRTCaddress()
topic = "nao_robot/camera/top/camera/image_raw"
text = "please see the video from this address " + link
text = text + " with topic name " + topic
mail = Mail(text)
mail.sendMail()
def webRTCaddress(self):
ni.ifaddresses("wlan0")
ip = ni.ifaddresses("wlan0")[2][0]["addr"] + ":8080"
print "HostIP : ", ip
return ip
def scenario(self):
self.smartDeviceAction("shutterleft", "up")
self.smartDeviceAction("shutterright", "up")
self.smartDeviceAction("lamp1", "on")
self.smartDeviceAction("lamp2", "on")
self.smartDeviceAction("lamp3", "on")
self.nao.say("porte ouverte, volet remonte")
self.smartDeviceAction("switch", "off")
self.nao.say("j'ai eteint l'electricite")
try:
self.sendMail()
except:
print "mail send failed"
self.nao.say("j'ai envoye le mail a vos proches")
self.smartDeviceAction(
"mobilephone", "inform", "msg", "J'ai detecte un probleme. Votre ami a fait un malaise. Venez l'aider."
)
self.nao.say("message vocal envoye")
def smartDeviceAction(self, device, action, key=None, value=None):
self.xaalproxy.sendmsg(device, action, key, value)
