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gutted seek function; addressed initial walk issues

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Lucca Pirovano
2026-07-16 13:11:34 -04:00
parent c69f8ca7d0
commit a5cdb4e4bd
1 changed files with 40 additions and 24 deletions
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naowalk.py
+40 -24
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@@ -148,6 +148,8 @@ class NaoMusicPlayer:
self.current_task_id = None
self.is_playing = False
self.paused_position = 0.0
self.play_start_time = None
self.position_at_start = 0.0
self.current_title = ""
self.is_loading = False
self.load_error = None
@@ -180,6 +182,12 @@ class NaoMusicPlayer:
_DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
def _current_position(self):
"""Playback position tracked client-side, independent of NAOqi's getCurrentPosition."""
if self.is_playing and self.play_start_time is not None:
return self.position_at_start + (time.time() - self.play_start_time)
return self.paused_position
def play(self, url, title):
self.stop()
self.current_title = title
@@ -252,6 +260,9 @@ class NaoMusicPlayer:
self.progress = 100.0
self.current_task_id = self.player.playFile(self.remote_path)
self.is_playing = True
self.play_start_time = time.time()
self.position_at_start = 0.0
self.paused_position = 0.0
print(f"♪ Playing on NAO: {title} (task {self.current_task_id})")
return True
except Exception as e:
@@ -265,22 +276,30 @@ class NaoMusicPlayer:
if self.current_task_id is None or not self.current_file:
print("⏸ Nothing loaded to pause/resume")
return
try:
if self.is_playing:
pos = self.player.getCurrentPosition(self.current_task_id)
if self.is_playing:
pos = self._current_position()
try:
self.player.stopAll()
self.paused_position = max(0.0, pos)
self.is_playing = False
print(f"♪ Paused at {self.paused_position:.1f}s")
else:
except Exception as e:
print(f"stopAll error while pausing: {e}")
self.load_error = f"Pause error: {e}"
return
self.paused_position = max(0.0, pos)
self.is_playing = False
self.play_start_time = None
print(f"♪ Paused at {self.paused_position:.1f}s")
else:
try:
self.current_task_id = self.player.playFileFromPosition(
self.current_file, self.paused_position, 1.0, 0.0
)
self.is_playing = True
self.play_start_time = time.time()
self.position_at_start = self.paused_position
print(f"♪ Resumed from {self.paused_position:.1f}s (task {self.current_task_id})")
except Exception as e:
print(f"Pause/resume error: {e}")
self.load_error = f"Pause error: {e}"
except Exception as e:
print(f"Resume error: {e}")
self.load_error = f"Resume error: {e}"
def stop(self):
try:
@@ -290,16 +309,10 @@ class NaoMusicPlayer:
self.is_playing = False
self.current_file = None
self.current_task_id = None
self.current_title = ""
self.paused_position = 0.0
def seek(self, seconds):
if self.current_task_id is None:
return
try:
pos = self.player.getCurrentPosition(self.current_task_id)
self.player.goTo(self.current_task_id, max(0.0, pos + seconds))
except Exception as e:
print(f"Seek error: {e}")
self.play_start_time = None
self.position_at_start = 0.0
# ==========================================
@@ -469,9 +482,16 @@ class NaoTeleop:
time.sleep(1.0)
self.motion.setMoveArmsEnabled(True, True)
print("🦶 Initializing walk engine...")
try:
self.motion.moveInit()
except Exception as e:
print(f"moveInit error: {e}")
print("🦶 Walk engine ready")
carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
print("\n🎮 Controls: WASD/Arrows=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | P=Pause | X=Stop | ,/.=Seek | -/==Volume | T=TTS | ESC=Quit")
print("\n🎮 Controls: WASD/Arrows=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | P=Pause | X=Stop | -/==Volume | T=TTS | ESC=Quit")
try:
while self.running:
@@ -559,10 +579,6 @@ class NaoTeleop:
self.music.pause()
elif event.key == pygame.K_x:
self.music.stop()
elif event.key == pygame.K_COMMA:
self.music.seek(-10)
elif event.key == pygame.K_PERIOD:
self.music.seek(10)
elif event.key in (pygame.K_MINUS, pygame.K_KP_MINUS):
self.change_volume(-5)
elif event.key in (pygame.K_EQUALS, pygame.K_KP_PLUS):