From a5cdb4e4bd3c5d595cb07a579f82370ff32b9dc1 Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Thu, 16 Jul 2026 13:11:34 -0400
Subject: [PATCH] gutted seek function; addressed initial walk issues

---
 naowalk.py | 64 ++++++++++++++++++++++++++++++++++--------------------
 1 file changed, 40 insertions(+), 24 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index e314e0f..96b422b 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -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):