simplified code
This commit is contained in:
Lucca Pirovano
+24
-63
@@ -147,9 +147,6 @@ class NaoMusicPlayer:
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self.current_file = None
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self.current_task_id = None
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self.is_playing = False
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self.paused_position = 0.0
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self.play_start_time = None
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self.position_at_start = 0.0
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self.current_title = ""
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self.is_loading = False
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self.load_error = None
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@@ -182,12 +179,6 @@ class NaoMusicPlayer:
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_DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
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def _current_position(self):
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"""Playback position tracked client-side, independent of NAOqi's getCurrentPosition."""
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if self.is_playing and self.play_start_time is not None:
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return self.position_at_start + (time.time() - self.play_start_time)
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return self.paused_position
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def play(self, url, title):
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self.stop()
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self.current_title = title
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@@ -260,9 +251,6 @@ class NaoMusicPlayer:
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self.progress = 100.0
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self.current_task_id = self.player.playFile(self.remote_path)
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self.is_playing = True
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self.play_start_time = time.time()
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self.position_at_start = 0.0
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self.paused_position = 0.0
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print(f"♪ Playing on NAO: {title} (task {self.current_task_id})")
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return True
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except Exception as e:
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@@ -273,30 +261,24 @@ class NaoMusicPlayer:
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self.is_loading = False
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def pause(self):
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"""Toggle playback. No position tracking: resuming restarts the track from the top."""
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if self.current_task_id is None or not self.current_file:
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print("⏸ Nothing loaded to pause/resume")
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return
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if self.is_playing:
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pos = self._current_position()
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try:
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self.player.stopAll()
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except Exception as e:
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print(f"stopAll error while pausing: {e}")
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self.load_error = f"Pause error: {e}"
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return
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self.paused_position = max(0.0, pos)
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self.is_playing = False
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self.play_start_time = None
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print(f"♪ Paused at {self.paused_position:.1f}s")
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print("♪ Paused")
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else:
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try:
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self.current_task_id = self.player.playFileFromPosition(
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self.current_file, self.paused_position, 1.0, 0.0
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)
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self.current_task_id = self.player.playFile(self.current_file)
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self.is_playing = True
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self.play_start_time = time.time()
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self.position_at_start = self.paused_position
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print(f"♪ Resumed from {self.paused_position:.1f}s (task {self.current_task_id})")
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print(f"♪ Resumed from start (task {self.current_task_id})")
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except Exception as e:
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print(f"Resume error: {e}")
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self.load_error = f"Resume error: {e}"
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@@ -310,9 +292,6 @@ class NaoMusicPlayer:
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self.current_file = None
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self.current_task_id = None
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self.current_title = ""
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self.paused_position = 0.0
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self.play_start_time = None
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self.position_at_start = 0.0
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# ==========================================
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@@ -369,6 +348,14 @@ class NaoTeleop:
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self.clock = pygame.time.Clock()
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self.update_title()
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def _safe(self, label, fn):
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"""Run fn(), log+swallow any exception so one failure can't crash the loop."""
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try:
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return fn()
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except Exception as e:
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print(f"{label} error: {e}")
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return None
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def _init_audio_device(self):
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try:
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self.audio_device = self.session.service("ALAudioDevice")
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@@ -439,18 +426,13 @@ class NaoTeleop:
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if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True
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if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True
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if changed:
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try:
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self.motion.setAngles(["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)
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except Exception as e:
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print(f"Head move error: {e}")
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self._safe("Head move", lambda: self.motion.setAngles(
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["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3))
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def reset_head(self):
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self.head_yaw = 0.0
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self.head_pitch = 0.0
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try:
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self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4)
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except Exception as e:
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print(f"Head reset error: {e}")
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self._safe("Head reset", lambda: self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4))
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def update_title(self):
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mode = "[TYPING] " if self.typing_mode else ""
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@@ -459,10 +441,7 @@ class NaoTeleop:
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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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try:
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self.audio_device.setOutputVolume(self.volume)
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except Exception as e:
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print(f"Volume set error: {e}")
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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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@@ -483,10 +462,7 @@ class NaoTeleop:
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self.motion.setMoveArmsEnabled(True, True)
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print("🦶 Initializing walk engine...")
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try:
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self.motion.moveInit()
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except Exception as e:
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print(f"moveInit error: {e}")
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self._safe("moveInit", self.motion.moveInit)
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print("🦶 Walk engine ready")
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carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
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@@ -585,10 +561,7 @@ class NaoTeleop:
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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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try:
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self.motion.stopMove()
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except Exception as e:
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print(f"stopMove error: {e}")
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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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@@ -679,27 +652,15 @@ class NaoTeleop:
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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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try:
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self.motion.stopMove()
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except Exception as e:
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print(f"stopMove error: {e}")
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try:
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self.music.stop()
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except Exception as e:
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print(f"music stop error: {e}")
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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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try: self.audio_device.unsubscribe(self.audio_service_name)
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except Exception as e: print(f"audio unsubscribe error: {e}")
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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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try: self.sound_receiver.close()
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except Exception as e: print(f"sound receiver close error: {e}")
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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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try: self.video.unsubscribe(self.video_client)
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except Exception as e: print(f"video unsubscribe error: {e}")
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try:
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self.motion.rest()
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except Exception as e:
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print(f"rest error: {e}")
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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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