added more scripts, walking works great but no camera yet

naowalk.py

@@ -5,13 +5,9 @@ import qi
 import argparse
 import sys
 import time
-import threading
+import pygame
 import cv2
 import numpy as np
-import pygame
-from pygame.locals import *
-
-import vision_definitions
 
 class NaoTeleop:
     def __init__(self, session, robot_ip="127.0.0.1", port=9559):
@@ -22,11 +18,17 @@ class NaoTeleop:
         self.robot_ip = robot_ip
         self.running = True
         
-        # Video client
-        self.resolution = vision_definitions.kQVGA  # 320x240
-        self.color_space = vision_definitions.kRGBColorSpace
+        # Video settings (using numbers instead of vision_definitions)
+        self.resolution = 2   # 2 = kQVGA (320x240)
+        self.color_space = 11 # 11 = kRGBColorSpace
         self.fps = 15
-        self.video_client = self.video.subscribe("TeleopCamera", self.resolution, self.color_space, self.fps)
+        
+        self.video_client = None
+        try:
+            self.video_client = self.video.subscribe("TeleopCamera", self.resolution, self.color_space, self.fps)
+            print("✅ Camera subscribed successfully")
+        except Exception as e:
+            print(f"⚠️ Camera subscription failed: {e}")
         
         # Pygame setup
         pygame.init()
@@ -34,102 +36,94 @@ class NaoTeleop:
         pygame.display.set_caption("NAO Teleoperation - Camera + Controls")
         self.clock = pygame.time.Clock()
         
-        # Movement params
-        self.speed = 0.8  # forward/back
+        # Movement
+        self.speed = 0.8
         self.turn_speed = 0.6
         self.strafe = 0.5
 
     def get_image(self):
-        """Get latest image from NAO camera"""
-        image = self.video.getImageRemote(self.video_client)
-        if image is None:
+        if not self.video_client:
+            return None
+        try:
+            image = self.video.getImageRemote(self.video_client)
+            if not image:
+                return None
+            
+            width = image[0]
+            height = image[1]
+            array = image[6]
+            
+            image_array = np.frombuffer(bytearray(array), dtype=np.uint8).reshape((height, width, 3))
+            return cv2.cvtColor(image_array, cv2.COLOR_RGB2BGR)
+        except:
             return None
-        
-        width = image[0]
-        height = image[1]
-        array = image[6]
-        image_array = np.frombuffer(bytearray(array), dtype=np.uint8).reshape((height, width, 3))
-        return cv2.cvtColor(image_array, cv2.COLOR_RGB2BGR)  # OpenCV uses BGR
 
     def handle_input(self):
-        """Handle keyboard + gamepad input"""
         keys = pygame.key.get_pressed()
         x = y = theta = 0.0
 
-        # Keyboard (WASD + arrows)
-        if keys[K_w] or keys[K_UP]:
-            x = self.speed
-        if keys[K_s] or keys[K_DOWN]:
-            x = -self.speed
-        if keys[K_a] or keys[K_LEFT]:
-            theta = self.turn_speed
-        if keys[K_d] or keys[K_RIGHT]:
-            theta = -self.turn_speed
-        if keys[K_q]:
-            y = self.strafe   # strafe left
-        if keys[K_e]:
-            y = -self.strafe  # strafe right
+        # Keyboard
+        if keys[pygame.K_w] or keys[pygame.K_UP]:    x = self.speed
+        if keys[pygame.K_s] or keys[pygame.K_DOWN]:  x = -self.speed
+        if keys[pygame.K_a] or keys[pygame.K_LEFT]:  theta = self.turn_speed
+        if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.turn_speed
+        if keys[pygame.K_q]: y = self.strafe
+        if keys[pygame.K_e]: y = -self.strafe
 
-        # Game controller (Xbox/PlayStation style)
+        # Game Controller
         if pygame.joystick.get_count() > 0:
             joy = pygame.joystick.Joystick(0)
             joy.init()
             
-            # Left stick: forward/back + strafe
-            axis_x = joy.get_axis(0)   # strafe
-            axis_y = joy.get_axis(1)   # forward/back (usually inverted)
-            x = -axis_y * self.speed
-            y = axis_x * self.strafe
-            
-            # Right stick or D-pad for turning
-            turn_axis = joy.get_axis(3) if joy.get_numbuttons() > 3 else 0
-            theta = -turn_axis * self.turn_speed
-            
-            # Buttons for speed / posture
-            if joy.get_button(0):  # A/X button - stand
-                self.posture.goToPosture("StandInit", 0.5)
-            if joy.get_button(1):  # B/O button - rest
-                self.motion.rest()
+            x = -joy.get_axis(1) * self.speed      # Left stick Y
+            y = joy.get_axis(0) * self.strafe      # Left stick X
+            theta = -joy.get_axis(3) * self.turn_speed  # Right stick X (turning)
 
-        # Apply movement (non-blocking)
+            if joy.get_button(0):  # A / X button
+                self.posture.goToPosture("StandInit", 0.5)
+
+        # Send command
         if abs(x) > 0.1 or abs(y) > 0.1 or abs(theta) > 0.1:
             self.motion.moveToward(x, y, theta, [["Frequency", 1.0]])
         else:
             self.motion.stopMove()
 
     def run(self):
-        # Wake up and stand
         self.motion.wakeUp()
         self.posture.goToPosture("StandInit", 0.5)
         self.motion.setMoveArmsEnabled(True, True)
         
-        print("Controls:")
-        print("  WASD / Arrow keys - Move / Turn")
-        print("  Q/E - Strafe left/right")
-        print("  Gamepad: Left stick move, Right stick turn")
-        print("  Press ESC or close window to quit")
+        print("\n🎮 NAO Teleop Started!")
+        print("WASD / Arrows = Move & Turn")
+        print("Q/E = Strafe left/right")
+        print("ESC = Quit")
         
         try:
             while self.running:
                 for event in pygame.event.get():
-                    if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
+                    if event.type == pygame.QUIT or (event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE):
                         self.running = False
                 
                 self.handle_input()
                 
-                # Get and display camera
                 frame = self.get_image()
                 if frame is not None:
                     frame = cv2.resize(frame, (640, 480))
-                    # Convert to Pygame surface
-                    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
-                    surf = pygame.surfarray.make_surface(frame.swapaxes(0,1))
+                    frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                    surf = pygame.surfarray.make_surface(frame_rgb.swapaxes(0, 1))
                     self.screen.blit(surf, (0, 0))
+                else:
+                    # Show placeholder if no camera
+                    self.screen.fill((30, 30, 30))
+                    font = pygame.font.SysFont(None, 48)
+                    text = font.render("Waiting for NAO Camera...", True, (255, 100, 100))
+                    self.screen.blit(text, (100, 200))
                 
                 pygame.display.flip()
                 self.clock.tick(30)
         
         finally:
+            print("🛑 Shutting down...")
             self.motion.stopMove()
             self.motion.rest()
             if self.video_client:
@@ -138,18 +132,17 @@ class NaoTeleop:
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument("--ip", type=str, default="127.0.0.1",
-                        help="Robot IP address")
-    parser.add_argument("--port", type=int, default=9559,
-                        help="Naoqi port")
+    parser.add_argument("--ip", type=str, default="127.0.0.1", help="Robot IP address")
+    parser.add_argument("--port", type=int, default=9559, help="Naoqi port")
     
     args = parser.parse_args()
     
     session = qi.Session()
     try:
         session.connect(f"tcp://{args.ip}:{args.port}")
+        print(f"✅ Connected to NAO at {args.ip}:{args.port}")
     except RuntimeError:
-        print(f"Can't connect to Naoqi at {args.ip}:{args.port}")
+        print(f"❌ Can't connect to Naoqi at {args.ip}:{args.port}")
         sys.exit(1)
     
     teleop = NaoTeleop(session, args.ip, args.port)