refined the music player, probably going to gut the pause and seek functionality since everything else about it works perfectly. now i need to fix the start of the walk cycle toppling the robot and the low battery errors being so loud and repetitive they drown out the music
This commit is contained in:
Lucca Pirovano
+225
-63
@@ -10,9 +10,10 @@ import queue
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import cv2
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import numpy as np
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import pygame
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import yt_dlp
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import subprocess
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import os
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import json
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import re
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# --- Audio for mic ---
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try:
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@@ -137,87 +138,168 @@ class NaoMusicPlayer:
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self.player = session.service("ALAudioPlayer")
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self.nao_ip = nao_ip
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self.music_dir = "/home/nao/music"
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self.local_path = "/tmp/song.mp3"
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self.remote_path = f"{self.music_dir}/song.mp3"
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try:
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subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
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stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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except: pass
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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.current_title = ""
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self.is_loading = False
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self.load_error = None
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self.status = ""
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self.progress = 0.0
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def search(self, query):
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try:
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ydl_opts = {
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'format': 'bestaudio/best',
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'quiet': True,
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'noplaylist': True,
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'extract_flat': True,
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}
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with yt_dlp.YoutubeDL(ydl_opts) as ydl:
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info = ydl.extract_info(f"ytsearch5:{query}", download=False)
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return info.get('entries', [])
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except:
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cmd = ["yt-dlp", f"ytsearch5:{query}", "--flat-playlist", "--dump-json",
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"--no-warnings", "--quiet"]
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result = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
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entries = []
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for line in result.stdout.strip().splitlines():
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if not line.strip():
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continue
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try:
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data = json.loads(line)
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except json.JSONDecodeError:
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continue
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vid = data.get("id")
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url = data.get("url")
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if not url or not url.startswith("http"):
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url = f"https://www.youtube.com/watch?v={vid}" if vid else None
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if url:
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entries.append({"url": url, "title": data.get("title", "Unknown")})
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return entries
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except Exception as e:
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print(f"Search error: {e}")
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return []
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_DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
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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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self.is_loading = True
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self.load_error = None
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self.status = "Starting download..."
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self.progress = 0.0
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try:
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ydl_opts = {
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'format': 'bestaudio/best',
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'outtmpl': '/tmp/%(id)s.%(ext)s',
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'quiet': True,
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'noplaylist': True,
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'extractaudio': True,
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'postprocessors': [{'key': 'FFmpegExtractAudio', 'preferredcodec': 'mp3'}],
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'ignoreerrors': True,
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'no_warnings': True,
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}
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with yt_dlp.YoutubeDL(ydl_opts) as ydl:
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info = ydl.extract_info(url, download=True)
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if not info:
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print("Download failed")
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return False
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downloaded = ydl.prepare_filename(info)
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if os.path.exists(self.local_path):
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os.remove(self.local_path)
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except: pass
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remote_path = f"{self.music_dir}/{int(time.time())}.mp3"
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result = subprocess.run(["sshpass", "-p", "nao", "scp", downloaded, f"nao@{self.nao_ip}:{remote_path}"],
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capture_output=True, text=True)
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if result.returncode != 0:
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print(f"SCP failed: {result.stderr}")
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try:
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cmd = ["yt-dlp", url,
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"-x", "--audio-format", "mp3",
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"-o", self.local_path,
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"--no-playlist", "--no-warnings", "--newline"]
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print(f"\n▶ yt-dlp {url}")
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proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
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text=True, bufsize=1)
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for line in proc.stdout:
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line = line.rstrip()
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if not line:
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continue
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print(f" [yt-dlp] {line}")
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m = self._DL_PROGRESS_RE.search(line)
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if m:
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self.progress = float(m.group(1))
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self.status = f"Downloading... {self.progress:.0f}%"
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elif "ExtractAudio" in line or "Extracting audio" in line:
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self.status = "Converting to mp3..."
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elif line.startswith("[download] Destination"):
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self.status = "Downloading..."
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proc.wait(timeout=120)
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if proc.returncode != 0 or not os.path.exists(self.local_path):
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print(f"Download failed (exit {proc.returncode})")
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self.load_error = "Download failed"
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return False
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self.current_file = remote_path
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self.player.playFile(remote_path)
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size_mb = os.path.getsize(self.local_path) / (1024 * 1024)
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print(f"▶ scp {self.local_path} -> nao@{self.nao_ip}:{self.remote_path} ({size_mb:.1f} MB)")
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self.progress = 0.0
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upload_start = time.time()
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stop_ticker = threading.Event()
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def ticker():
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while not stop_ticker.is_set():
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elapsed = time.time() - upload_start
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self.status = f"Uploading to NAO ({size_mb:.1f} MB)... {elapsed:.0f}s"
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stop_ticker.wait(1.0)
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t = threading.Thread(target=ticker, daemon=True)
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t.start()
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scp_result = subprocess.run(
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["sshpass", "-p", "nao", "scp", self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
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capture_output=True, text=True, timeout=60
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)
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stop_ticker.set()
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t.join(timeout=1.0)
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print(f" [scp] exit {scp_result.returncode}" +
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(f": {scp_result.stderr.strip()}" if scp_result.stderr.strip() else ""))
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if scp_result.returncode != 0:
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print(f"SCP failed: {scp_result.stderr.strip()}")
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self.load_error = "SCP failed"
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return False
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self.current_file = self.remote_path
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self.status = "Playing"
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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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print(f"♪ Playing on NAO: {title}")
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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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print(f"Playback error: {e}")
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self.load_error = str(e)
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return False
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finally:
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self.is_loading = False
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def pause(self):
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if not self.current_file: return
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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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try:
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if self.is_playing:
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self.player.pause()
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pos = self.player.getCurrentPosition(self.current_task_id)
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self.player.stopAll()
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self.paused_position = max(0.0, pos)
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self.is_playing = False
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print(f"♪ Paused at {self.paused_position:.1f}s")
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else:
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self.player.play(self.current_file)
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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.is_playing = True
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print(f"♪ Resumed from {self.paused_position:.1f}s (task {self.current_task_id})")
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except Exception as e:
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print(f"Pause/resume error: {e}")
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self.load_error = f"Pause error: {e}"
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def stop(self):
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try:
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self.player.stopAll()
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except:
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pass
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except Exception as e:
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print(f"Stop error: {e}")
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self.is_playing = False
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self.current_file = None
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self.current_task_id = None
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self.paused_position = 0.0
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def seek(self, seconds):
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if self.current_task_id is None:
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return
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try:
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pos = self.player.getCurrentPosition() / 1000.0
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self.player.goTo(pos + seconds)
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except: pass
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pos = self.player.getCurrentPosition(self.current_task_id)
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self.player.goTo(self.current_task_id, max(0.0, pos + seconds))
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except Exception as e:
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print(f"Seek error: {e}")
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# ==========================================
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@@ -256,6 +338,7 @@ class NaoTeleop:
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self.chat_message = ""
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self.music_search_mode = False
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self.music_search_text = ""
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self.music_search_pending = False
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self.video_scale = video_scale
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self.display_width = int(320 * video_scale)
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@@ -343,12 +426,18 @@ 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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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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def update_title(self):
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mode = "[TYPING] " if self.typing_mode else ""
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@@ -359,7 +448,8 @@ class NaoTeleop:
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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: pass
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except Exception as e:
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print(f"Volume set error: {e}")
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print(f"🔊 NAO volume: {self.volume}%")
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self.update_title()
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@@ -381,9 +471,11 @@ class NaoTeleop:
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carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
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print("\n🎮 Controls: WASD=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search | P=Pause | X=Stop | ←→=Seek | T=TTS | ESC=Quit")
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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")
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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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@@ -392,31 +484,57 @@ class NaoTeleop:
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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_search_text.strip():
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self.music_results = self.music.search(self.music_search_text)
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if self.music_results:
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self.selected_result = 0
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else:
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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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self.music.play(entry['url'], entry.get('title', 'Unknown'))
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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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else:
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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,)).start()
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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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@@ -441,13 +559,20 @@ class NaoTeleop:
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self.music.pause()
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elif event.key == pygame.K_x:
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self.music.stop()
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elif event.key == pygame.K_LEFT:
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elif event.key == pygame.K_COMMA:
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self.music.seek(-10)
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elif event.key == pygame.K_RIGHT:
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elif event.key == pygame.K_PERIOD:
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self.music.seek(10)
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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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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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if not self.typing_mode and not self.music_search_mode:
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keys = pygame.key.get_pressed()
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@@ -457,10 +582,13 @@ class NaoTeleop:
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if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.5
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if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
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try:
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if abs(x) > 0.1 or abs(theta) > 0.1:
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self.motion.moveToward(x, y, theta, carpet_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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@@ -473,14 +601,26 @@ class NaoTeleop:
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self.screen.fill((10, 10, 30))
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# Music status
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if self.music.current_title:
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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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status = f"♪ {self.music.current_title[:45]} {'(Paused)' if not self.music.is_playing else ''}"
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text = self.font.render(status, 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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s = pygame.Surface((self.display_width, self.display_height//2))
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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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@@ -489,14 +629,24 @@ class NaoTeleop:
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self.screen.blit(text, (20, 100))
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if self.music_results:
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for i, entry in enumerate(self.music_results[:5]):
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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)
|
||||
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:
|
||||
self.screen.blit(line, (20, row_y))
|
||||
hint_y = 140 + len(shown) * 30 + 6
|
||||
hint = self.font.render("\u2191\u2193 Select Enter Confirm 1-5 Quick pick Esc Cancel", True, (150, 150, 150))
|
||||
self.screen.blit(hint, (20, hint_y))
|
||||
elif self.music_search_pending:
|
||||
text = self.font.render("Searching...", True, (200, 200, 200))
|
||||
self.screen.blit(text, (20, 140))
|
||||
else:
|
||||
text = self.font.render("No results. Type to search again, Enter to search", True, (200, 200, 200))
|
||||
self.screen.blit(text, (20, 140))
|
||||
|
||||
# TTS box
|
||||
if self.typing_mode:
|
||||
@@ -509,19 +659,31 @@ class NaoTeleop:
|
||||
|
||||
pygame.display.flip()
|
||||
self.clock.tick(0)
|
||||
|
||||
except Exception as e:
|
||||
print(f"\u26a0\ufe0f Frame error (continuing): {e}")
|
||||
finally:
|
||||
print("🛑 Shutting down...")
|
||||
try:
|
||||
self.motion.stopMove()
|
||||
except Exception as e:
|
||||
print(f"stopMove error: {e}")
|
||||
try:
|
||||
self.music.stop()
|
||||
except Exception as e:
|
||||
print(f"music stop error: {e}")
|
||||
if self.audio_device:
|
||||
try: self.audio_device.unsubscribe(self.audio_service_name)
|
||||
except: pass
|
||||
except Exception as e: print(f"audio unsubscribe error: {e}")
|
||||
if getattr(self, "sound_receiver", None):
|
||||
self.sound_receiver.close()
|
||||
try: self.sound_receiver.close()
|
||||
except Exception as e: print(f"sound receiver close error: {e}")
|
||||
if hasattr(self, 'video') and self.video_client:
|
||||
try: self.video.unsubscribe(self.video_client)
|
||||
except: pass
|
||||
except Exception as e: print(f"video unsubscribe error: {e}")
|
||||
try:
|
||||
self.motion.rest()
|
||||
except Exception as e:
|
||||
print(f"rest error: {e}")
|
||||
pygame.quit()
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user