def look_at_object(self):
"""Look at the object in Nao's hand.
If we lose the object while we're inspecting it...
- new grasp_status is 'absent'
- we stop the animation and say something about losing it
- restart the grasp demo
Otherwise wait for the animation to finish (fut.wait)
"""
self.logger.debug('call look_at_object')
if not self.run:
return
object_dropped = qi.Promise()
self.thinking_sound_fut_1 = None
self.thinking_sound_fut_2 = None
def handle_object_dropped(object_dropped, stat):
"""Handle the object being dropped."""
self.logger.debug('call handle_object_dropped: {}'.format(stat))
if not self.run:
return
if stat == 'absent':
self.logger.warning('grasped object was dropped!')
object_dropped.setValue(1)
utils.nearly_close_hand(self, 'RHand')
signal = utils.start_monitoring_grasp_status(self.sesh, 'present')
signal.connect(partial(handle_object_dropped, object_dropped))
self.anim = random.randint(1, 3)
def inspect_object(object_dropped):
"""Observe the object with ooohs and ahhhs."""
if not self.run:
return
self.thinking_sound_fut_1 = utils.play_rand_thinking_sound(self, 1.5)
self.thinking_sound_fut_2 = utils.play_rand_thinking_sound(self, 5)
self.run_anim('ObserveObject{}'.format(self.anim))
try:
object_dropped.setValue(0)
except RuntimeError:
self.logger.warning('"ObserveObject" animation was canceled ' +
'because object was dropped.')
qi.async(inspect_object, object_dropped)
if object_dropped.future().value() == 1: # dropped the object
self.thinking_sound_fut_1.cancel()
self.thinking_sound_fut_2.cancel()
self.stop_anim('ObserveObject{}'.format(self.anim))
self.say_and_animate('ohno', 'Grasping', 'LostIt')
return False
else: # done looking at the object
utils.stop_monitoring_grasp_status()
return True
def stop_all(self):
"""Stop all active processes and handle fall."""
self.run = False
# Stop all processes, cancel promises, disconnect callbacks
try:
utils.stop_monitoring_arm_move()
utils.stop_monitoring_grasp_status()
utils.stop_periodic_say()
except AttributeError:
pass
try:
self.thinking_sound_fut_1.cancel()
except (AttributeError, RuntimeError):
pass
try:
self.thinking_sound_fut_2.cancel()
except (AttributeError, RuntimeError):
pass
try:
self.grasp_object.setCanceled()
self.grasp_object = None
except (AttributeError, RuntimeError):
pass
try:
self.stop_sub.signal.disconnect(self.stop_sub_id)
except:
pass
try:
self.fall_sub.signal.disconnect(self.fall_sub_id)
except:
pass
# Handle a fall: quit app
if self.fell:
self.logger.debug('handling fall...')
time.sleep(3)
self.stand_up(3)
self.box.onStopped(1)
# UGH: be robust to launching from Choregraphe without life
elif self.memory.getData('AutonomousLife/State') == 'disabled':
self.motion.setBreathEnabled('Legs', False)
self.motion.setIdlePostureEnabled('Body', True)
self.stand_up(3)
def handle_arm_moved(object_dropped, value):
self.logger.debug('call handle_arm_moved')
if not self.run:
return
utils.stop_monitoring_grasp_status()
object_dropped.setValue(1)