From 58fc2af593bf8704f93dcb1717feb40077186118 Mon Sep 17 00:00:00 2001 From: Lucca Pirovano Date: Wed, 15 Jul 2026 17:45:05 -0400 Subject: [PATCH] work on music player --- naowalk.py | 175 ++++++++++++++++++++++++++++++----------------- requirements.txt | 17 ++--- 2 files changed, 117 insertions(+), 75 deletions(-) diff --git a/naowalk.py b/naowalk.py index 386e7d7..b5d758a 100644 --- a/naowalk.py +++ b/naowalk.py @@ -10,7 +10,8 @@ import queue import cv2 import numpy as np import pygame -import subprocess +import yt_dlp +import os # --- Audio for mic --- try: @@ -18,10 +19,9 @@ try: HAS_AUDIO = True except ImportError: HAS_AUDIO = False - print("āš ļø PyAudio not installed.") # ========================================== -# NAO MIC STREAM TO LAPTOP +# NAO MIC STREAM # ========================================== class SoundReceiver: PREBUFFER_CHUNKS = 3 @@ -47,8 +47,7 @@ class SoundReceiver: chosen = (self.p.get_device_info_by_index(output_device_index) if output_device_index is not None else self.p.get_default_output_device_info()) print(f"šŸ”ˆ Using: [{chosen['index']}] {chosen['name']}") - except: - pass + except: pass self.stream = self.p.open(format=pyaudio.paInt16, channels=1, rate=16000, output=True, output_device_index=output_device_index, @@ -138,73 +137,81 @@ class NaoMusicPlayer: self.music_dir = "/home/nao/music" try: self.session.service("ALFileManager").createFolder(self.music_dir) - except: - pass + except: pass self.current_file = None self.is_playing = False + self.current_title = "" - def search_and_play(self, query): - print(f"šŸ” Searching: {query}") + def search(self, query): try: - result = subprocess.run(['ytfzf', '-m', '-L', query], capture_output=True, text=True, timeout=15) - url = result.stdout.strip().split('\n')[0] if result.stdout.strip() else None - if not url: - import yt_dlp - with yt_dlp.YoutubeDL({'quiet': True, 'extract_flat': True}) as ydl: - info = ydl.extract_info(f"ytsearch1:{query}", download=False) - url = info['entries'][0]['url'] - except Exception as e: - print(f"Search failed: {e}") - return False - - self.play_on_nao(url, query) - return True - - def play_on_nao(self, url, title=""): - self.stop() - try: - filename = f"{int(time.time())}.mp3" - local_path = f"/tmp/{filename}" - remote_path = f"{self.music_dir}/{filename}" - - import yt_dlp - ydl_opts = {'format': 'bestaudio/best', 'outtmpl': local_path, 'quiet': True, - 'postprocessors': [{'key': 'FFmpegExtractAudio', 'preferredcodec': 'mp3'}]} + ydl_opts = { + 'format': 'bestaudio/best', + 'quiet': True, + 'noplaylist': True, + 'extract_flat': True, + } with yt_dlp.YoutubeDL(ydl_opts) as ydl: - ydl.download([url]) + info = ydl.extract_info(f"ytsearch5:{query}", download=False) + return info.get('entries', []) + except: + return [] + def play(self, url, title): + self.stop() + self.current_title = title + try: + ydl_opts = { + 'format': 'bestaudio/best', + 'outtmpl': '/tmp/%(id)s.%(ext)s', + 'quiet': True, + 'noplaylist': True, + 'extractaudio': True, + 'postprocessors': [{'key': 'FFmpegExtractAudio', 'preferredcodec': 'mp3'}], + 'ignoreerrors': True, + 'no_warnings': True, + } + with yt_dlp.YoutubeDL(ydl_opts) as ydl: + info = ydl.extract_info(url, download=True) + if not info: + return False + downloaded = ydl.prepare_filename(info) + + remote_path = f"{self.music_dir}/{int(time.time())}.mp3" file_manager = self.session.service("ALFileManager") - file_manager.put(local_path, remote_path) + # Use uploadFile instead of put + file_manager.uploadFile(downloaded, remote_path) self.current_file = remote_path self.player.playFile(remote_path) self.is_playing = True print(f"ā™Ŗ Playing on NAO: {title}") + return True except Exception as e: print(f"Playback error: {e}") + return False def pause(self): + if not self.current_file: return if self.is_playing: self.player.pause() self.is_playing = False - print("āø Paused") else: self.player.play(self.current_file) self.is_playing = True - print("ā–¶ Resumed") def stop(self): - self.player.stopAll() + try: + self.player.stopAll() + except: + pass self.is_playing = False - print("ā¹ Stopped") + self.current_file = None def seek(self, seconds): try: pos = self.player.getCurrentPosition() / 1000.0 self.player.goTo(pos + seconds) - print(f"Seeked {seconds:+.0f}s") - except: - print("Seek unavailable") + except: pass # ========================================== @@ -221,7 +228,9 @@ class NaoTeleop: except: self.battery = None - self.music = NaoMusicPlayer(session) # Music on NAO + self.music = NaoMusicPlayer(session) + self.music_results = [] + self.selected_result = 0 self.audio_device = None self.audio_service_name = "SoundReceiver" @@ -238,6 +247,8 @@ class NaoTeleop: self.typing_mode = False self.chat_message = "" + self.music_search_mode = False + self.music_search_text = "" self.video_scale = video_scale self.display_width = int(320 * video_scale) @@ -312,12 +323,11 @@ class NaoTeleop: neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0] self.motion.angleInterpolationWithSpeed(names, neutral, 0.3) self.motion.setStiffnesses("RArm", 0.6) - print("āœ… Wave completed") except Exception as e: print(f"Wave error: {e}") def handle_head_movement(self): - if self.typing_mode: return + if self.typing_mode or self.music_search_mode: return keys = pygame.key.get_pressed() speed = 0.3 changed = False @@ -332,7 +342,6 @@ class NaoTeleop: self.head_yaw = 0.0 self.head_pitch = 0.0 self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4) - print("Head reset to neutral") def update_title(self): mode = "[TYPING] " if self.typing_mode else "" @@ -365,17 +374,7 @@ class NaoTeleop: carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]] - print("\nšŸŽ® Controls:") - print(" WASD/Arrows = Walk") - print(" I J K L = Head") - print(" SPACE = Reset head") - print(" 1 = Wave") - print(" M = Music search (plays on NAO)") - print(" P = Pause/Resume music") - print(" S = Stop music") - print(" ā† ā†’ = Seek Ā±10s") - print(" T = TTS") - print(" ESC = Quit") + print("\nšŸŽ® Controls: WASD=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search | P=Pause | X=Stop | ā†ā†’=Seek | T=TTS | ESC=Quit") while self.running: self.check_battery() @@ -384,7 +383,30 @@ class NaoTeleop: if event.type == pygame.QUIT: self.running = False elif event.type == pygame.KEYDOWN: - if self.typing_mode: + if self.music_search_mode: + if event.key == pygame.K_RETURN: + if self.music_search_text.strip(): + self.music_results = self.music.search(self.music_search_text) + if self.music_results: + self.selected_result = 0 + else: + self.music_search_mode = False + else: + self.music_search_mode = False + elif event.key == pygame.K_ESCAPE: + self.music_search_mode = False + self.music_search_text = "" + elif event.key == pygame.K_BACKSPACE: + self.music_search_text = self.music_search_text[:-1] + elif event.key in (pygame.K_1, pygame.K_2, pygame.K_3, pygame.K_4, pygame.K_5): + idx = int(event.unicode) - 1 + if idx < len(self.music_results): + entry = self.music_results[idx] + self.music.play(entry['url'], entry.get('title', 'Unknown')) + self.music_search_mode = False + else: + self.music_search_text += event.unicode + elif self.typing_mode: if event.key == pygame.K_RETURN: if self.chat_message.strip(): threading.Thread(target=self.tts.say, args=(self.chat_message,)).start() @@ -405,12 +427,12 @@ class NaoTeleop: elif event.key == pygame.K_SPACE: self.reset_head() elif event.key == pygame.K_m: - query = input("Search music to play on NAO: ").strip() - if query: - self.music.search_and_play(query) + self.music_search_mode = True + self.music_search_text = "" + self.music_results = [] elif event.key == pygame.K_p: self.music.pause() - elif event.key == pygame.K_s: + elif event.key == pygame.K_x: # Stop music self.music.stop() elif event.key == pygame.K_LEFT: self.music.seek(-10) @@ -420,7 +442,7 @@ class NaoTeleop: self.typing_mode = True self.motion.stopMove() - if not self.typing_mode: + if not self.typing_mode and not self.music_search_mode: keys = pygame.key.get_pressed() x = y = theta = 0.0 if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.6 @@ -443,6 +465,33 @@ class NaoTeleop: else: self.screen.fill((10, 10, 30)) + # Music status + if self.music.current_title: + status = f"ā™Ŗ {self.music.current_title[:45]} {'(Paused)' if not self.music.is_playing else ''}" + text = self.font.render(status, True, (0, 255, 100)) + self.screen.blit(text, (10, 10)) + + # Music search interface + if self.music_search_mode: + s = pygame.Surface((self.display_width, self.display_height//2)) + s.set_alpha(220) + s.fill((0, 0, 40)) + self.screen.blit(s, (0, 80)) + + text = self.font.render(f"Search: {self.music_search_text}", True, (255, 255, 255)) + self.screen.blit(text, (20, 100)) + + if self.music_results: + for i, entry in enumerate(self.music_results[:5]): + color = (255, 255, 0) if i == self.selected_result else (200, 200, 200) + title = entry.get('title', 'No title')[:60] + line = self.font.render(f"{i+1}. {title}", True, color) + self.screen.blit(line, (20, 140 + i*30)) + else: + text = self.font.render("Searching...", True, (200, 200, 200)) + self.screen.blit(text, (20, 140)) + + # TTS box if self.typing_mode: s = pygame.Surface((self.display_width, 40)) s.set_alpha(180) diff --git a/requirements.txt b/requirements.txt index 79b1367..e0a0688 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,12 +1,5 @@ -# requirements.txt for NAO Robot Teleoperation - -# Core NAOqi SDK (required - install via Aldebaran/SoftBank installer) -# qi # Usually installed with the NAOqi Python SDK - -# Python packages -opencv-python>=4.5.0 -pygame>=2.0.0 -numpy>=1.21.0 - -# Optional but recommended -pillow>=9.0.0 # If you want PIL fallback for images +qi +opencv-python +numpy +pygame +yt-dlp