From 043c4c3f092f4d4469ace258786aab9c38ed34d3 Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Wed, 15 Jul 2026 18:01:43 -0400
Subject: [PATCH] work on music player

---
 naowalk.py | 27 +++++++++++++++++----------
 1 file changed, 17 insertions(+), 10 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index b5d758a..1cfbf01 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -11,6 +11,7 @@ import cv2
 import numpy as np
 import pygame
 import yt_dlp
+import subprocess
 import os
 
 # --- Audio for mic ---
@@ -128,15 +129,17 @@ class SoundReceiver:
 
 
 # ==========================================
-# MUSIC PLAYER ON NAO
+# MUSIC PLAYER ON NAO (scp)
 # ==========================================
 class NaoMusicPlayer:
-    def __init__(self, session):
+    def __init__(self, session, nao_ip):
         self.session = session
         self.player = session.service("ALAudioPlayer")
+        self.nao_ip = nao_ip
         self.music_dir = "/home/nao/music"
         try:
-            self.session.service("ALFileManager").createFolder(self.music_dir)
+            subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"], 
+                         stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
         except: pass
         self.current_file = None
         self.is_playing = False
@@ -173,13 +176,16 @@ class NaoMusicPlayer:
             with yt_dlp.YoutubeDL(ydl_opts) as ydl:
                 info = ydl.extract_info(url, download=True)
                 if not info:
+                    print("Download failed")
                     return False
                 downloaded = ydl.prepare_filename(info)
 
             remote_path = f"{self.music_dir}/{int(time.time())}.mp3"
-            file_manager = self.session.service("ALFileManager")
-            # Use uploadFile instead of put
-            file_manager.uploadFile(downloaded, remote_path)
+            result = subprocess.run(["sshpass", "-p", "nao", "scp", downloaded, f"nao@{self.nao_ip}:{remote_path}"], 
+                                  capture_output=True, text=True)
+            if result.returncode != 0:
+                print(f"SCP failed: {result.stderr}")
+                return False
 
             self.current_file = remote_path
             self.player.playFile(remote_path)
@@ -218,8 +224,9 @@ class NaoMusicPlayer:
 # MAIN TELEOP
 # ==========================================
 class NaoTeleop:
-    def __init__(self, session, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0):
+    def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0):
         self.session = session
+        self.nao_ip = nao_ip
         self.motion = session.service("ALMotion")
         self.posture = session.service("ALRobotPosture")
         self.tts = session.service("ALTextToSpeech")
@@ -228,7 +235,7 @@ class NaoTeleop:
         except:
             self.battery = None
 
-        self.music = NaoMusicPlayer(session)
+        self.music = NaoMusicPlayer(session, nao_ip)
         self.music_results = []
         self.selected_result = 0
 
@@ -432,7 +439,7 @@ class NaoTeleop:
                             self.music_results = []
                         elif event.key == pygame.K_p:
                             self.music.pause()
-                        elif event.key == pygame.K_x:   # Stop music
+                        elif event.key == pygame.K_x:
                             self.music.stop()
                         elif event.key == pygame.K_LEFT:
                             self.music.seek(-10)
@@ -538,7 +545,7 @@ if __name__ == "__main__":
         print(f"❌ Connection failed: {e}")
         sys.exit(1)
 
-    NaoTeleop(session,
+    NaoTeleop(session, nao_ip=args.ip,
               audio_device_index=args.audio_device_index,
               mic_channel=MIC_CHANNELS[args.mic_channel],
               mic_gain=args.mic_gain,