added naomusic.py and moved all music stuff to it
This commit is contained in:
Lucca Pirovano
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+266
-1
@@ -270,4 +270,269 @@ class NaoTeleop:
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def update_title(self):
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mode = "[TYPING] " if self.typing_mode else ""
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pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol
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pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}% | Speed: {self.walk_speed:.2f}")
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def change_volume(self, delta):
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self.volume = int(min(100, max(0, self.volume + delta)))
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if self.audio_device:
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self._safe("Volume set", lambda: self.audio_device.setOutputVolume(self.volume))
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print(f"🔊 NAO volume: {self.volume}%")
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self.update_title()
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def check_battery(self):
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if not self.battery: return
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now = time.time()
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if now - self.last_batt_check > 10:
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try:
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self.battery_level = self.battery.getBatteryCharge()
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except: pass
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self.update_title()
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self.last_batt_check = now
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def run(self):
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self.motion.wakeUp()
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self.posture.goToPosture("StandInit", 0.5)
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time.sleep(1.0)
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self.motion.setMoveArmsEnabled(True, True)
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print("🦶 Initializing walk engine...")
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self._safe("moveInit", self.motion.moveInit)
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print("🦶 Walk engine ready")
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print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | X=Stop | -/==Volume | T=TTS | ESC=Quit")
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try:
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while self.running:
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try:
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self.check_battery()
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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self.running = False
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elif event.type == pygame.KEYDOWN:
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if self.music_search_mode:
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if event.key == pygame.K_RETURN:
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if self.music_results:
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entry = self.music_results[self.selected_result]
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threading.Thread(
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target=self.music.play,
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args=(entry['url'], entry.get('title', 'Unknown')),
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daemon=True
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).start()
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self.music_search_mode = False
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elif self.music_search_text.strip() and not self.music_search_pending:
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query = self.music_search_text
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self.music_search_pending = True
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def do_search(q=query):
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results = self.music.search(q)
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self.music_results = results
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self.selected_result = 0
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self.music_search_pending = False
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if not results:
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self.music_search_mode = False
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threading.Thread(target=do_search, daemon=True).start()
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else:
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self.music_search_mode = False
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elif event.key == pygame.K_ESCAPE:
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self.music_search_mode = False
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self.music_search_text = ""
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self.music_results = []
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elif event.key == pygame.K_UP:
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if self.music_results:
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self.selected_result = (self.selected_result - 1) % len(self.music_results[:5])
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elif event.key == pygame.K_DOWN:
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if self.music_results:
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self.selected_result = (self.selected_result + 1) % len(self.music_results[:5])
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elif event.key == pygame.K_BACKSPACE:
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self.music_search_text = self.music_search_text[:-1]
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self.music_results = []
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elif event.key in (pygame.K_1, pygame.K_2, pygame.K_3, pygame.K_4, pygame.K_5):
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idx = int(event.unicode) - 1
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if idx < len(self.music_results):
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entry = self.music_results[idx]
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threading.Thread(
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target=self.music.play,
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args=(entry['url'], entry.get('title', 'Unknown')),
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daemon=True
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).start()
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self.music_search_mode = False
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elif event.unicode.isprintable():
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self.music_search_text += event.unicode
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self.music_results = []
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elif self.typing_mode:
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if event.key == pygame.K_RETURN:
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if self.chat_message.strip():
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threading.Thread(target=self.tts.say, args=(self.chat_message,), daemon=True).start()
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self.chat_message = ""
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self.typing_mode = False
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elif event.key == pygame.K_ESCAPE:
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self.chat_message = ""
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self.typing_mode = False
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elif event.key == pygame.K_BACKSPACE:
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self.chat_message = self.chat_message[:-1]
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else:
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self.chat_message += event.unicode
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else:
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if event.key == pygame.K_ESCAPE:
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self.running = False
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elif event.key == pygame.K_1:
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self.wave_gesture()
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elif event.key == pygame.K_SPACE:
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self.reset_head()
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elif event.key == pygame.K_m:
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self.music_search_mode = True
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self.music_search_text = ""
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self.music_results = []
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elif event.key == pygame.K_x:
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self.music.stop()
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elif event.key in (pygame.K_MINUS, pygame.K_KP_MINUS):
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self.change_volume(-5)
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elif event.key in (pygame.K_EQUALS, pygame.K_KP_PLUS):
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self.change_volume(5)
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elif event.key == pygame.K_t:
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self.typing_mode = True
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self._safe("stopMove", self.motion.stopMove)
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if not self.typing_mode and not self.music_search_mode:
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keys = pygame.key.get_pressed()
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speed_changed = False
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if keys[pygame.K_LEFTBRACKET]:
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self.walk_speed = max(0.1, self.walk_speed - 0.01)
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speed_changed = True
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if keys[pygame.K_RIGHTBRACKET]:
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self.walk_speed = min(1.0, self.walk_speed + 0.01)
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speed_changed = True
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if speed_changed:
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self.update_title()
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x = y = theta = 0.0
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if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
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if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
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if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = self.walk_speed * 0.8
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if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.walk_speed * 0.8
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try:
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if abs(x) > 0.05 or abs(theta) > 0.05:
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stable_config = [
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["StepHeight", 0.02],
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["MaxStepFrequency", 0.5],
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["TorsoWy", 0.08],
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["MaxStepX", 0.03]
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]
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self.motion.moveToward(x, y, theta, stable_config)
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else:
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self.motion.stopMove()
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except Exception as e:
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print(f"Move error: {e}")
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self.handle_head_movement()
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frame = self.get_image()
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if frame is not None:
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up = cv2.resize(frame, (self.display_width, self.display_height), interpolation=cv2.INTER_CUBIC)
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rgb = cv2.cvtColor(up, cv2.COLOR_BGR2RGB)
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surf = pygame.surfarray.make_surface(rgb.swapaxes(0,1))
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self.screen.blit(surf, (0, 0))
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else:
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self.screen.fill((10, 10, 30))
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# Music status
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if self.music.is_loading:
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text = self.font.render(f"♪ {self.music.status}", True, (255, 200, 0))
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self.screen.blit(text, (10, 10))
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if self.music.progress > 0:
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bar_w = 220
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pct = min(self.music.progress, 100) / 100.0
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pygame.draw.rect(self.screen, (70, 70, 70), (10, 32, bar_w, 8))
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pygame.draw.rect(self.screen, (255, 200, 0), (10, 32, int(bar_w * pct), 8))
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elif self.music.load_error:
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text = self.font.render(f"♪ Error: {self.music.load_error}", True, (255, 80, 80))
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self.screen.blit(text, (10, 10))
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elif self.music.current_title:
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text = self.font.render(f"♪ {self.music.current_title[:45]}", True, (0, 255, 100))
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self.screen.blit(text, (10, 10))
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# Music search interface
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if self.music_search_mode:
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box_h = min(self.display_height - 80, 260)
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s = pygame.Surface((self.display_width, box_h))
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s.set_alpha(220)
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s.fill((0, 0, 40))
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self.screen.blit(s, (0, 80))
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text = self.font.render(f"Search: {self.music_search_text}", True, (255, 255, 255))
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self.screen.blit(text, (20, 100))
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if self.music_results:
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shown = self.music_results[:5]
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for i, entry in enumerate(shown):
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row_y = 140 + i * 30
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if i == self.selected_result:
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pygame.draw.rect(self.screen, (90, 90, 0), (16, row_y - 3, self.display_width - 32, 26))
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color = (255, 255, 0) if i == self.selected_result else (200, 200, 200)
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title = entry.get('title', 'No title')[:60]
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line = self.font.render(f"{i+1}. {title}", True, color)
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self.screen.blit(line, (20, row_y))
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hint_y = 140 + len(shown) * 30 + 6
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hint = self.font.render("\u2191\u2193 Select Enter Confirm 1-5 Quick pick Esc Cancel", True, (150, 150, 150))
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self.screen.blit(hint, (20, hint_y))
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elif self.music_search_pending:
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text = self.font.render("Searching...", True, (200, 200, 200))
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self.screen.blit(text, (20, 140))
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else:
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text = self.font.render("No results. Type to search again, Enter to search", True, (200, 200, 200))
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self.screen.blit(text, (20, 140))
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# TTS box
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if self.typing_mode:
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s = pygame.Surface((self.display_width, 40))
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s.set_alpha(180)
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s.fill((0,0,0))
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self.screen.blit(s, (0, self.display_height-40))
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text = self.font.render(f"Say: {self.chat_message}", True, (255,255,255))
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self.screen.blit(text, (10, self.display_height-30))
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pygame.display.flip()
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self.clock.tick(0)
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except Exception as e:
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print(f"\u26a0\ufe0f Frame error (continuing): {e}")
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finally:
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print("🛑 Shutting down...")
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self._safe("stopMove", self.motion.stopMove)
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self._safe("music stop", self.music.stop)
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if self.audio_device:
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self._safe("audio unsubscribe", lambda: self.audio_device.unsubscribe(self.audio_service_name))
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if getattr(self, "sound_receiver", None):
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self._safe("sound receiver close", self.sound_receiver.close)
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if hasattr(self, 'video') and self.video_client:
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self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client))
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self._safe("rest", self.motion.rest)
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pygame.quit()
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if __name__ == "__main__":
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MIC_CHANNELS = {"left": 1, "right": 2, "front": 3, "rear": 4}
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parser = argparse.ArgumentParser()
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parser.add_argument("--ip", type=str, default="127.0.0.1")
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parser.add_argument("--port", type=int, default=9559)
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parser.add_argument("--audio-device-index", type=int, default=None)
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parser.add_argument("--mic-channel", choices=MIC_CHANNELS.keys(), default="left")
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parser.add_argument("--mic-gain", type=float, default=8.0)
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parser.add_argument("--video-scale", type=float, default=2.0)
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args = parser.parse_args()
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session = qi.Session()
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try:
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session.connect(f"tcp://{args.ip}:{args.port}")
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print(f"✅ Connected to {args.ip}")
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except Exception as e:
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print(f"❌ Connection failed: {e}")
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sys.exit(1)
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NaoTeleop(session, nao_ip=args.ip,
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audio_device_index=args.audio_device_index,
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mic_channel=MIC_CHANNELS[args.mic_channel],
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mic_gain=args.mic_gain,
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video_scale=args.video_scale).run()
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