def main():
nao = Nao("192.168.0.2", None)
nao.init()
do_loop = True
while do_loop:
entree_utilisateur = get_user_input("Nao: ")
if entree_utilisateur == "nao.quit(None)":
do_loop = False
elif entree_utilisateur == "nao.help(None)":
print nao.actions.keys()
else:
try:
eval(entree_utilisateur)
except Exception, e:
print e
def __init__(self):
self.nao = Nao()
#IP = "elmer.local"
IP = "169.254.16.208"
self.TCP_IP = '127.0.0.1'
self.TCP_PORT = 5005
self.BUFFER_SIZE = 20 # Normally 1024, but we want fast response
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print "before bind"
self.s.bind((self.TCP_IP, self.TCP_PORT))
print "before listen"
self.s.listen(2)
print 'before accept'
class RR(object):
def __init__(self):
self.nao = Nao()
#IP = "elmer.local"
IP = "169.254.16.208"
self.TCP_IP = '127.0.0.1'
self.TCP_PORT = 5005
self.BUFFER_SIZE = 20 # Normally 1024, but we want fast response
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print "before bind"
self.s.bind((self.TCP_IP, self.TCP_PORT))
print "before listen"
self.s.listen(2)
print 'before accept'
def connectWait(self):
conn, addr = self.s.accept()
print "Connection established"
print 'Connection address:', addr
data = "anything"
while data != 'exit':
word = conn.recv(self.BUFFER_SIZE)
if data:
print "received data:", data, len(data),
data = word[:-2]
for i in data:
print "i: " + i
if data == "gui":
self.nao.main();
else:
print data + " not recognized as internal or external command"
conn.send(word)
time.sleep(.3)
conn.close()
# -*- coding: utf-8 -*- """ Created on Tue Apr 30 10:22:47 2013 @author: Usuario """ from Nao import Nao from math import * from pyevolve import * nao = Nao() #nao.stand_up() #se pone de pie nao.initCrawling() #se pone en posicion de gatear variable = nao.crawl([1.28,0.1,0.21,0.,0.035,0.039,-2.,0.12,-0.86,pi,0.06,0.33,pi/2,0.005,-0.11,-2.,0.008,1.8,0.])
def __init__(self):
super(MainWindow, self).__init__()
# noinspection PyCallingNonCallable
self._nao = Nao()
self._actionQueue = ActionModel(self, self._nao)
self._LEDTime = QtCore.QTime.currentTime()
Study.setup()
#=======================================================================
# Create Menus
#=======================================================================
menubar = self.menuBar()
#-----------------------------File Menu---------------------------------#
actConnect = QtGui.QAction(QtGui.QIcon(), '&Connect', self)
actConnect.setShortcut('Ctrl+Alt+C')
actConnect.triggered.connect(self.on_actConnect_triggered)
actDisconnect = QtGui.QAction(QtGui.QIcon(), '&Disconnect', self)
actDisconnect.setShortcut('Ctrl+Alt+D')
actDisconnect.triggered.connect(self.on_actDisconnect_triggered)
actExit = QtGui.QAction(QtGui.QIcon('images/exit.png'), '&Exit', self)
actExit.setShortcut('Ctrl+Alt+X')
actExit.setStatusTip('Exit application')
actExit.triggered.connect(self.close)
fileMenu = menubar.addMenu('File')
fileMenu.addAction(actConnect)
fileMenu.addAction(actDisconnect)
fileMenu.addAction(actExit)
#-----------------------------Load Menu---------------------------------#
loadMenu = menubar.addMenu('Load')
self._loadActions = []
for i in range(len(Study.TASKS)):
actLoad = QtGui.QAction(QtGui.QIcon(), "Load " + Study.TASKS[i][Study.TASK_NAME], self)
actLoad.setShortcut("Ctrl+Alt+" + str(i + 1))
actLoad.triggered.connect(self.on_actLoad_specific)
loadMenu.addAction(actLoad)
self._loadActions.append(actLoad)
# END for
#---------------------------Help Menu---------------------------------#
actAboutBox = QtGui.QAction(QtGui.QIcon(), '&About', self)
actAboutBox.triggered.connect(self.on_actAbout_triggered)
actAboutBox.setShortcut("Ctrl+Alt+H")
helpMenu = menubar.addMenu('Help')
helpMenu.addAction(actAboutBox)
#=======================================================================
# Create Widgets
#=======================================================================
self._wgtMain = QtGui.QWidget(self)
splitter = QtGui.QSplitter(self._wgtMain)
splitter.setOrientation(QtCore.Qt.Horizontal)
wgtLeft = QtGui.QWidget(splitter)
wgtLeft.setMinimumWidth(350)
splitterLeft = QtGui.QSplitter(wgtLeft)
splitterLeft.setOrientation(QtCore.Qt.Vertical)
self._wgtTimer = TimerWidget(splitterLeft)
self._wgtCamera = CameraWidget(splitterLeft, self._nao.getCamera())
self._wgtCamera.setMinimumHeight(385)
self._wgtCamera.cameraChanged.connect(self._nao.getCamera().setCameraSource)
self._wgtCamera.moveHead.connect(self.on__wgtCamera_moveHead)
self._wgtActionList = ActionListWidget(splitterLeft, self._actionQueue)
self._wgtActionList.setMinimumHeight(120)
self._wgtActionList.editClicked.connect(self.on__wgtActionList_editClicked)
layoutLeft = QtGui.QHBoxLayout(wgtLeft)
layoutLeft.setMargin(0)
layoutLeft.addWidget(splitterLeft)
wgtRight = QtGui.QWidget(splitter)
wgtRight.setMinimumWidth(380)
splitterRight = QtGui.QSplitter(wgtRight)
splitterRight.setOrientation(QtCore.Qt.Vertical)
self._wgtTaskPanel = QtGui.QWidget(splitterRight)
self._wgtTaskPanel.setMinimumHeight(400)
self._layoutTaskPanel = QtGui.QStackedLayout(self._wgtTaskPanel)
self._layoutTaskPanel.setMargin(0)
for i in range(len(Study.TASKS)):
Study.TASKS[i][Study.TASK_WIDGET].setParent(self._wgtTaskPanel)
Study.TASKS[i][Study.TASK_WIDGET].setActionQueue(self._actionQueue)
Study.TASKS[i][Study.TASK_WIDGET].setNao(self._nao)
self._layoutTaskPanel.addWidget(Study.TASKS[i][Study.TASK_WIDGET])
# END for
widgetTextStiff = QtGui.QWidget(splitterRight)
widgetTextStiff.setMinimumHeight(160)
self._wgtSpeech = SpeechWidget(splitterRight)
self._wgtSpeech.setInputFocus()
self._wgtSpeech.inputCancelled.connect(self.setFocus)
self._wgtSpeech.textSubmitted.connect(self.on__wgtSpeech_playSpeech)
self._wgtSpeech.volumeChanged.connect(self._nao.setVolume)
self._wgtMovement = MovementWidget(splitterRight)
self._wgtMovement.setActionQueue(self._actionQueue)
self._wgtMovement.setNao(self._nao)
layoutTextStiff = QtGui.QHBoxLayout(widgetTextStiff)
layoutTextStiff.setMargin(0)
layoutTextStiff.addWidget(self._wgtSpeech)
layoutTextStiff.addWidget(self._wgtMovement)
layoutRight = QtGui.QHBoxLayout(wgtRight)
layoutRight.setMargin(0)
layoutRight.addWidget(splitterRight)
layoutMain = QtGui.QHBoxLayout(self._wgtMain)
layoutMain.addWidget(splitter)
##################################################
# MainWindow
##################################################
self.installEventFilter(self)
self.setCentralWidget(self._wgtMain)
self.setFocusPolicy(QtCore.Qt.StrongFocus)
self.setMinimumSize(800, 600)
self.setWindowIcon(QtGui.QIcon("images/icon.png"))
self.setWindowTitle('NAO Robotic Controller')
self.resize(1024, 768)
self.show()
class MainWindow(QtGui.QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
# noinspection PyCallingNonCallable
self._nao = Nao()
self._actionQueue = ActionModel(self, self._nao)
self._LEDTime = QtCore.QTime.currentTime()
Study.setup()
#=======================================================================
# Create Menus
#=======================================================================
menubar = self.menuBar()
#-----------------------------File Menu---------------------------------#
actConnect = QtGui.QAction(QtGui.QIcon(), '&Connect', self)
actConnect.setShortcut('Ctrl+Alt+C')
actConnect.triggered.connect(self.on_actConnect_triggered)
actDisconnect = QtGui.QAction(QtGui.QIcon(), '&Disconnect', self)
actDisconnect.setShortcut('Ctrl+Alt+D')
actDisconnect.triggered.connect(self.on_actDisconnect_triggered)
actExit = QtGui.QAction(QtGui.QIcon('images/exit.png'), '&Exit', self)
actExit.setShortcut('Ctrl+Alt+X')
actExit.setStatusTip('Exit application')
actExit.triggered.connect(self.close)
fileMenu = menubar.addMenu('File')
fileMenu.addAction(actConnect)
fileMenu.addAction(actDisconnect)
fileMenu.addAction(actExit)
#-----------------------------Load Menu---------------------------------#
loadMenu = menubar.addMenu('Load')
self._loadActions = []
for i in range(len(Study.TASKS)):
actLoad = QtGui.QAction(QtGui.QIcon(), "Load " + Study.TASKS[i][Study.TASK_NAME], self)
actLoad.setShortcut("Ctrl+Alt+" + str(i + 1))
actLoad.triggered.connect(self.on_actLoad_specific)
loadMenu.addAction(actLoad)
self._loadActions.append(actLoad)
# END for
#---------------------------Help Menu---------------------------------#
actAboutBox = QtGui.QAction(QtGui.QIcon(), '&About', self)
actAboutBox.triggered.connect(self.on_actAbout_triggered)
actAboutBox.setShortcut("Ctrl+Alt+H")
helpMenu = menubar.addMenu('Help')
helpMenu.addAction(actAboutBox)
#=======================================================================
# Create Widgets
#=======================================================================
self._wgtMain = QtGui.QWidget(self)
splitter = QtGui.QSplitter(self._wgtMain)
splitter.setOrientation(QtCore.Qt.Horizontal)
wgtLeft = QtGui.QWidget(splitter)
wgtLeft.setMinimumWidth(350)
splitterLeft = QtGui.QSplitter(wgtLeft)
splitterLeft.setOrientation(QtCore.Qt.Vertical)
self._wgtTimer = TimerWidget(splitterLeft)
self._wgtCamera = CameraWidget(splitterLeft, self._nao.getCamera())
self._wgtCamera.setMinimumHeight(385)
self._wgtCamera.cameraChanged.connect(self._nao.getCamera().setCameraSource)
self._wgtCamera.moveHead.connect(self.on__wgtCamera_moveHead)
self._wgtActionList = ActionListWidget(splitterLeft, self._actionQueue)
self._wgtActionList.setMinimumHeight(120)
self._wgtActionList.editClicked.connect(self.on__wgtActionList_editClicked)
layoutLeft = QtGui.QHBoxLayout(wgtLeft)
layoutLeft.setMargin(0)
layoutLeft.addWidget(splitterLeft)
wgtRight = QtGui.QWidget(splitter)
wgtRight.setMinimumWidth(380)
splitterRight = QtGui.QSplitter(wgtRight)
splitterRight.setOrientation(QtCore.Qt.Vertical)
self._wgtTaskPanel = QtGui.QWidget(splitterRight)
self._wgtTaskPanel.setMinimumHeight(400)
self._layoutTaskPanel = QtGui.QStackedLayout(self._wgtTaskPanel)
self._layoutTaskPanel.setMargin(0)
for i in range(len(Study.TASKS)):
Study.TASKS[i][Study.TASK_WIDGET].setParent(self._wgtTaskPanel)
Study.TASKS[i][Study.TASK_WIDGET].setActionQueue(self._actionQueue)
Study.TASKS[i][Study.TASK_WIDGET].setNao(self._nao)
self._layoutTaskPanel.addWidget(Study.TASKS[i][Study.TASK_WIDGET])
# END for
widgetTextStiff = QtGui.QWidget(splitterRight)
widgetTextStiff.setMinimumHeight(160)
self._wgtSpeech = SpeechWidget(splitterRight)
self._wgtSpeech.setInputFocus()
self._wgtSpeech.inputCancelled.connect(self.setFocus)
self._wgtSpeech.textSubmitted.connect(self.on__wgtSpeech_playSpeech)
self._wgtSpeech.volumeChanged.connect(self._nao.setVolume)
self._wgtMovement = MovementWidget(splitterRight)
self._wgtMovement.setActionQueue(self._actionQueue)
self._wgtMovement.setNao(self._nao)
layoutTextStiff = QtGui.QHBoxLayout(widgetTextStiff)
layoutTextStiff.setMargin(0)
layoutTextStiff.addWidget(self._wgtSpeech)
layoutTextStiff.addWidget(self._wgtMovement)
layoutRight = QtGui.QHBoxLayout(wgtRight)
layoutRight.setMargin(0)
layoutRight.addWidget(splitterRight)
layoutMain = QtGui.QHBoxLayout(self._wgtMain)
layoutMain.addWidget(splitter)
##################################################
# MainWindow
##################################################
self.installEventFilter(self)
self.setCentralWidget(self._wgtMain)
self.setFocusPolicy(QtCore.Qt.StrongFocus)
self.setMinimumSize(800, 600)
self.setWindowIcon(QtGui.QIcon("images/icon.png"))
self.setWindowTitle('NAO Robotic Controller')
self.resize(1024, 768)
self.show()
# END __init__()
def on_actConnect_triggered(self):
if not self._nao.isConnected():
self._dlgConnect = ConnectDialog(self)
self._dlgConnect.accepted.connect(self.on__dlgConnect_accepted)
self._dlgConnect.show()
# END if
# END on_actConnect_triggered()
def on_actDisconnect_triggered(self):
if self._nao.isConnected():
self.killTimer(self._timerID)
print "==================================="
print "Disconnecting from Nao"
self._nao.disconnect()
print "==================================="
self._wgtCamera.setDefaultImage()
# END if
# END on_actDisconnect_triggered()
# noinspection PyUnusedLocal
def on_actLoad_specific(self, studyShortName):
for i in range(len(self._loadActions)):
if self._loadActions[i] == self.sender():
self._layoutTaskPanel.setCurrentIndex(i)
return
# END if
# END for
# END on_actLoad_specific
def on_actAbout_triggered(self):
dlgAbout = AboutWindow(self)
dlgAbout.show()
# END on_actAbout_triggered()
def on__dlgConnect_accepted(self):
if not self._nao.isConnected():
ipAddress = str(self._dlgConnect.ipAddress)
port = str(self._dlgConnect.port)
camIpAddr = str(self._dlgConnect.camIpAddr)
camPort = str(self._dlgConnect.camPort)
ttsIpAddr = str(self._dlgConnect.ttsIpAddr)
ttsPort = str(self._dlgConnect.ttsPort)
print "==================================="
print "Connecting to Nao (" + ipAddress + ":" + port + ")"
if self._nao.connect(ipAddress, int(port), camIpAddr, int(camPort), ttsIpAddr, int(ttsPort)):
self._timerID = self.startTimer(50)
else:
print "FAILED"
# END if
print "==================================="
self._dlgConnect = None
# END if
# END on__dlgConnect_accepted()
def on__wgtActionList_editClicked(self):
QtGui.QMessageBox.information(self, "Information", "Not implemented", QtGui.QMessageBox.Ok, QtGui.QMessageBox.NoButton)
# END on__wgtActionList_editClicked()
def on__wgtCamera_moveHead(self, direction):
if self._nao.isConnected():
if direction == Direction.Up:
self._nao.tiltHeadUp()
elif direction == Direction.Down:
self._nao.tiltHeadDown()
elif direction == Direction.Left:
self._nao.turnHeadLeft()
elif direction == Direction.Right:
self._nao.turnHeadRight()
#END if
#END if
# END on__wgtCamera_moveHead()
def on__wgtSpeech_playSpeech(self, value):
actions = Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].speech(str(value), self._wgtSpeech.getSpeed(), self._wgtSpeech.getShaping())
if actions is None:
actions = Speech(value, speed = self._wgtSpeech.getSpeed(), shaping = self._wgtSpeech.getShaping(), blocking = False)
#END if
self._actionQueue.addActions(actions)
# END on__wgtSpeech_playSpeech()
# noinspection PyUnusedLocal
def closeEvent(self, event):
self._actionQueue.dispose()
self.on_actDisconnect_triggered()
# END closeEvent()
# noinspection PyUnusedLocal
def timerEvent(self, event):
if self._LEDTime < QtCore.QTime.currentTime():
if self._wgtSpeech.isTextEmpty() and (self._actionQueue.rowCount(None) <= 0 or self._actionQueue.isRunning()):
Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].LEDNormal()
else:
Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].LEDActive()
# END if
self._LEDTime = QtCore.QTime.currentTime().addSecs(1.5)
#!/usr/bin/python
# _*_ coding: utf-8 _*_
from Nao import Nao
from Vision import Vision
if __name__ == "__main__":
Robot = Nao('192.168.1.13 7', 9559)
Detect = Vision(Robot)
Robot.StartPosition()
if Detect.identifyColor() == True:
Robot.setFinish()
