def getCurrentPosition():
"get a list of joint name and their current position value in radians ['HeadYaw'=1.0; 'HeadPitch'=1.0;... work even if no stiffness"
motion = naoqitools.myGetProxy("ALMotion")
listJointName = motion.getJointNames('Body')
listJointName.remove("RHipYawPitch")
# when using dcm: remove this joint
listJointsDCMValue = []
# la liste des clés de chaque joint dans la stm
for strJointName in listJointName:
listJointsDCMValue.append(
"Device/SubDeviceList/%s/Position/Sensor/Value" % strJointName)
# add TorsoX and Y and AccZ
listJointsDCMValue.append(
"Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
listJointsDCMValue.append(
"Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
listJointsDCMValue.append(
"Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value")
stm = naoqitools.myGetProxy("ALMemory")
listJointValue = stm.getListData(listJointsDCMValue)
dicoConstructed = dict([])
for i in range(len(listJointName)):
dicoConstructed[listJointName[i]] = listJointValue[i]
dicoConstructed['TorsoX'] = listJointValue[len(listJointName)]
dicoConstructed['TorsoY'] = listJointValue[len(listJointName) + 1]
dicoConstructed['TorsoAccZ'] = listJointValue[len(listJointName) +
2] * math.pi / 180
# debug.debug( "poselibrary::PoseLibrary::getCurrentPosition: " + stringtools.dictionnaryToString( dicoConstructed ) );
return dicoConstructed
def sayAndCacheAndLight( strTextToSay, bJustPrepare = False, bStoreToNonVolatilePath = False, nEyesColor = 0, nUseLang = -1 ):
"say a cached text with light animation"
"nEyesColor: 0: white, 1: blue, 2: green; 3: red"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"return the length of the text in seconds, or None if impossible"
print( "sayAndCacheAndLight( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, nEyesColor: %s, nUseLang: %s )" % ( strTextToSay, str( bJustPrepare ), str( bStoreToNonVolatilePath ), str( nEyesColor ), str( nUseLang ) ) );
if( not config.bPrecomputeText ):
print( "sayAndCacheAndLight: disabled by configuration: bPrecomputeText is false" );
if( bJustPrepare ):
return None; # do nothing
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
tts.say( strTextToSay );
return None;
rLength = sayAndCache( strTextToSay, bJustPrepare = True, bStoreToNonVolatilePath = bStoreToNonVolatilePath, nUseLang = nUseLang, bCalledFromSayAndCacheFromLight = True ); # we store it to disk, only if we must do it
# this two lines are done too in sayAndCache...
strTextToSay = assumeTextHasDefaultSettings( strTextToSay, nUseLang );
szFilename = sayAndCache_getFilename( strTextToSay, nUseLang );
szPathVolatile = pathtools.getVolatilePath();
rSampleLenSec = 0.05;
# szPathFilenamePeak = szPathVolatile + szFilename + ("_%5.3f.egy" % rSampleLenSec);
szPathFilenamePeak = szFilename + ("_%5.3f.egy" % rSampleLenSec);
szPathFilenamePeakCache = pathtools.getCachePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szPathFilenamePeak;
szPathFilenamePeak = szPathVolatile + szPathFilenamePeak;
anLedsColorSequency = [];
aBufFile = "";
bFileGenerated = False;
if( not filetools.isFileExists( szPathFilenamePeak ) ):
if( filetools.isFileExists( szPathFilenamePeakCache ) ):
copyFile( szPathFilenamePeakCache, szPathFilenamePeak );
if( not filetools.isFileExists( szPathFilenamePeak ) ):
# generate peak file
timeBegin = time.time();
print( "sayAndCacheAndLight: generating peak light - begin\n" );
szPathFilename = szPathVolatile + szFilename + ".raw";
anLedsColorSequency = [];
try:
une = naoqitools.myGetProxy( 'UsageNoiseExtractor' );
anLedsColorSequency = une.analyseSpeakSound( szPathFilename, int( rSampleLenSec * 1000 ), False );
except BaseException, err:
print( "ERR: sayAndCacheAndLight( '%s' ): err: %s" % ( strTextToSay, str( err ) ) );
print( "ERR: sayAndCacheAndLight => trying old cpp version" );
anLedsColorSequency = analyseSpeakSound( szPathFilename, rSampleLenSec * 1000 );
print( "sayAndCacheAndLight: analyseSpeakSound - end - time: %fs\n" % float( time.time() - timeBegin ) );
# print( "anLedsColorSequency: %d samples: %s\n" % ( len( anLedsColorSequency ), str( anLedsColorSequency ) ) );
print( "Writing file with %d peak samples (time: %d)\n" % ( len( anLedsColorSequency ), int( time.time() ) ) );
# struct.pack_into( "f"*len( anLedsColorSequency ), aBufFile, anLedsColorSequency[:] );
for peakValue in anLedsColorSequency:
aBufFile += struct.pack( "f", peakValue );
try:
file = open( szPathFilenamePeak, "wb" );
file.write( aBufFile );
except RuntimeError, err:
print( "ERR: sayAndCacheAndLight( '%s' ): err: %s" % ( strTextToSay, str( err ) ) );
def launch( self, strPathAndFilenameXar, bWaitEnd = True, strHostName = 'localhost', bForceLoading = False, rTimeOutInSec = 60*60*24*7 ):
"launch a behavior and return the framemanager id"
"return [id, return_value]"
"the id has no use if bWaitEnd is true"
"the return_value is not set if not bWaitEnd"
"rTimeOutInSec: on pourrait peut etre mettre un temps plus court par défaut, ca serait mieux pour les tests"
nSimulatedThreadID = random.randint( 1,10000 );
self.log( "INF: launch: Launching %s:%s, rTimeOutInSec=%5.3f (thread:%d)" % ( strHostName, strPathAndFilenameXar, rTimeOutInSec, nSimulatedThreadID ) );
mem = naoqitools.myGetProxy( "ALMemory", strHostName = strHostName );
# mem.raiseMicroEvent( self.getVarName_SoftCancel( strPathAndFilenameXar ), False ); # on ne le fait pas ici, car des fois on a un stoppe, avant de rentrer dans cette méthode, donc autant le lire ici... par contre on le reinitialisera apres le comportement !
if( not bWaitEnd ):
mem.raiseMicroEvent( self.getVarName_SoftCancel( strPathAndFilenameXar ), False ); # cependant dans ce cas, vu qu'on ne sera pas mis au courant de la fin de ce behavior, on ne pourra pas le remettre a False a la fin, donc il faut le mettre la
try:
if( mem.getData( self.getVarName_SoftCancel( strPathAndFilenameXar ) ) == True ):
self.log( "INF: launch: Launching %s:%s - end (soft canceled before loading)(thread:%d)" % ( strHostName, strPathAndFilenameXar, nSimulatedThreadID ) );
mem.raiseMicroEvent( self.getVarName_SoftCancel( strPathAndFilenameXar ), False ); # on le réinit pour le prochain lancement
return [None, None];
except:
pass # oui cette variable peut ne pas encore exister!
nXarID = self.load( strPathAndFilenameXar, strHostName, bForceLoading );
if( nXarID == -1 ):
self.log( "ERR: launch: '%s:%s' load failure" % ( strHostName, strPathAndFilenameXar, nSimulatedThreadID ) );
return -1;
nNumLoadedXar = self.find( strPathAndFilenameXar, strHostName );
if( self.aLoadedXar[nNumLoadedXar][3] == True ):
self.log( "WNG: launch: already launched: '%s:%s' => waiting a little (thread:%d)" % ( strHostName, strPathAndFilenameXar, nSimulatedThreadID ) );
time.sleep( 1.0 ); # attend une seconde et reteste
nNumLoadedXar = self.find( strPathAndFilenameXar, strHostName ); # refresh nNumLoadedXar
if( self.aLoadedXar[nNumLoadedXar][3] == True ):
self.log( "ERR: launch: already launched: '%s:%s' => skipped (thread:%d)" % ( strHostName, strPathAndFilenameXar, nSimulatedThreadID ) );
return -1;
self.aLoadedXar[nNumLoadedXar][3] = True;
mem.insertData( self.getVarName_Results( strPathAndFilenameXar ), self.unknown_value );
mem.insertData( self.getVarName_Cancel( strPathAndFilenameXar ), False );
try:
if( mem.getData( self.getVarName_SoftCancel( strPathAndFilenameXar ) ) == True ):
# on a été interrompu pendant le chargement ou la connection d'un machin!
self.log( "INF: launch: Launching %s:%s - end (soft canceled before launching) (thread:%d)" % ( strHostName, strPathAndFilenameXar, nSimulatedThreadID ) );
mem.raiseMicroEvent( self.getVarName_SoftCancel( strPathAndFilenameXar ), False ); # on le réinit pour le prochain lancement
self.aLoadedXar[nNumLoadedXar][3] = False;
return [None, None];
except:
pass # oui cette variable peut ne pas encore exister!
fm = naoqitools.myGetProxy( "ALFrameManager", strHostName = strHostName );
try:
self.log( "DBG: launch: before fm.playBehavior(%s) (thread:%d)" % ( str( nXarID ), nSimulatedThreadID ) );
fm.playBehavior( nXarID );
self.log( "DBG: launch: after fm.playBehavior(%s) (thread:%d)" % ( str( nXarID ), nSimulatedThreadID ) );
except BaseException, err:
self.log( "ERR: launch: while launching playBehavior on '%s': %s (thread:%d)" % ( strPathAndFilenameXar, err, nSimulatedThreadID ) );
# self.aLoadedXar[nNumLoadedXar][3] = False; # pas la peine: on va carrément l'invalider!
# erasing it for next one!
self.invalidate( strPathAndFilenameXar, strHostName );
return [None, None];
def speechEmo( txt, strEmotion = "Standard", bWaitEnd = True, bPrecompute = False ):
"talk using a specific emotion"
"strEmotion, can be 'Standard', 'Happy', 'Sad', 'Loud', 'Proxi' or NAO"
"Return -1 on error, or the ID of the speaking task"
print( "speechEmo( '%s', strEmotion = '%s', bPrecompute = %s" % (txt, str( strEmotion ), str( bPrecompute ) ) );
try:
tts = naoqitools.myGetProxy( 'ALTextToSpeech' );
ad = naoqitools.myGetProxy( 'ALAudioDevice' );
except BaseException, err:
print( "ERR: abcdk.speech.speechEmo: " + str( err ) );
return -1;
def speechEmo(txt, strEmotion="Standard", bWaitEnd=True, bPrecompute=False):
"talk using a specific emotion"
"strEmotion, can be 'Standard', 'Happy', 'Sad', 'Loud', 'Proxi' or NAO"
"Return -1 on error, or the ID of the speaking task"
print("speechEmo( '%s', strEmotion = '%s', bPrecompute = %s" %
(txt, str(strEmotion), str(bPrecompute)))
try:
tts = naoqitools.myGetProxy('ALTextToSpeech')
ad = naoqitools.myGetProxy('ALAudioDevice')
except BaseException, err:
print("ERR: abcdk.speech.speechEmo: " + str(err))
return -1
def setSpeakLanguage( nNumLang = getDefaultSpeakLanguage(), proxyTts = False ):
"change the tts speak language"
print( "SetSpeakLanguage to: %d" % nNumLang );
if( not proxyTts ):
proxyTts = naoqitools.myGetProxy( "ALTextToSpeech" );
if( not proxyTts ):
debug.debug( "ERR: setSpeakLanguage: can't connect to tts" );
return;
try:
if( nNumLang == constants.LANG_FR ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceFrench" );
elif ( nNumLang == constants.LANG_EN ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceEnglish" );
elif ( nNumLang == constants.LANG_SP ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceSpanish" );
elif ( nNumLang == constants.LANG_IT ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceItalian" );
elif ( nNumLang == constants.LANG_GE ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceGerman" );
elif ( nNumLang == constants.LANG_CH ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceChinese" );
elif ( nNumLang == constants.LANG_PO ):
proxyTts.loadVoicePreference( "NaoOfficialVoicePolish" );
elif ( nNumLang == constants.LANG_KO ):
proxyTts.loadVoicePreference( "NaoOfficialVoiceKorean" );
else:
proxyTts.loadVoicePreference( "NaoOfficialVoiceEnglish" );
except:
print( "ERR: setSpeakLanguage: loadVoicePreference error" );
def setBrainVuMeter(nLeftLevel,
nRightLevel,
rIntensity=1.0,
bDontWait=False,
bInverseSide=False):
"use the brain leds as vu meter (left and right separated)"
"the 0 is in the front of Nao"
"nXxxLevel in [0,6] => 0: full lightoff; 6 => full litten"
"bInverseSide: the 0 becomes at bottom of Nao"
dcm = naoqitools.myGetProxy("DCM")
rTime = 0.05
riseTime = dcm.getTime(int(rTime * 1000))
for i in range(6):
if (not bInverseSide):
strDeviceNameR = getBrainLedName(i)
strDeviceNameL = getBrainLedName(11 - i)
else:
strDeviceNameR = getBrainLedName(5 - i)
strDeviceNameL = getBrainLedName(11 - (5 - i))
if (i < nLeftLevel):
rIntL = rIntensity
else:
rIntL = 0.
if (i < nRightLevel):
rIntR = rIntensity
else:
rIntR = 0.
dcm.set([strDeviceNameL, "Merge", [[float(rIntL), riseTime]]])
# le float ici est ultra important car sinon venant de chorégraphe 1.0 => 1 (depuis les sliders de params)
dcm.set([strDeviceNameR, "Merge", [[float(rIntR), riseTime]]])
if (not bDontWait):
time.sleep(rTime)
def getNaoChestName():
"get the nao name as stored in the rom chest"
stm = naoqitools.myGetProxy("ALMemory")
strNum = stm.getData("Device/DeviceList/ChestBoard/BodyNickName")
if (strNum == 'Nao336' and getNaoNickName() == 'Astroboy'):
strNum = 'Nao332'
return strNum
def getNbrMoveOrder( nThreshold = 0.06 ):
"compute current joint moving by order"
mem = naoqitools.myGetProxy( "ALMemory" );
global global_getNbrMoveOrder_listKeyOrder;
global global_getNbrMoveOrder_listKeyValue;
global global_getNbrMoveOrder_listKeyStiffness;
global global_getNbrMoveOrder_listOrder_prev;
# first time: generate key list
if( len( global_getNbrMoveOrder_listKeyOrder ) < 1 ):
listJointName = getDcmBodyJointName();
for strJointName in listJointName:
global_getNbrMoveOrder_listKeyOrder.append( "Device/SubDeviceList/%s/Position/Actuator/Value" % strJointName );
global_getNbrMoveOrder_listKeyValue.append( "Device/SubDeviceList/%s/Position/Sensor/Value" % strJointName );
global_getNbrMoveOrder_listKeyStiffness.append( "Device/SubDeviceList/%s/Hardness/Actuator/Value" % strJointName );
global_getNbrMoveOrder_listOrder_prev = mem.getListData( global_getNbrMoveOrder_listKeyOrder ); # init first time
# get all values
arOrder = mem.getListData( global_getNbrMoveOrder_listKeyOrder );
arValue = mem.getListData( global_getNbrMoveOrder_listKeyValue );
arStiffness= mem.getListData( global_getNbrMoveOrder_listKeyStiffness );
nNbr = 0;
for i in range( len( arOrder ) ):
# a joint is moving if: pos is different from order, if order changed and if stiffness
# we can have a big difference between order and value when no stiffness (position is out of range)
if( ( abs( arOrder[i] - arValue[i] ) > nThreshold or abs( global_getNbrMoveOrder_listOrder_prev[i] - arOrder[i] ) > 0.01 ) and arStiffness[i] > 0.01 ):
nNbr += 1;
# debug.debug( "getNbrMoveOrder: difference on %s: order: %f; sensor: %f; stiffness: %f" % ( global_getNbrMoveOrder_listKeyValue[i], arOrder[i], arValue[i], arStiffness[i] ) );
global_getNbrMoveOrder_listOrder_prev = arOrder;
return nNbr;
def updateImg(self, strMessage, strFilenameImg=None, strLegend=None):
"add an image and a sentence to a blog"
"strFilenameImg: if None, take a picture using camera"
"strLegend: if different of None or strLegend, add a legend below the image"
if (strFilenameImg == None):
print("INF: Blog.updateImg: Taking picture...\n")
camToolBox = naoqitools.myGetProxy("ALVisionToolbox")
camToolBox.halfPress()
strFilenameImg = "/home/nao/" + filetools.getFilenameFromTime()
camToolBox.post.takePictureRegularly(5.0, strFilenameImg, True,
"jpg", 2)
# 2=> VGA
time.sleep(2.2)
# 1 second is not sufficient !
camToolBox.stopTPR(strFilenameImg, "jpg")
strFilenameImg = strFilenameImg + '.jpg'
# coz takePictureRegularly add '.jpg' automatically
print("INF: Blog.updateImg: Taking picture, file goes to '%s'\n" %
strFilenameImg)
strExt = os.path.basename(strFilenameImg)
strExt = strExt.split('.')
strExt = strExt.pop()
strFilename = filetools.getFilenameFromTime() + '.' + strExt
strDest = self.strImgFolderAbs + strFilename
filetools.copyFile(strFilenameImg, strDest)
strTxt = "<table cellpadding=2><tr><td>%s<br></td></tr><tr><td><IMG SRC='%s' HEIGHT=192></td></tr>" % (
strMessage, self.strImgFolderLocal + strFilename)
if (strLegend != None and strLegend != ""):
strTxt += "<tr><td><font size=-2><center>- %s -</center></font></td></tr>" % strLegend
strTxt += "</table>"
self.updateBlog(strTxt)
def getHtmlPage( strHtmlAdress, bWaitAnswer = True, rTimeOutForAnswerInSec = 30.0, strSaveAs = None, bTryToUseCpp = True ):
"return a web page, or "" on error (async or sync method, with optionnal timeout)"
"Warning: don't put '&' in the html adress !"
"rTimeOutForAnswerInSec: set to 0 for infinite"
"strSaveAs: instead of returning a string, just save to a file and return True"
# this method is ok but doesn't work on adress that doesn't finished with an extension (.ext)
# req = urllib2.Request( strHtmlAdress );
# print req.get_full_url();
# handle = urllib2.urlopen( req );
# res = handle.read();
# return res;
# use cpp !
if( bTryToUseCpp ):
try:
usage = naoqitools.myGetProxy( 'UsageTools' );
# separate hostname and directories
strHost, strFolder, strPageName = getHostFolderAndFile( strHtmlAdress );
# print( "altools.getHtmlPage: L'ADRESSE DU SITE: -%s-%s-%s-:" % (strHost, strFolder, strPageName) );
# strHost = strHost[len('http://'):]; # remove http: older version doesn't like it !
if( strSaveAs != None ):
if( bWaitAnswer ):
bRet = usage.getWebFile( strHost, strFolder + strPageName, strSaveAs, rTimeOutForAnswerInSec );
return bRet;
else:
bRet = usage.post.getWebFile( strHost, strFolder + strPageName, strSaveAs, rTimeOutForAnswerInSec );
return "";
strPageContents = usage.getWebPage( strHost, strFolder + strPageName, rTimeOutForAnswerInSec );
if( strPageContents != "error" or ( rTimeOutForAnswerInSec > 0. and rTimeOutForAnswerInSec < 10.0 ) ): # if we put a short timeout, that's possible to have an empty response!
return strPageContents; # else, we will use the normal method
else:
print( "WRN: getHtmlPage: CPP method error: return empty, trying other method" );
except BaseException, err:
print( "WRN: getHtmlPage: CPP method error: %s" % str( err ) );
pass # use oldies version
def setBrainVuMeter( nLeftLevel, nRightLevel, rIntensity = 1.0, bDontWait = False, bInverseSide = False ):
"use the brain leds as vu meter (left and right separated)"
"the 0 is in the front of Nao"
"nXxxLevel in [0,6] => 0: full lightoff; 6 => full litten"
"bInverseSide: the 0 becomes at bottom of Nao"
dcm = naoqitools.myGetProxy( "DCM" );
rTime = 0.05
riseTime = dcm.getTime(int( rTime*1000 ));
for i in range( 6 ):
if( not bInverseSide ):
strDeviceNameR = getBrainLedName( i );
strDeviceNameL = getBrainLedName( 11-i );
else:
strDeviceNameR = getBrainLedName( 5-i );
strDeviceNameL = getBrainLedName( 11-(5-i) );
if( i < nLeftLevel ):
rIntL = rIntensity;
else:
rIntL = 0.;
if( i < nRightLevel ):
rIntR = rIntensity;
else:
rIntR = 0.;
dcm.set( [ strDeviceNameL, "Merge", [[ float( rIntL ), riseTime ]] ] ); # le float ici est ultra important car sinon venant de chorégraphe 1.0 => 1 (depuis les sliders de params)
dcm.set( [ strDeviceNameR, "Merge", [[ float( rIntR ), riseTime ]] ] );
if( not bDontWait ):
time.sleep( rTime );
def updateImg( self, strMessage, strFilenameImg = None, strLegend = None ):
"add an image and a sentence to a blog"
"strFilenameImg: if None, take a picture using camera"
"strLegend: if different of None or strLegend, add a legend below the image"
if( strFilenameImg == None ):
print( "INF: Blog.updateImg: Taking picture...\n" );
camToolBox = naoqitools.myGetProxy( "ALVisionToolbox" );
camToolBox.halfPress();
strFilenameImg = "/home/nao/" + filetools.getFilenameFromTime();
camToolBox.post.takePictureRegularly( 5.0, strFilenameImg, True, "jpg", 2 ); # 2=> VGA
time.sleep( 2.2 ); # 1 second is not sufficient !
camToolBox.stopTPR( strFilenameImg, "jpg" );
strFilenameImg = strFilenameImg + '.jpg'; # coz takePictureRegularly add '.jpg' automatically
print( "INF: Blog.updateImg: Taking picture, file goes to '%s'\n" % strFilenameImg );
strExt = os.path.basename( strFilenameImg );
strExt = strExt.split( '.' );
strExt = strExt.pop();
strFilename = filetools.getFilenameFromTime() + '.' + strExt;
strDest = self.strImgFolderAbs + strFilename;
filetools.copyFile( strFilenameImg, strDest );
strTxt = "<table cellpadding=2><tr><td>%s<br></td></tr><tr><td><IMG SRC='%s' HEIGHT=192></td></tr>" % ( strMessage, self.strImgFolderLocal + strFilename );
if( strLegend != None and strLegend != "" ):
strTxt += "<tr><td><font size=-2><center>- %s -</center></font></td></tr>" % strLegend;
strTxt += "</table>";
self.updateBlog( strTxt );
def __init__(self, pstrModuleName, pstrFunctionName="", pstrTaskName=""):
self.up = naoqitools.myGetProxy("UsageProfiler")
self.strModuleName = pstrModuleName
self.strFunctionName = pstrFunctionName
self.strTaskName = pstrTaskName
self.up.startMeasure(pstrModuleName, pstrFunctionName, pstrTaskName,
-1)
def sayAndCache_internal( strTextToSay, bJustPrepare, bStoreToNonVolatilePath, bDirectPlay, nUseLang, bWaitEnd, bCalledFromSayAndCacheFromLight, strUseVoice ):
"generate a text in a file, then read it, next time it will be directly played from that file"
"bJustPrepare: render the text to a file, but don't play it now"
"bStoreToNonVolatilePath: copy the generated file to a non volatile path (/usr/generatedvoices)"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"strUseVoice: if different of None or default: use specific voice"
"return the length of the text in seconds, or None if impossible"
print( "sayAndCache_internal( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, bDirectPlay: %s, nUseLang: %d, bWaitEnd: %s, bCalledFromSayAndCacheFromLight: %s, strUseVoice: '%s' )" % ( strTextToSay, str( bJustPrepare ), str( bStoreToNonVolatilePath ), str( bDirectPlay ), nUseLang, str( bWaitEnd ), str( bCalledFromSayAndCacheFromLight ), str( strUseVoice ) ) );
if( not config.bPrecomputeText ):
print( "sayAndCache: disabled by configuration: bPrecomputeText is false" );
if( bJustPrepare ):
return None; # do nothing
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
tts.say( strTextToSay );
return None;
print( "sayAndCache: FORCING DIRECT_PLAY CAR SINON C'EST BUGGE DANS LA VERSION COURANTE!");
bDirectPlay = True;
if( strUseVoice == "default" ):
strUseVoice = None;
if( config.bRemoveDirectPlay ):
print( "WRN: DISABLING DIRECT_PLAY SETTINGS for testing/temporary purpose" );
bDirectPlay = False;
strTextToSay = assumeTextHasDefaultSettings( strTextToSay, nUseLang );
szFilename = sayAndCache_getFilename( strTextToSay, nUseLang, strUseVoice );
szPathVolatile = pathtools.getVolatilePath() + "generatedvoices" + pathtools.getDirectorySeparator();
try:
os.mkdir( szPathVolatile );
except BaseException, err:
pass
def getGroupLimits( listGroup, rCoef = 1., bOrderedByMinMax = False ):
"get list of limits from a group name or a list of group"
"rCoef: you can reduce the list by a ratio (0.5, will get halt the limits)"
"order default: list of min,max,acc for each joint"
"order bOrderedByMinMax: list of min of each joint, then list of max of each joint..."
listJoints = PoseLibrary.getListJoints( listGroup );
listLimits = [];
if( bOrderedByMinMax ):
listLimits = [[],[],[]];
motion = naoqitools.myGetProxy( 'ALMotion' );
for strJointName in listJoints:
limitForThisJoint = motion.getLimits( strJointName );
# gestion 1.7.25 et rétrocompatibilité
if( len( limitForThisJoint ) > 1 ):
limitForThisJoint = limitForThisJoint[1];
limitForThisJoint = limitForThisJoint[0];
print( "getGroupLimits: %s => %s" % ( strJointName, str( limitForThisJoint ) ) );
if( not bOrderedByMinMax ):
limitForThisJoint[0] *= rCoef;
limitForThisJoint[1] *= rCoef;
limitForThisJoint[2] *= rCoef;
listLimits.append( limitForThisJoint );
else:
listLimits[0].append( limitForThisJoint[0]*rCoef );
listLimits[1].append( limitForThisJoint[1]*rCoef );
listLimits[2].append( limitForThisJoint[2]*rCoef );
return listLimits;
def runBehavior_BM( strBehavior, nTimeOut = 60 ):
"launch a behavior on Nao, return "" if loading failed, or the 'naoqi' name of the behavior"
"nTimeOut: temps maximum a attendre en secondes, -1 => pas d'attente (don't wait end)"
abm = naoqitools.myGetProxy( "ALBehaviorManager" );
strBeName = getLibraryName( strBehavior );
# comme on ne peut le charger qu'une fois, on doit toujours le stopper avant (ca stoppera un précédent)
try:
print( "naolibrary.runBehavior: stopping previously running (%s)" % strBehavior );
abm.stopBehavior( strBeName );
except:
pass # not previously running ... not a big deal
try:
print( "naolibrary.runBehavior: unloading previously loaded (%s)" % strBehavior );
abm.unloadBehavior( self.strBehaviorName );
except:
pass # not previously running ... not a big deal
try:
print( "naolibrary.runBehavior: loading (%s)" % strBehavior );
abm.loadBehavior( strBeName );
except:
print( "naolibrary.runBehavior: can't preload behavior, version >= 1.4.32 (%s) ?" % strBehavior );
try:
print( "naolibrary.runBehavior: running (%s)" % strBehavior );
abm.runBehavior( strBeName );
rStep = 0.2;
rTotal = 0;
while( abm.isBehaviorRunning( strBeName ) or rTotal > nTimeOut ):
print( "naolibrary.runBehavior: waiting '%s'... %f..." % ( strBehavior, rStep ) );
time.sleep( rStep );
rTotal += rStep;
except BaseException, err:
debug.logToChoregraphe( "naolibrary.runBehavior: error occurs: " + str( err ) );
strBeName = "";
def getGroupLimits(listGroup, rCoef=1., bOrderedByMinMax=False):
"get list of limits from a group name or a list of group"
"rCoef: you can reduce the list by a ratio (0.5, will get halt the limits)"
"order default: list of min,max,acc for each joint"
"order bOrderedByMinMax: list of min of each joint, then list of max of each joint..."
listJoints = PoseLibrary.getListJoints(listGroup)
listLimits = []
if (bOrderedByMinMax):
listLimits = [[], [], []]
motion = naoqitools.myGetProxy('ALMotion')
for strJointName in listJoints:
limitForThisJoint = motion.getLimits(strJointName)
# gestion 1.7.25 et rétrocompatibilité
if (len(limitForThisJoint) > 1):
limitForThisJoint = limitForThisJoint[1]
limitForThisJoint = limitForThisJoint[0]
print("getGroupLimits: %s => %s" %
(strJointName, str(limitForThisJoint)))
if (not bOrderedByMinMax):
limitForThisJoint[0] *= rCoef
limitForThisJoint[1] *= rCoef
limitForThisJoint[2] *= rCoef
listLimits.append(limitForThisJoint)
else:
listLimits[0].append(limitForThisJoint[0] * rCoef)
listLimits[1].append(limitForThisJoint[1] * rCoef)
listLimits[2].append(limitForThisJoint[2] * rCoef)
return listLimits
def coloriseBox_ActivateOneBox_internal( strPathBoxName, bActivate = True ):
"add an activation color to a single level box"
global global_coloriseBox_ActivateOneBox_allBoxState;
debug( "coloriseBox_ActivateOneBox_internal( '%s', %d )" % ( strPathBoxName, bActivate ) );
global global_SectionCritique;
while( global_SectionCritique.testandset() == False ):
debug( "coloriseBox_ActivateOneBox_internal: locked" );
time.sleep( 0.05 );
nIdx = -1;
for i in range( len( global_coloriseBox_ActivateOneBox_allBoxState ) ):
if( global_coloriseBox_ActivateOneBox_allBoxState[i][0] == strPathBoxName ):
nIdx = i;
break;
if( nIdx == -1 ):
# first time
nIdx = len( global_coloriseBox_ActivateOneBox_allBoxState );
global_coloriseBox_ActivateOneBox_allBoxState.append( [ strPathBoxName, 0 ] );
strBoxName = choregrapheBoxPathNameToBoxName( strPathBoxName );
debug( "coloriseBox_ActivateOneBox_internal: '%s' last => '%s'" % ( strPathBoxName, strBoxName ) );
if( bActivate ):
global_coloriseBox_ActivateOneBox_allBoxState[nIdx][1] +=1;
if( global_coloriseBox_ActivateOneBox_allBoxState[nIdx][1] == 1 ):
# colorise it!
controller = naoqitools.myGetProxy( "ALChoregrapheController" );
try:
controller.setBoxTitleColor( strBoxName, 0., 0., 1. );
except BaseException, err:
debug( "coloriseBox_ActivateOneBox_internal: Exception catched: %s" % err );
def setSpeakLanguage(nNumLang=getDefaultSpeakLanguage(), proxyTts=False):
"change the tts speak language"
print("SetSpeakLanguage to: %d" % nNumLang)
if (not proxyTts):
proxyTts = naoqitools.myGetProxy("ALTextToSpeech")
if (not proxyTts):
debug("ERR: setSpeakLanguage: can't connect to tts")
return
try:
if (nNumLang == constants.LANG_FR):
proxyTts.loadVoicePreference("NaoOfficialVoiceFrench")
elif (nNumLang == constants.LANG_EN):
proxyTts.loadVoicePreference("NaoOfficialVoiceEnglish")
elif (nNumLang == constants.LANG_SP):
proxyTts.loadVoicePreference("NaoOfficialVoiceSpanish")
elif (nNumLang == constants.LANG_IT):
proxyTts.loadVoicePreference("NaoOfficialVoiceItalian")
elif (nNumLang == constants.LANG_GE):
proxyTts.loadVoicePreference("NaoOfficialVoiceGerman")
elif (nNumLang == constants.LANG_CH):
proxyTts.loadVoicePreference("NaoOfficialVoiceChinese")
elif (nNumLang == constants.LANG_PO):
proxyTts.loadVoicePreference("NaoOfficialVoicePolish")
elif (nNumLang == constants.LANG_KO):
proxyTts.loadVoicePreference("NaoOfficialVoiceKorean")
else:
proxyTts.loadVoicePreference("NaoOfficialVoiceEnglish")
except:
print("ERR: setSpeakLanguage: loadVoicePreference error")
def getNaoChestName():
"get the nao name as stored in the rom chest"
stm = naoqitools.myGetProxy( "ALMemory" );
strNum = stm.getData( "Device/DeviceList/ChestBoard/BodyNickName" );
if( strNum == 'Nao336' and getNaoNickName() == 'Astroboy' ):
strNum = 'Nao332';
return strNum;
def playSound(strFilename, bWait=True, bDirectPlay=False, nSoundVolume=100):
"Play a sound, return True if ok"
"bDirectPlay: play it Now! (could fragilise system and video drivers"
"nSoundVolume: if bDirectPlay is on, will play the sound with a specific volume (ndev)"
print(
"playSound( '%s', bWait = %s, bDirectPlay = %s, nSoundVolume = %d )" %
(strFilename, str(bWait), str(bDirectPlay), nSoundVolume))
if (config.bRemoveDirectPlay):
print(
"WRN: DISABLING_DIRECTPLAY SETTINGS for testing/temporary purpose")
bDirectPlay = False
try:
# If strFilename has an absolute path, go ahead with this path !
if strFilename.startswith(pathtools.getDirectorySeparator()):
strSoundFile = strFilename
else:
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/0_work_free/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# then try another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/1_validated/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/0_work_copyright/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getNaoqiPath(
) + "/share/naoqi/wav/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
print("ERR: appu.playSound: can't find file '%s'" %
strFilename)
return False
analyseSound_pause(bWait)
if (bDirectPlay):
system.mySystemCall("aplay -q " + strSoundFile, bWait)
else:
global_proxyAudioPlayer = naoqitools.myGetProxy("ALAudioPlayer")
if (global_proxyAudioPlayer == None):
print(
"ERR: sound.playSound: can't find module 'ALAudioPlayer'")
else:
if (bWait):
global_proxyAudioPlayer.playFile(strSoundFile)
else:
global_proxyAudioPlayer.post.playFile(strSoundFile)
analyseSound_resume(bWait)
except BaseException, err:
debug.debug("playSound: ERR: " + str(err))
print("errr: " + str(err))
def __init__(self, strJointName):
self.strJointName = strJointName
self.stm = naoqitools.myGetProxy("ALMemory")
self.strStmJointNameSensor = "Device/SubDeviceList/" + strJointName + "/Position/Sensor/Value"
self.strStmJointNameActuator = "Device/SubDeviceList/" + strJointName + "/Position/Actuator/Value"
self.strStmJointNameStiffness = "Device/SubDeviceList/" + strJointName + "/Hardness/Actuator/Value"
self.rDiffThreshold = 0.05
self.reset()
def __init__( self, strJointName ): self.strJointName = strJointName; self.stm = naoqitools.myGetProxy( "ALMemory" ); self.strStmJointNameSensor = "Device/SubDeviceList/" + strJointName + "/Position/Sensor/Value"; self.strStmJointNameActuator = "Device/SubDeviceList/" + strJointName + "/Position/Actuator/Value"; self.strStmJointNameStiffness = "Device/SubDeviceList/" + strJointName + "/Hardness/Actuator/Value"; self.rDiffThreshold = 0.05; self.reset();
def analyseSound_resume( bWaitForResume ):
"resume a previously infinite paused sound analyse"
if( bWaitForResume ):
try:
analyser = naoqitools.myGetProxy( "UsageNoiseExtractor" );
analyser.inhibitSoundAnalyse( 0 );
except BaseException, err:
debug.debug( "analyseSound_resume: ERR: " + str( err ) );
def analyseSound_resume(bWaitForResume):
"resume a previously infinite paused sound analyse"
if (bWaitForResume):
try:
analyser = naoqitools.myGetProxy("UsageNoiseExtractor")
analyser.inhibitSoundAnalyse(0)
except BaseException, err:
debug.debug("analyseSound_resume: ERR: " + str(err))
def stop( self, strPathAndFilenameXar, strHostName = 'localhost' ):
"stop a running behavior"
"return true if the behavior was really running"
self.log( "INF: stop: Stopping %s:%s" % ( strHostName, strPathAndFilenameXar ) );
nNumLoadedXar = self.find( strPathAndFilenameXar, strHostName );
if( nNumLoadedXar == -1 ):
self.log( "WNG: stop: xar '%s:%s' is not running (perhaps currently loading - in this case, it will be stopped at the end of the loading)" % ( strHostName, strPathAndFilenameXar) );
# don't return there !
try:
mem = naoqitools.myGetProxy( "ALMemory", strHostName = strHostName );
mem.raiseMicroEvent( self.getVarName_SoftCancel( strPathAndFilenameXar ), True );
# pour etre sur on stoppe aussi le comportement (ca rajoute un peu plus de brutalité dans un monde de bug)
fm = naoqitools.myGetProxy( "ALFrameManager", strHostName = strHostName );
fm.exitBehavior( self.aLoadedXar[nNumLoadedXar][2] ); # will send a stop # mettre ici deleteBehavior si on veut liberer de la memoire (l'exit est fait dedans)
except BaseException, err:
self.log( "ERR: stop: deleting '%s:%s' failure (already stopped?): err: %s" % ( strHostName, strPathAndFilenameXar, str(err) ) );
return False;
def isFinished( self, strPathAndFilenameXar, strHostName = 'localhost' ):
mem = naoqitools.myGetProxy( "ALMemory", strHostName = strHostName );
try:
valueResults = mem.getData( self.getVarName_Results( strPathAndFilenameXar ) );
valueCancel = mem.getData( self.getVarName_SoftCancel( strPathAndFilenameXar ) ); # des fois le comportement appellé ne recoit pas que le softcancel a été raisé, donc on n'ajoute ici un test.
except BaseException, err:
debug.debug( "WNG: XarLoader.isFinished: return value not found for '%s:%s' (%s) => true" % ( strHostName, strPathAndFilenameXar, err ) );
return True;
def importFromALMemory( self, strSpecificIP = "localhost" ):
"import all variables from a (remote) ALMemory"
try:
mem = naoqitools.myGetProxy( "ALMemory", strSpecificIP );
allVarName = mem.getData( "PersistentMemoryDataManager_all_vars" );
except BaseException, err:
debug.debug( "WRN: importFromALMemory: %s" % str( err ) );
return;
def importFromALMemory(self, strSpecificIP="localhost"):
"import all variables from a (remote) ALMemory"
try:
mem = naoqitools.myGetProxy("ALMemory", strSpecificIP)
allVarName = mem.getData("PersistentMemoryDataManager_all_vars")
except BaseException, err:
debug.debug("WRN: importFromALMemory: %s" % str(err))
return
def circleLedsEyes( nColor, rTime, nNbrTurn ):
# launch a leds animation using one color
leds = naoqitools.myGetProxy( "ALLeds" );
nNbrSegment = 8;
for i in range( nNbrSegment*nNbrTurn ):
leds.post.fadeRGB( "FaceLed%d" % (i%nNbrSegment) , nColor, rTime );
leds.post.fadeRGB( "FaceLed%d" % (i%nNbrSegment) , 0x000000, rTime*1.25 );
time.sleep( rTime*0.25 );
time.sleep( rTime*0.5 ); # wait last time
def unloadAll( self ):
"unload all previously loaded behavior (gain ram, or update of behavior or ...)"
for behav in self.aLoadedXar:
self.log( "INF: unloadAll: erasing %s:%s" % ( behav[0], behav[1] ) );
try:
fm = naoqitools.myGetProxy( "ALFrameManager", strHostName = behav[0] );
fm.exitBehavior( behav[2] );
except BaseException, err:
self.log( "ERR: unloadAll: %s!" % ( err ) );
def setBrainLedsIntensity( rIntensity = 1.0, rTimeMs = 20, bDontWait = False ):
"light on/off all the brain leds"
dcm = naoqitools.myGetProxy( "DCM" );
riseTime = dcm.getTime(rTimeMs);
for i in range( 12 ):
strDeviceName = getBrainLedName( i );
dcm.set( [ strDeviceName, "Merge", [[ rIntensity, riseTime ]] ] );
if( not bDontWait ):
time.sleep( rTimeMs / 1000. );
def getMasterVolume():
"get nao master sound system volume (in %)"
try:
ad = naoqitools.myGetProxy( 'ALAudioDevice' );
nVal = ad.getOutputVolume();
debug.debug( "getMasterVolume: %d%%" % ( nVal ) );
return nVal;
except BaseException, err:
print( "getMasterVolume: error '%s'" % str( err ) );
def logToChoregraphe(strText):
"print logs in the choregraphe debug print (like box.log)"
import naoqitools
debug("logToChoregraphe: '%s'" % strText)
try:
chor = naoqitools.myGetProxy("ALChoregraphe")
chor.onPythonPrint(str(strText))
except:
pass
def logToChoregraphe( strText ):
"print logs in the choregraphe debug print (like box.log)"
import naoqitools
debug( "logToChoregraphe: '%s'" % strText );
try:
chor = naoqitools.myGetProxy( "ALChoregraphe" );
chor.onPythonPrint( str( strText ) );
except:
pass
def setBrainLedsIntensity(rIntensity=1.0, rTimeMs=20, bDontWait=False):
"light on/off all the brain leds"
dcm = naoqitools.myGetProxy("DCM")
riseTime = dcm.getTime(rTimeMs)
for i in range(12):
strDeviceName = getBrainLedName(i)
dcm.set([strDeviceName, "Merge", [[rIntensity, riseTime]]])
if (not bDontWait):
time.sleep(rTimeMs / 1000.)
def playMusic( strFilename, bWait ):
print( "appuPlaySound: avant cnx sur audioplayer (ca lagge?)" );
#myAP = naoqitools.myGetProxy( "ALAudioPlayer" );
print( "appuPlaySound: apres cnx sur audioplayer (ca lagge?)" );
ap = naoqitools.myGetProxy( "ALAudioPlayer" );
if( bWait ):
ap.playFile( getApplicationSharedPath() + "/mp3/" + strFilename );
else:
ap.post.playFile( getApplicationSharedPath() + "/mp3/" + strFilename );
def getMasterVolume():
"get nao master sound system volume (in %)"
try:
ad = naoqitools.myGetProxy('ALAudioDevice')
nVal = ad.getOutputVolume()
debug.debug("getMasterVolume: %d%%" % (nVal))
return nVal
except BaseException, err:
print("getMasterVolume: error '%s'" % str(err))
def playMusic(strFilename, bWait):
print("appuPlaySound: avant cnx sur audioplayer (ca lagge?)")
#myAP = naoqitools.myGetProxy( "ALAudioPlayer" );
print("appuPlaySound: apres cnx sur audioplayer (ca lagge?)")
ap = naoqitools.myGetProxy("ALAudioPlayer")
if (bWait):
ap.playFile(getApplicationSharedPath() + "/mp3/" + strFilename)
else:
ap.post.playFile(getApplicationSharedPath() + "/mp3/" + strFilename)
def setOneBrainIntensity( nLedIndex, rIntensity = 1.0, bDontWait = False ):
"set one led beyond all the brain leds"
"nLedIndex in [0,11]"
dcm = naoqitools.myGetProxy( "DCM" );
rTime = 0.05
riseTime = dcm.getTime(int( rTime*1000 ));
strDeviceName = getBrainLedName( nLedIndex );
dcm.set( [ strDeviceName, "Merge", [[ float( rIntensity ), riseTime ]] ] ); # le float ici est ultra important car sinon venant de chorégraphe 1.0 => 1 (depuis les sliders de params)
if( not bDontWait ):
time.sleep( rTime );
def getCurrentMasterVolume():
"get nao master sound system volume (in %)"
"return 0 on error or problem (not on nao or ...)"
try:
ad = naoqitools.myGetProxy('ALAudioDevice')
nVal = ad.getOutputVolume()
debug.debug("getCurrentMasterVolume: %d" % (nVal))
return nVal
except BaseException, err:
print("getCurrentMasterVolume: error '%s'" % str(err))
def circleLedsEyes(nColor, rTime, nNbrTurn):
# launch a leds animation using one color
leds = naoqitools.myGetProxy("ALLeds")
nNbrSegment = 8
for i in range(nNbrSegment * nNbrTurn):
leds.post.fadeRGB("FaceLed%d" % (i % nNbrSegment), nColor, rTime)
leds.post.fadeRGB("FaceLed%d" % (i % nNbrSegment), 0x000000,
rTime * 1.25)
time.sleep(rTime * 0.25)
time.sleep(rTime * 0.5)
def ensureJointIsSoft(self):
rNewValueHardness = self.stm.getData(self.strStmJointNameStiffness, 0)
rMin = 0.30
# below this value, arms couldn't move to the head level.
if (rNewValueHardness > rMin):
dcm = naoqitools.myGetProxy("DCM")
dcm.set([
"%s/Hardness/Actuator/Value" % self.strJointName, "Merge",
[[rMin, dcm.getTime(20)]]
])
def exportToALMemory( self ):
"copy all variable to ALMemory"
if( len( self.allData ) == 0 ):
return;
print( "INF: PersistentMemoryDataManager.exportToALMemory: exporting %d variable(s)" % len( self.allData ) );
import naoqitools # module already unloaded when called from __del__
mem = naoqitools.myGetProxy( "ALMemory" );
if( mem == None ):
print( "WRN: PersistentMemoryDataManager.exportToALMemory: can't connect to ALMemory" );
return;
while( self.mutexListData.testandset() == False ):
print( "PersistentMemoryDataManager.exportToALMemory: locked" );
time.sleep( 0.1 );
allVarName = [];
mem = naoqitools.myGetProxy( "ALMemory" );
for k, v in self.allData.iteritems():
allVarName.append( v.strName );
v.exportToALMemory();
mem.insertData( "PersistentMemoryDataManager_all_vars", allVarName );
self.mutexListData.unlock();
def analyseSound_pause(bWaitForResume):
"pause some running sound analyse"
"bWaitForResume: True => pause until resume call, False => pause a little times (5sec?)"
try:
analyser = naoqitools.myGetProxy("UsageNoiseExtractor")
nTime = 5
if (bWaitForResume):
nTime = -1
analyser.inhibitSoundAnalyse(nTime)
except BaseException, err:
debug.debug("analyseSound_pause: ERR: " + str(err))
def boxGetFrameNumber(strPathBoxName):
"Get the frame number of the timeline of a box running in a timeline"
"return None if the box isn't in a timeline"
strTimelineName = boxGetParentName(strPathBoxName, 3)
try:
mem = naoqitools.myGetProxy("ALMemory")
nVal = mem.getData(strTimelineName)
return nVal
except BaseException, err:
# print( "WRN: boxGetFrameNumber: error is: %s" % str( err ) );
return None
def increaseParent( self, strPathBoxName ):
"called from children"
fm = naoqitools.myGetProxy( "ALFrameManager" );
nNbrFrame = fm.getMotionLength( strPathBoxName ) * fm.getTimelineFps( strPathBoxName );
debug.debug( "INF: choregraphetools.FrameNumber.increaseParent( '%s' ), nNbrFrame: %d )" % ( strPathBoxName, nNbrFrame ) );
strBoxParentName = boxGetParentName( strPathBoxName );
try:
self.animations_FrameNumber[strBoxParentName] += nNbrFrame;
except:
# not existing => create it
self.animations_FrameNumber[strBoxParentName] = nNbrFrame;
def boxGetFrameNumber( strPathBoxName ):
"Get the frame number of the timeline of a box running in a timeline"
"return None if the box isn't in a timeline"
strTimelineName = boxGetParentName( strPathBoxName, 3 );
try:
mem = naoqitools.myGetProxy( "ALMemory" );
nVal = mem.getData( strTimelineName );
return nVal;
except BaseException, err:
# print( "WRN: boxGetFrameNumber: error is: %s" % str( err ) );
return None;
def analyseSound_pause( bWaitForResume ):
"pause some running sound analyse"
"bWaitForResume: True => pause until resume call, False => pause a little times (5sec?)"
try:
analyser = naoqitools.myGetProxy( "UsageNoiseExtractor" );
nTime = 5;
if( bWaitForResume ):
nTime = -1;
analyser.inhibitSoundAnalyse( nTime );
except BaseException, err:
debug.debug( "analyseSound_pause: ERR: " + str( err ) );
def circleLedsEars( rTime, nNbrTurn ):
# launch a leds animation using one color
leds = naoqitools.myGetProxy( "ALLeds" );
nNbrSegment = 10;
for i in range( nNbrSegment*nNbrTurn ):
leds.post.fade( "LeftEarLed%d" % (i%nNbrSegment+1) , 1., rTime );
leds.post.fade( "RightEarLed%d" % (i%nNbrSegment+1) , 1., rTime );
leds.post.fade( "LeftEarLed%d" % (i%nNbrSegment+1) , 0., rTime*1.25 );
leds.post.fade( "RightEarLed%d" % (i%nNbrSegment+1) , 0., rTime*1.25 );
time.sleep( rTime*0.25 );
time.sleep( rTime*0.5 ); # wait last time
def setOneBrainIntensity(nLedIndex, rIntensity=1.0, bDontWait=False):
"set one led beyond all the brain leds"
"nLedIndex in [0,11]"
dcm = naoqitools.myGetProxy("DCM")
rTime = 0.05
riseTime = dcm.getTime(int(rTime * 1000))
strDeviceName = getBrainLedName(nLedIndex)
dcm.set([strDeviceName, "Merge", [[float(rIntensity), riseTime]]])
# le float ici est ultra important car sinon venant de chorégraphe 1.0 => 1 (depuis les sliders de params)
if (not bDontWait):
time.sleep(rTime)
def importFromALMemory(self, strName, strSpecificIP="localhost"):
"read a value from a distant ALMemory on a robot"
mem = naoqitools.myGetProxy("ALMemory", strSpecificIP)
while (self.mutex.testandset() == False):
print("PersistentMemoryData(%s).importFromALMemory: locked" %
self.strName)
time.sleep(0.1)
self.strName = strName
strKeyname = "behaviordata/" + self.strName
self.allValue = mem.getData(strKeyname)
self.mutex.unlock()
print("self.allValue: " + str(self.allValue))
def exportToALMemory(self):
"write all value of this variable to the ALMemory"
mem = naoqitools.myGetProxy("ALMemory")
while (self.mutex.testandset() == False):
print("PersistentMemoryData(%s).exportToALMemory: locked" %
self.strName)
time.sleep(0.1)
strKeyname = "behaviordata/" + self.strName
# print( "INF: PersistentMemoryData.exportToALMemory: exporting value for '%s' (%d value(s))" % ( self.strName, len( self.allValue ) ) );
if (mem != None):
mem.insertData(strKeyname, self.allValue)
self.mutex.unlock()
def waitBehaviorEnd_BM( strBehavior, nTimeOut = 60 ):
"Wait until the end of a previously launched behavior"
"return False if not finished, True if finished"
"nTimeOut: temps maximum a attendre en secondes, -1 => pas d'attente (don't wait end)"
abm = naoqitools.myGetProxy( "ALBehaviorManager" );
rStep = 0.2;
rTotal = 0;
while( abm.isBehaviorRunning( strBeName ) or rTotal > nTimeOut ):
time.sleep( rStep );
rTotal += rStep;
return nTotal <= nTimeOut;