work on music player

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("⚠️ 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"🔈 Using: [{chosen['index']}] {chosen['name']}")
-            except:
+            except: pass
-                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:
+        except: pass
-            pass
         self.current_file = None
         self.is_playing = False
+        self.current_title = ""
 
-    def search_and_play(self, query):
+    def search(self, query):
-        print(f"🔍 Searching: {query}")
         try:
-            result = subprocess.run(['ytfzf', '-m', '-L', query], capture_output=True, text=True, timeout=15)
+            ydl_opts = {
-            url = result.stdout.strip().split('\n')[0] if result.stdout.strip() else None
+                'format': 'bestaudio/best',
-            if not url:
+                'quiet': True,
-                import yt_dlp
+                'noplaylist': True,
-                with yt_dlp.YoutubeDL({'quiet': True, 'extract_flat': True}) as ydl:
+                'extract_flat': True,
-                    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'}]}
             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"♪ 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("⏸ Paused")
         else:
             self.player.play(self.current_file)
             self.is_playing = True
-            print("▶ Resumed")
 
     def stop(self):
-        self.player.stopAll()
+        try:
+            self.player.stopAll()
+        except:
+            pass
         self.is_playing = False
-        print("⏹ 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: pass
-        except:
-            print("Seek unavailable")
 
 
 # ==========================================
@@ -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("✅ 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("\n🎮 Controls:")
+        print("\n🎮 Controls: WASD=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search | P=Pause | X=Stop | ←→=Seek | T=TTS | ESC=Quit")
-        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("   ← →         = Seek ±10s")
-        print("   T           = TTS")
-        print("   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()
+                            self.music_search_mode = True
-                            if query:
+                            self.music_search_text = ""
-                                self.music.search_and_play(query)
+                            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"♪ {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)

requirements.txt

@@ -1,12 +1,5 @@
-# requirements.txt for NAO Robot Teleoperation
+qi
-
+opencv-python
-# Core NAOqi SDK (required - install via Aldebaran/SoftBank installer)
+numpy
-# qi  # Usually installed with the NAOqi Python SDK
+pygame
-
+yt-dlp
-# 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