class PointMoveTest(unittest.TestCase):
@classmethod
def setUpClass(self):
self.session = qi.Session()
self.session.connect('tcp://192.168.1.101:9559')
self.motion = self.session.service('ALMotion')
self.posture = self.session.service("ALRobotPosture")
self.animation_player = AnimationPlayer(self.session,
motion=self.motion)
self.motion.setCollisionProtectionEnabled('Arms', False)
self.motion.setExternalCollisionProtectionEnabled('All', False)
rest_position(session=self.session)
def test_reaction_won(self):
self.animation_player.play_win_animation()
def test_reaction_lost(self):
self.animation_player.play_lose_animation()
def test_reaction_draw(self):
self.animation_player.play_draw_animation()
class GameHandler(object):
def __init__(self, session, ip, motion, leds):
self.__session = session
self.__speech = Speech(self.__session)
self.__showScreen = ShowScreen(self.__session, ip)
self.__showScreen.show_screen("")
self.__game = TicTacToe(self.__session, self.__speech,
self.__showScreen)
self.__moveReader = MoveReader(self.__session, self.__game)
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__animationPlayer = AnimationPlayer(self.__session, motion)
self.__waiting_game_start = 1
self.__playing = 1
self.__program_running = 1
self.__motion = motion
self.__leds = leds
while self.__program_running:
while self.__waiting_game_start:
# Add the following for starting on Enter
#input = raw_input('Say ´lets play´ or press enter to start a game.')
#if input == "":
# self.__speechDetection.unsubscribe()
# self.look_at_player_and_say("Okay, Let's do this!", False)
# self.__waiting_game_start = 0
# self.__showScreen.show_screen("")
# self.__game.restart()
# self.__playing = 1
pass
while self.__playing:
delta = 0
self.__speech.say("Now make your move")
while delta != 1:
time.sleep(0.5)
delta = self.__moveReader.read_move()
if delta > 1:
self.look_at_player_and_say(
"Too many moves detected! Restore my image board",
True)
time.sleep(1)
self.__showScreen.show_screen(self.__game.get_url_params())
print self.__game.get_url_params()
delta2 = 1
while delta2 != 0:
delta2 = self.__moveReader.check_correct_board()
if delta2 > 0:
self.look_at_player_and_say("Wrong move.", True)
self.__game.say_move(self.__game.move_player2)
time.sleep(1)
self.__playing = self.__game.player_won() == 0
winner = self.__game.player_won()
if winner == 3:
self.__animationPlayer.play_draw_animation()
if winner == 2:
self.__animationPlayer.play_win_animation()
if winner == 1:
self.__animationPlayer.play_lose_animation()
print "End of Game"
self.__waiting_game_start = 1
self.__playing = 1
self.__speechDetection = SpeechDetection(self.__session,
["Let's Play", "Stop"],
self.speech_callback)
self.__speechDetection.unsubscribe()
def say_reaction(self, reaction_text):
self.__speech.say(text=reaction_text)
return True
def do_animation(self, animation):
return animation
def speech_callback(self, value):
print(value)
if value[0] == "Let's Play":
if value[1] > 0.3:
self.__speechDetection.unsubscribe()
self.look_at_player_and_say("Okay, Let's do this!", False)
self.__waiting_game_start = 0
self.__showScreen.show_screen("")
self.__game.restart()
if value[0] == "Stop":
if value[1] > 0.4:
self.__playing = 0
self.__waiting_game_start = 0
self.__program_running = 0
def look_at_player_and_say(self, text, warning_led):
self.__motion.setStiffnesses("Head", 1.0)
names = ["HeadYaw", "HeadPitch"]
angles = [78. * almath.TO_RAD, -30. * almath.TO_RAD]
times = [1., 1.]
is_absolute = True
self.__motion.angleInterpolation(names, angles, times, is_absolute)
if warning_led:
qi. async (self.rotate_eyes, delay=0)
self.__speech.say(text=text)
angles = [0., 0.]
times = [1., 1.]
is_absolute = True
self.__motion.angleInterpolation(names, angles, times, is_absolute)
def rotate_eyes(self):
self.__leds.setIntensity('RightFaceLedsRed', 1.0)
self.__leds.setIntensity('LeftFaceLedsRed', 1.0)
self.__leds.rotateEyes(16711680, 1, 6)
