def sendPicture(self):
## Ask for recipient
if not self.isAvailable(self.recipient_id):
self.recipient_full = self.sp.dialog(self.__class__.__name__, self.recipient_options, checkValidity=True, askForConfirmation=True, noisy=self.asr)
self.recipient_id = self.getIDFromAttribute(self.recipient_params, "full", self.recipient_full)
else:
self.recipient_full = self.getAttributeFromID(self.recipient_params, self.recipient_id, "full")
self.sp.monolog(self.__class__.__name__, "with-keyword", param={"$KEYWORD$" : self.recipient_full}, group="parameter-answer", tag=speech.TAGS[1])
## Ask for the way to send the picture
telegram_id = self.getAttributeFromID(self.recipient_params, self.recipient_id, TELEGRAM)
line_id = self.getAttributeFromID(self.recipient_params, self.recipient_id, LINE)
email_id = self.getAttributeFromID(self.recipient_params, self.recipient_id, EMAIL)
sending_ways = [sw[0] for sw in [[TELEGRAM, telegram_id], [EMAIL, email_id]] if not sw[1] == ""]
if len(sending_ways) == 1:
send_via = sending_ways[0]
else:
self.choice = mlt.MultiPageChoiceManager(caressestools.Settings.robotIP.encode('utf-8'))
self.sp.monolog(self.__class__.__name__, "9", param={"$RECIPIENT$": self.recipient_full}, tag=speech.TAGS[1])
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[sending_ways])
thr.start()
send_via = self.choice.giveChoiceMultiPage(self.choice_mode, sending_ways)
self.sp.gothread=False
send_via = [unicode(send_via[0], "utf-8"), send_via[1]]
self.choice.kill()
self.sp.checkIfKilledDuringMcm(self.choice, send_via)
send_via = send_via[0]
self.recipient_send_id = self.getAttributeFromID(self.recipient_params, self.recipient_id, send_via)
pic = self.path_take % caressestools.DEF_IMG_APP
pic = pic + self.pic_file_name + "." + self.extension
email_object = self.sp.script[self.__class__.__name__]["settings"]["email-object"][self.language].replace("$USERNAME$", self.username)
message = self.sp.script[self.__class__.__name__]["settings"]["message"][self.language].replace("$USERNAME$", self.username).replace("$RECIPIENT$", self.recipient_full)
## Insert data in memory [email_object, sender_mail, sender_password, smtp, recipient_address(telegram or line or email), message, pic_path]
data = [email_object, self.address, self.password, self.smtp,
self.recipient_send_id, message, pic]
self.sMemory.insertData("CARESSES_send_pic", data)
if not self.sBehavior.isBehaviorRunning(self.behaviors[send_via]):
self.sBehavior.startBehavior(self.behaviors[send_via])
self.sp.monolog(self.__class__.__name__, "11", param={"$RECIPIENT$": self.recipient_full}, tag=speech.TAGS[1])
self.recipient_id = '"n/a"'
def run(self):
self.sp.monolog(self.__class__.__name__, "0", tag=speech.TAGS[1])
caressestools.setAutonomousAbilities(self.session, False, False, False,
False, False)
self.sPosture.goToPosture("Stand", 0.5)
if not self.sBehavior.isBehaviorRunning(
"User/follow-me-no-security-avatarion"):
self.sBehavior.startBehavior(
"User/follow-me-no-security-avatarion")
question = self.sp.script[self.__class__.__name__]["other"]["2"][
self.language].encode('utf-8')
options = [
self.sp.script[self.__class__.__name__]["user"]["0"][
self.language].encode('utf-8')
]
self.choice = mlt.MultiPageChoiceManager(
caressestools.Settings.robotIP.encode('utf-8'))
if self.sp._input == 2:
self.sp.gothread = True
thr = threading.Thread(name="getinput",
target=self.sp.getOptionsFromSmartphone,
args=[options])
thr.start()
answer = self.choice.giveChoiceMultiPage(question,
options,
timer=1200,
exitOnTouch=False)
self.sp.gothread = False
answer = [unicode(answer[0], "utf-8"), answer[1]]
self.choice.kill()
self.sp.checkIfKilledDuringMcm(self.choice, answer, self.end)
self.sp.monolog(self.__class__.__name__, "1", tag=speech.TAGS[1])
self.end()
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][
self.language].encode('utf-8'),
speech.TAGS[3],
noisy=self.asr)
self.sp.monolog(self.__class__.__name__,
"1",
group="evaluation",
tag=speech.TAGS[1])
def run(self):
self.sp.monolog(self.__class__.__name__, "0", tag=speech.TAGS[1])
caressestools.setAutonomousAbilities(self.session, False, False, False, False, False)
self.sPosture.goToPosture("Stand", 0.5)
if not self.sBehavior.isBehaviorRunning("User/follow-me-no-security-avatarion"):
self.sBehavior.startBehavior("User/follow-me-no-security-avatarion")
question = ""
nodes = Graph.nodes
options = [x.getLabel() for x in Graph.nodes if not x.getLabel().startswith("node")]
self.choice = mlt.MultiPageChoiceManager(caressestools.Settings.robotIP.encode('utf-8'))
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[options])
thr.start()
answer = self.choice.giveChoiceMultiPage(question, options, timer=1200, exitOnTouch=False)
self.sp.gothread=False
answer = [unicode(answer[0], "utf-8"), answer[1]]
self.choice.kill()
self.sp.checkIfKilledDuringMcm(self.choice, answer, self.end)
node = findNodeFromLabel(answer[0])
position = self.sMotion.getRobotPosition(True)
self.sMemory.insertData("CARESSES_fixedPose", [node.x * self.file.k, node.y * self.file.k, math.radians(node.th)])
self.logger.info("Storing the following pose as node '%s': (%g, %g, %g) ==> (%g, %g, 0)" % (answer, position[0], position[1], position[2], node.x, node.y))
self.sp.monolog(self.__class__.__name__, "1", tag=speech.TAGS[1])
self.end()
def run(self):
if not self.isAvailable(self.item_id):
self.item_full = self.sp.dialog(self.topic_item, self.items_options, checkValidity=True,
askForConfirmation=False)
self.item_id = self.getIDFromAttribute(self.items_params, "full", self.item_full)
else:
self.item_full = self.getAttributeFromID(self.items_params, self.item_id, "full")
self.sp.monolog(self.topic_item, speech.WITH_KEYWORD, param={"$KEYWORD$": self.item_full},
group="parameter-answer")
if not self.isAvailable(self.room):
room_options = [r.encode('utf-8') for r in self.items_params["IDs"][self.item_id]["locations"]]
if len(room_options) == 1:
self.room = room_options[0]
else:
self.room = self.sp.dialog(self.topic_room, room_options, checkValidity=True, askForConfirmation=False)
get_ihouse_error = False
try:
current_val, status_str = self.getDeviceStatus(self.item_id, self.room)
except:
get_ihouse_error = True
error = self.sp.script[self.topic_item]["other"]["4"][self.language]
self.sp.say(error)
return
# raise Exception, "No answer from iHouse..."
finally:
if get_ihouse_error:
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][self.language].encode('utf-8'))
self.sp.say(self.sp.script[self.__class__.__name__]["evaluation"]["1"][self.language].encode('utf-8'))
if not self.isAvailable(self.operation):
available_operations = [self.items_params["IDs"][self.item_id]["operations"][op].encode('utf-8') for op in self.items_params["IDs"][self.item_id]["operations"].keys() if not op == status_str]
## 1 - by automatically choosing the single possible one
if len(available_operations) == 1:
operation_str = available_operations[0]
question = self.sp.script[self.topic_item]["other"]["3"][self.language].replace("$DEVICE$",
self.item_full).replace(
"$STATUS$", status_str).replace("$ACTION$", operation_str).replace("$ROOM$", self.room)
answer = self.sp.askYesOrNoQuestion(question)
## 2 - or by proposing all of the possible ones except for the one which would leave unchanged the status of the device
else:
choice = mlt.MultiPageChoiceManager(caressestools.Settings.robotIP.encode('utf-8'))
import time
time.sleep(3)
question = self.sp.script[self.topic_item]["other"]["0"][self.language].replace("$DEVICE$", self.item_full).replace("$STATUS$", status_str)
self.sp.say(question)
operation_str = choice.giveChoiceMultiPage(self.item_full, available_operations)[0]
self.sp.playLine(self.sp.USER, operation_str)
choice.kill()
answer = True
for k in self.items_params["IDs"][self.item_id]["operations"].keys():
if self.items_params["IDs"][self.item_id]["operations"][k].encode('utf-8') == operation_str:
self.operation = k
break
## ... or from apar
else:
operation_str = self.items_params["IDs"][self.item_id]["operations"][self.operation]
## If the requested operation has no effect on the device, stop the action
if self.operation == status_str:
self.sp.monolog(self.topic_item, "1", param={"$DEVICE$": self.item_full, "$STATUS$": status_str})
self.stop()
return
## Otherwise execute it
else:
operation_str = self.items_params["IDs"][self.item_id]["operations"][self.operation]
question = self.sp.script[self.topic_item]["other"]["3"][self.language].replace("$DEVICE$",
self.item_full).replace(
"$STATUS$", status_str).replace("$ACTION$", operation_str).replace("$ROOM$", self.room)
# answer = self.sp.askYesOrNoQuestion(question)
answer = True
if answer:
success = False
try:
success = self.setDeviceStatus(self.item_id, self.room, self.operation, current_val)
except:
error = self.sp.script[self.topic_item]["other"]["4"][self.language]
self.sp.say(error)
return
# raise Exception, "No answer from iHouse..."
finally:
if success:
self.sp.monolog(self.topic_item, "2")
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][self.language].encode('utf-8'))
self.sp.say(self.sp.script[self.__class__.__name__]["evaluation"]["1"][self.language].encode('utf-8'))
else:
self.sp.replyAffirmative()
def run(self):
if len(self.recipient_options) == 0:
self.sp.monolog(self.__class__.__name__, "4", tag=speech.TAGS[1])
return
if not self.isAvailable(self.recipient_id):
self.recipient_full = self.sp.dialog(
self.__class__.__name__,
self.recipient_options,
checkValidity=True,
askForConfirmation=True,
useChoiceManagerFromStart=True,
noisy=self.asr)
self.recipient_id = self.getIDFromAttribute(
self.recipient_params, "full", self.recipient_full)
else:
self.recipient_full = self.getAttributeFromID(
self.recipient_params, self.recipient_id, "full")
self.sp.monolog(self.__class__.__name__,
"with-keyword",
param={"$KEYWORD$": self.recipient_full},
group="parameter-answer",
tag=speech.TAGS[1])
if self.recipient_id == "caregiver":
self.msg_options = self.msg_options_caregiver
else:
self.msg_options = self.msg_options_other
self.mcm = mcm.MultiPageChoiceManager(
caressestools.Settings.robotIP.encode('utf-8'))
if not self.isAvailable(self.message_id):
self.sp.monolog(self.__class__.__name__, "0", tag=speech.TAGS[1])
if self.sp._input == 2:
self.sp.gothread = True
thr = threading.Thread(name="getinput",
target=self.sp.getOptionsFromSmartphone,
args=[self.msg_options])
thr.start()
self.message_full = self.mcm.giveChoiceMultiPage(
"", self.msg_options)
self.sp.gothread = False
self.message_full = [
unicode(self.message_full[0], "utf-8"), self.message_full[1]
]
self.mcm.kill()
self.sp.checkIfKilledDuringMcm(self.mcm, self.message_full)
self.message_id = self.getIDFromAttribute(self.msg_params, "full",
self.message_full[0])
self.recipient_line = self.getAttributeFromID(self.recipient_params,
self.recipient_id,
"line")
self.message = self.getAttributeFromID(self.msg_params,
self.message_id, "message")
if self.message_id == "customMessage":
correct = False
content = ""
while not correct:
self.sASR.startReco(caressestools.Language.lang_naoqi, False,
True)
self.sp.monolog(self.__class__.__name__,
"3",
tag=speech.TAGS[5])
content = self.sp.getInput()
self.sp.userSaid(content)
self.sASR.stopReco()
question = self.sp.script[self.__class__.__name__][
"ask-confirmation"]["without-keyword"][
self.language].replace("$CONFIRM$", content)
correct = self.sp.askYesOrNoQuestion(question,
speech.TAGS[2],
noisy=self.asr)
self.message = self.message.replace("$CONTENT$", content)
self.sp.replyAffirmative()
result = self.sendMessage(
self.recipient_line,
self.message.replace("$USERNAME$", self.username))
if result == 'OK':
self.sp.monolog(self.__class__.__name__,
"1",
param={"$RECIPIENT$": self.recipient_full},
tag=speech.TAGS[1])
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][
self.language].encode('utf-8'),
speech.TAGS[3],
noisy=self.asr)
self.sp.monolog(self.__class__.__name__,
"1",
group="evaluation",
tag=speech.TAGS[1])
else:
self.sp.monolog(self.__class__.__name__, "2", tag=speech.TAGS[1])
def run(self):
if self.sBehavior.isBehaviorRunning("caresses_game_memory/behavior_1"):
self.sBehavior.stopBehavior("caresses_game_memory/behavior_1")
self.sBehavior.startBehavior("caresses_game_memory/behavior_1")
self.sp.monolog(self.__class__.__name__, "0", tag=speech.TAGS[1])
while self.again and not self.is_stopped:
if not self.isAvailable(self.topic_id):
self.topic_full = self.sp.dialog(self.__class__.__name__, self.topic_options, checkValidity=True, askForConfirmation=False, noisy=self.asr)
self.topic_id = self.getIDFromAttribute(self.topic_params, "full", self.topic_full)
else:
self.topic_full = self.getAttributeFromID(self.topic_params, self.topic_id, "full")
self.sp.monolog(self.__class__.__name__, "with-keyword", param={"$KEYWORD$" : self.topic_full}, group="parameter-answer", tag=speech.TAGS[1])
self.sMemory.raiseEvent("CARESSES/game_memory/topic", self.topic_id)
self.sp.monolog(self.__class__.__name__, "1", tag=speech.TAGS[1])
self.sp.askYesOrNoQuestion(self.sp.script[self.__class__.__name__][speech.OTHER]["2"][self.language].encode('utf-8'), speech.TAGS[4], noisy=self.asr)
imgs_folder = os.path.join(os.path.dirname(os.path.realpath(__file__)), "NAOqi_apps", "game_memory_APP", "CARESSES Game Memory", "html", "images", self.topic_id)
imgs = os.listdir(imgs_folder)
index = randint(1, len(imgs))
index = str(index).zfill(2)
self.sMemory.raiseEvent("CARESSES/game_memory/show", index)
while self.sBehavior.isBehaviorRunning("caresses_game_memory/behavior_1"):
pass
self.mcm = mcm.MultiPageChoiceManager(caressestools.Settings.robotIP)
memorygames_conf = os.path.join(os.path.dirname(os.path.realpath(__file__)), "aux_files", "memorygames-conf.json")
with open(memorygames_conf) as f:
content = json.load(f)
num_of_questions = len(content["pictures"][self.topic_id][index])
for q in range(1, num_of_questions + 1):
question = content["pictures"][self.topic_id][index][str(q)]["question"][self.language].encode('utf-8')
question_tablet = content["pictures"][self.topic_id][index][str(q)]["question-tablet"][self.language].encode('utf-8')
options = [o.encode('utf-8') for o in content["pictures"][self.topic_id][index][str(q)]["answers"][self.language]]
correct_answer = content["pictures"][self.topic_id][index][str(q)]["correct-answer"][self.language]
options = [o for o in options]
self.sp.say(question)
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[options])
thr.start()
answer = self.mcm.giveChoiceMultiPage(question_tablet, options)
self.sp.gothread=False
answer = [unicode(answer[0], "utf-8"), answer[1]]
self.sp.checkIfKilledDuringMcm(self.mcm, answer, self.end)
while not answer[0].lower() == correct_answer.lower():
self.sp.monolog(self.__class__.__name__, "5", tag=speech.TAGS[1])
self.sp.say(question, speech.TAGS[4])
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[options])
thr.start()
answer = self.mcm.giveChoiceMultiPage(question_tablet, options)
self.sp.gothread=False
answer = [unicode(answer[0], "utf-8"), answer[1]]
self.sp.checkIfKilledDuringMcm(self.mcm, answer, self.end)
self.sp.monolog(self.__class__.__name__, "4", tag=speech.TAGS[1])
caressestools.showImg(self.session, caressestools.TABLET_IMG_EXECUTION)
self.sBehavior.stopBehavior("caresses_game_memory/behavior_1")
self.sBehavior.startBehavior("caresses_game_memory/behavior_1")
question = self.sp.script[self.__class__.__name__][speech.OTHER]["6"][self.language].encode('utf-8')
self.again = self.sp.askYesOrNoQuestion(question, speech.TAGS[11], noisy=self.asr)
if self.again:
self.topic_id = '"n/a"'
else:
self.sp.replyAffirmative()
self.sp.monolog(self.__class__.__name__, "3", tag=speech.TAGS[1])
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][self.language].encode('utf-8'), speech.TAGS[3], noisy=self.asr)
self.sp.monolog(self.__class__.__name__, "1", group="evaluation", tag=speech.TAGS[1])
self.end()
def run(self):
choice_ready = self.sp.script[self.__class__.__name__][speech.OTHER]["1"][self.language].encode('utf-8')
line_send = self.sp.script[self.__class__.__name__][speech.OTHER]["5"][self.language].encode('utf-8')
line_another = self.sp.script[self.__class__.__name__][speech.OTHER]["6"][self.language].encode('utf-8')
choice_keep_delete = self.sp.script[self.__class__.__name__][speech.OTHER]["8"][self.language].encode('utf-8')
self.choice_mode = self.sp.script[self.__class__.__name__][speech.OTHER]["10"][self.language].encode('utf-8')
option_ready = [o.encode('utf-8') for o in self.sp.script[self.__class__.__name__][speech.USER]["0"][self.language]]
options_keep_del = [self.sp.script[self.__class__.__name__][speech.USER]["keep"][self.language][0].encode('utf-8'),
self.sp.script[self.__class__.__name__][speech.USER]["delete"][self.language][0].encode(
'utf-8')]
keywords_keep = [o.encode('utf-8') for o in self.sp.script[self.__class__.__name__][speech.USER]["keep"][self.language]]
keywords_del = [o.encode('utf-8') for o in self.sp.script[self.__class__.__name__][speech.USER]["delete"][self.language]]
take_another = True
while take_another and not self.is_stopped:
self.choice = mlt.MultiPageChoiceManager(caressestools.Settings.robotIP.encode('utf-8'))
self.sp.monolog(self.__class__.__name__, "0", tag=speech.TAGS[1])
caressestools.setAutonomousAbilities(self.session, False, False, False, False, False)
self.sPosture.goToPosture("Stand", 0.5)
self.sPhoto.setResolution(3) # 1280*960px (reference at http://doc.aldebaran.com/2-5/family/pepper_technical/video_2D_pep_v18a.html#cameraresolution-ov5640)
self.sPhoto.setPictureFormat(self.extension)
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[option_ready])
thr.start()
answer = self.choice.giveChoiceMultiPage(choice_ready, option_ready)
self.sp.gothread=False
answer = [unicode(answer[0], "utf-8"), answer[1]]
self.choice.kill()
self.sp.checkIfKilledDuringMcm(self.choice, answer)
self.sp.monolog(self.__class__.__name__, "2", tag=speech.TAGS[1])
self.sBehavior.startBehavior(self.behaviors["shutter"])
## Take picture
self.pic_file_name = "img_%s" % datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
self.sPhoto.takePicture(self.path_take % caressestools.DEF_IMG_APP, self.pic_file_name)
pic_path = self.path_show % (caressestools.Settings.robotIP, caressestools.DEF_IMG_APP, self.pic_file_name + "." + self.extension)
## Show picture
self.sTablet.preLoadImage(pic_path)
self.sp.monolog(self.__class__.__name__, "3", tag=speech.TAGS[1])
self.sTablet.showImage(pic_path)
## Keep or delete picture
time.sleep(3)
caressestools.setAutonomousAbilities(self.session, False, True, True, True, True)
self.sp.monolog(self.__class__.__name__, "4", tag=speech.TAGS[4])
self.sASR.startReco(caressestools.Language.lang_naoqi, False, True)
user_input = self.sp.getInput()
if user_input is None:
user_input = ""
self.sp.userSaid(user_input)
not_understood = True
self.sASR.stopReco()
while not_understood and not self.is_stopped:
if any(unicode(keyword, "utf-8") in user_input.lower() for keyword in keywords_keep):
if not len(self.recipient_options) == 0:
send =self.sp.askYesOrNoQuestion(line_send, speech.TAGS[4], noisy=self.asr)
if send:
self.sendPicture()
take_another = self.sp.askYesOrNoQuestion(line_another, speech.TAGS[11], noisy=self.asr)
not_understood = False
elif any(unicode(keyword, "utf-8") in user_input.lower() for keyword in keywords_del):
pic = self.path_take % caressestools.DEF_IMG_APP
pic = pic + self.pic_file_name + "." + self.extension
self.delPicture(pic)
take_another = self.sp.askYesOrNoQuestion(line_another, speech.TAGS[11], noisy=self.asr)
not_understood = False
else:
self.choice = mlt.MultiPageChoiceManager(caressestools.Settings.robotIP.encode('utf-8'))
self.sp.say(self.sp.script[speech.ADDITIONAL][speech.MISSED_ANSWER][self.language].encode('utf-8'), speech.TAGS[0])
self.sp.monolog(self.__class__.__name__, "7", tag=speech.TAGS[4])
if self.sp._input==2:
self.sp.gothread = True
thr = threading.Thread(name="getinput", target=self.sp.getOptionsFromSmartphone, args=[options_keep_del])
thr.start()
user_input = self.choice.giveChoiceMultiPage(choice_keep_delete, options_keep_del)
self.sp.gothread=False
user_input = [unicode(user_input[0], "utf-8"), user_input[1]]
self.choice.kill()
self.sp.checkIfKilledDuringMcm(self.choice, user_input)
user_input = user_input[0]
caressestools.showImg(self.session, caressestools.TABLET_IMG_EXECUTION)
if not self.is_stopped:
self.sp.replyAffirmative()
self.sp.askYesOrNoQuestion(
self.sp.script[self.__class__.__name__]["evaluation"]["0"][self.language].encode('utf-8'), speech.TAGS[3], noisy=self.asr)
self.sp.monolog(self.__class__.__name__, "1", group="evaluation", tag=speech.TAGS[1])