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

naowalk.py

@@ -11,6 +11,9 @@ import cv2
 import numpy as np
 import pygame
 import subprocess
+import os
+import json
+import re
 
 # --- Audio for mic ---
 try:
@@ -18,10 +21,9 @@ try:
     HAS_AUDIO = True
 except ImportError:
     HAS_AUDIO = False
-    print("⚠️ PyAudio not installed.")
 
 # ==========================================
-# NAO MIC STREAM TO LAPTOP
+# NAO MIC STREAM
 # ==========================================
 class SoundReceiver:
     PREBUFFER_CHUNKS = 3
@@ -47,8 +49,7 @@ class SoundReceiver:
                 chosen = (self.p.get_device_info_by_index(output_device_index) if output_device_index is not None
                           else self.p.get_default_output_device_info())
                 print(f"🔈 Using: [{chosen['index']}] {chosen['name']}")
-            except:
-                pass
+            except: pass
 
             self.stream = self.p.open(format=pyaudio.paInt16, channels=1, rate=16000,
                                       output=True, output_device_index=output_device_index,
@@ -129,90 +130,185 @@ class SoundReceiver:
 
 
 # ==========================================
-# MUSIC PLAYER ON NAO
+# MUSIC PLAYER ON NAO (scp)
 # ==========================================
 class NaoMusicPlayer:
-    def __init__(self, session):
+    def __init__(self, session, nao_ip):
         self.session = session
         self.player = session.service("ALAudioPlayer")
+        self.nao_ip = nao_ip
         self.music_dir = "/home/nao/music"
+        self.local_path = "/tmp/song.mp3"
+        self.remote_path = f"{self.music_dir}/song.mp3"
         try:
-            self.session.service("ALFileManager").createFolder(self.music_dir)
-        except:
-            pass
+            subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
+                         stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        except: pass
         self.current_file = None
+        self.current_task_id = None
         self.is_playing = False
+        self.paused_position = 0.0
+        self.current_title = ""
+        self.is_loading = False
+        self.load_error = None
+        self.status = ""
+        self.progress = 0.0
 
-    def search_and_play(self, query):
-        print(f"🔍 Searching: {query}")
+    def search(self, query):
         try:
-            result = subprocess.run(['ytfzf', '-m', '-L', query], capture_output=True, text=True, timeout=15)
-            url = result.stdout.strip().split('\n')[0] if result.stdout.strip() else None
-            if not url:
-                import yt_dlp
-                with yt_dlp.YoutubeDL({'quiet': True, 'extract_flat': True}) as ydl:
-                    info = ydl.extract_info(f"ytsearch1:{query}", download=False)
-                    url = info['entries'][0]['url']
+            cmd = ["yt-dlp", f"ytsearch5:{query}", "--flat-playlist", "--dump-json",
+                   "--no-warnings", "--quiet"]
+            result = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
+            entries = []
+            for line in result.stdout.strip().splitlines():
+                if not line.strip():
+                    continue
+                try:
+                    data = json.loads(line)
+                except json.JSONDecodeError:
+                    continue
+                vid = data.get("id")
+                url = data.get("url")
+                if not url or not url.startswith("http"):
+                    url = f"https://www.youtube.com/watch?v={vid}" if vid else None
+                if url:
+                    entries.append({"url": url, "title": data.get("title", "Unknown")})
+            return entries
         except Exception as e:
-            print(f"Search failed: {e}")
+            print(f"Search error: {e}")
+            return []
+
+    _DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
+
+    def play(self, url, title):
+        self.stop()
+        self.current_title = title
+        self.is_loading = True
+        self.load_error = None
+        self.status = "Starting download..."
+        self.progress = 0.0
+        try:
+            if os.path.exists(self.local_path):
+                os.remove(self.local_path)
+        except: pass
+
+        try:
+            cmd = ["yt-dlp", url,
+                   "-x", "--audio-format", "mp3",
+                   "-o", self.local_path,
+                   "--no-playlist", "--no-warnings", "--newline"]
+            print(f"\n▶ yt-dlp {url}")
+            proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+                                     text=True, bufsize=1)
+            for line in proc.stdout:
+                line = line.rstrip()
+                if not line:
+                    continue
+                print(f"  [yt-dlp] {line}")
+                m = self._DL_PROGRESS_RE.search(line)
+                if m:
+                    self.progress = float(m.group(1))
+                    self.status = f"Downloading... {self.progress:.0f}%"
+                elif "ExtractAudio" in line or "Extracting audio" in line:
+                    self.status = "Converting to mp3..."
+                elif line.startswith("[download] Destination"):
+                    self.status = "Downloading..."
+            proc.wait(timeout=120)
+
+            if proc.returncode != 0 or not os.path.exists(self.local_path):
+                print(f"Download failed (exit {proc.returncode})")
+                self.load_error = "Download failed"
                 return False
 
-        self.play_on_nao(url, query)
-        return True
+            size_mb = os.path.getsize(self.local_path) / (1024 * 1024)
+            print(f"▶ scp {self.local_path} -> nao@{self.nao_ip}:{self.remote_path} ({size_mb:.1f} MB)")
+            self.progress = 0.0
+            upload_start = time.time()
+            stop_ticker = threading.Event()
 
-    def play_on_nao(self, url, title=""):
-        self.stop()
-        try:
-            filename = f"{int(time.time())}.mp3"
-            local_path = f"/tmp/{filename}"
-            remote_path = f"{self.music_dir}/{filename}"
+            def ticker():
+                while not stop_ticker.is_set():
+                    elapsed = time.time() - upload_start
+                    self.status = f"Uploading to NAO ({size_mb:.1f} MB)... {elapsed:.0f}s"
+                    stop_ticker.wait(1.0)
 
-            import yt_dlp
-            ydl_opts = {'format': 'bestaudio/best', 'outtmpl': local_path, 'quiet': True,
-                        'postprocessors': [{'key': 'FFmpegExtractAudio', 'preferredcodec': 'mp3'}]}
-            with yt_dlp.YoutubeDL(ydl_opts) as ydl:
-                ydl.download([url])
+            t = threading.Thread(target=ticker, daemon=True)
+            t.start()
+            scp_result = subprocess.run(
+                ["sshpass", "-p", "nao", "scp", self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
+                capture_output=True, text=True, timeout=60
+            )
+            stop_ticker.set()
+            t.join(timeout=1.0)
+            print(f"  [scp] exit {scp_result.returncode}" +
+                  (f": {scp_result.stderr.strip()}" if scp_result.stderr.strip() else ""))
+            if scp_result.returncode != 0:
+                print(f"SCP failed: {scp_result.stderr.strip()}")
+                self.load_error = "SCP failed"
+                return False
 
-            file_manager = self.session.service("ALFileManager")
-            file_manager.put(local_path, remote_path)
-
-            self.current_file = remote_path
-            self.player.playFile(remote_path)
+            self.current_file = self.remote_path
+            self.status = "Playing"
+            self.progress = 100.0
+            self.current_task_id = self.player.playFile(self.remote_path)
             self.is_playing = True
-            print(f"♪ Playing on NAO: {title}")
+            print(f"♪ Playing on NAO: {title} (task {self.current_task_id})")
+            return True
         except Exception as e:
             print(f"Playback error: {e}")
+            self.load_error = str(e)
+            return False
+        finally:
+            self.is_loading = False
 
     def pause(self):
+        if self.current_task_id is None or not self.current_file:
+            print("⏸ Nothing loaded to pause/resume")
+            return
+        try:
             if self.is_playing:
-            self.player.pause()
+                pos = self.player.getCurrentPosition(self.current_task_id)
+                self.player.stopAll()
+                self.paused_position = max(0.0, pos)
                 self.is_playing = False
-            print("⏸ Paused")
+                print(f"♪ Paused at {self.paused_position:.1f}s")
             else:
-            self.player.play(self.current_file)
+                self.current_task_id = self.player.playFileFromPosition(
+                    self.current_file, self.paused_position, 1.0, 0.0
+                )
                 self.is_playing = True
-            print("▶ Resumed")
+                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}"
 
     def stop(self):
+        try:
             self.player.stopAll()
+        except Exception as e:
+            print(f"Stop error: {e}")
         self.is_playing = False
-        print("⏹ Stopped")
+        self.current_file = None
+        self.current_task_id = None
+        self.paused_position = 0.0
 
     def seek(self, seconds):
+        if self.current_task_id is None:
+            return
         try:
-            pos = self.player.getCurrentPosition() / 1000.0
-            self.player.goTo(pos + seconds)
-            print(f"Seeked {seconds:+.0f}s")
-        except:
-            print("Seek unavailable")
+            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}")
 
 
 # ==========================================
 # MAIN TELEOP
 # ==========================================
 class NaoTeleop:
-    def __init__(self, session, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0):
+    def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0):
         self.session = session
+        self.nao_ip = nao_ip
         self.motion = session.service("ALMotion")
         self.posture = session.service("ALRobotPosture")
         self.tts = session.service("ALTextToSpeech")
@@ -221,7 +317,9 @@ class NaoTeleop:
         except:
             self.battery = None
 
-        self.music = NaoMusicPlayer(session)   # Music on NAO
+        self.music = NaoMusicPlayer(session, nao_ip)
+        self.music_results = []
+        self.selected_result = 0
 
         self.audio_device = None
         self.audio_service_name = "SoundReceiver"
@@ -238,6 +336,9 @@ class NaoTeleop:
 
         self.typing_mode = False
         self.chat_message = ""
+        self.music_search_mode = False
+        self.music_search_text = ""
+        self.music_search_pending = False
 
         self.video_scale = video_scale
         self.display_width = int(320 * video_scale)
@@ -312,12 +413,11 @@ class NaoTeleop:
             neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
             self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
             self.motion.setStiffnesses("RArm", 0.6)
-            print("✅ Wave completed")
         except Exception as e:
             print(f"Wave error: {e}")
 
     def handle_head_movement(self):
-        if self.typing_mode: return
+        if self.typing_mode or self.music_search_mode: return
         keys = pygame.key.get_pressed()
         speed = 0.3
         changed = False
@@ -326,13 +426,18 @@ class NaoTeleop:
         if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True
         if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True
         if changed:
+            try:
                 self.motion.setAngles(["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)
+            except Exception as e:
+                print(f"Head move error: {e}")
 
     def reset_head(self):
         self.head_yaw = 0.0
         self.head_pitch = 0.0
+        try:
             self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4)
-        print("Head reset to neutral")
+        except Exception as e:
+            print(f"Head reset error: {e}")
 
     def update_title(self):
         mode = "[TYPING] " if self.typing_mode else ""
@@ -343,7 +448,8 @@ class NaoTeleop:
         if self.audio_device:
             try:
                 self.audio_device.setOutputVolume(self.volume)
-            except: pass
+            except Exception as e:
+                print(f"Volume set error: {e}")
         print(f"🔊 NAO volume: {self.volume}%")
         self.update_title()
 
@@ -365,29 +471,70 @@ class NaoTeleop:
 
         carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
 
-        print("\n🎮 Controls:")
-        print("   WASD/Arrows = Walk")
-        print("   I J K L     = Head")
-        print("   SPACE       = Reset head")
-        print("   1           = Wave")
-        print("   M           = Music search (plays on NAO)")
-        print("   P           = Pause/Resume music")
-        print("   S           = Stop music")
-        print("   ← →         = Seek ±10s")
-        print("   T           = TTS")
-        print("   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 | ,/.=Seek | -/==Volume | T=TTS | ESC=Quit")
 
+        try:
             while self.running:
+                try:
                     self.check_battery()
 
                     for event in pygame.event.get():
                         if event.type == pygame.QUIT:
                             self.running = False
                         elif event.type == pygame.KEYDOWN:
-                    if self.typing_mode:
+                            if self.music_search_mode:
+                                if event.key == pygame.K_RETURN:
+                                    if self.music_results:
+                                        entry = self.music_results[self.selected_result]
+                                        threading.Thread(
+                                            target=self.music.play,
+                                            args=(entry['url'], entry.get('title', 'Unknown')),
+                                            daemon=True
+                                        ).start()
+                                        self.music_search_mode = False
+                                    elif self.music_search_text.strip() and not self.music_search_pending:
+                                        query = self.music_search_text
+                                        self.music_search_pending = True
+                                        def do_search(q=query):
+                                            results = self.music.search(q)
+                                            self.music_results = results
+                                            self.selected_result = 0
+                                            self.music_search_pending = False
+                                            if not results:
+                                                self.music_search_mode = False
+                                        threading.Thread(target=do_search, daemon=True).start()
+                                    else:
+                                        self.music_search_mode = False
+                                elif event.key == pygame.K_ESCAPE:
+                                    self.music_search_mode = False
+                                    self.music_search_text = ""
+                                    self.music_results = []
+                                elif event.key == pygame.K_UP:
+                                    if self.music_results:
+                                        self.selected_result = (self.selected_result - 1) % len(self.music_results[:5])
+                                elif event.key == pygame.K_DOWN:
+                                    if self.music_results:
+                                        self.selected_result = (self.selected_result + 1) % len(self.music_results[:5])
+                                elif event.key == pygame.K_BACKSPACE:
+                                    self.music_search_text = self.music_search_text[:-1]
+                                    self.music_results = []
+                                elif event.key in (pygame.K_1, pygame.K_2, pygame.K_3, pygame.K_4, pygame.K_5):
+                                    idx = int(event.unicode) - 1
+                                    if idx < len(self.music_results):
+                                        entry = self.music_results[idx]
+                                        threading.Thread(
+                                            target=self.music.play,
+                                            args=(entry['url'], entry.get('title', 'Unknown')),
+                                            daemon=True
+                                        ).start()
+                                        self.music_search_mode = False
+                                elif event.unicode.isprintable():
+                                    self.music_search_text += event.unicode
+                                    self.music_results = []
+                            elif self.typing_mode:
                                 if event.key == pygame.K_RETURN:
                                     if self.chat_message.strip():
-                                threading.Thread(target=self.tts.say, args=(self.chat_message,)).start()
+                                        threading.Thread(target=self.tts.say, args=(self.chat_message,), daemon=True).start()
                                     self.chat_message = ""
                                     self.typing_mode = False
                                 elif event.key == pygame.K_ESCAPE:
@@ -405,22 +552,29 @@ class NaoTeleop:
                                 elif event.key == pygame.K_SPACE:
                                     self.reset_head()
                                 elif event.key == pygame.K_m:
-                            query = input("Search music to play on NAO: ").strip()
-                            if query:
-                                self.music.search_and_play(query)
+                                    self.music_search_mode = True
+                                    self.music_search_text = ""
+                                    self.music_results = []
                                 elif event.key == pygame.K_p:
                                     self.music.pause()
-                        elif event.key == pygame.K_s:
+                                elif event.key == pygame.K_x:
                                     self.music.stop()
-                        elif event.key == pygame.K_LEFT:
+                                elif event.key == pygame.K_COMMA:
                                     self.music.seek(-10)
-                        elif event.key == pygame.K_RIGHT:
+                                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):
+                                    self.change_volume(5)
                                 elif event.key == pygame.K_t:
                                     self.typing_mode = True
+                                    try:
                                         self.motion.stopMove()
+                                    except Exception as e:
+                                        print(f"stopMove error: {e}")
 
-            if not self.typing_mode:
+                    if not self.typing_mode and not self.music_search_mode:
                         keys = pygame.key.get_pressed()
                         x = y = theta = 0.0
                         if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.6
@@ -428,10 +582,13 @@ class NaoTeleop:
                         if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.5
                         if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
 
+                        try:
                             if abs(x) > 0.1 or abs(theta) > 0.1:
                                 self.motion.moveToward(x, y, theta, carpet_config)
                             else:
                                 self.motion.stopMove()
+                        except Exception as e:
+                            print(f"Move error: {e}")
                         self.handle_head_movement()
 
                     frame = self.get_image()
@@ -443,6 +600,55 @@ class NaoTeleop:
                     else:
                         self.screen.fill((10, 10, 30))
 
+                    # Music status
+                    if self.music.is_loading:
+                        text = self.font.render(f"♪ {self.music.status}", True, (255, 200, 0))
+                        self.screen.blit(text, (10, 10))
+                        if self.music.progress > 0:
+                            bar_w = 220
+                            pct = min(self.music.progress, 100) / 100.0
+                            pygame.draw.rect(self.screen, (70, 70, 70), (10, 32, bar_w, 8))
+                            pygame.draw.rect(self.screen, (255, 200, 0), (10, 32, int(bar_w * pct), 8))
+                    elif self.music.load_error:
+                        text = self.font.render(f"♪ Error: {self.music.load_error}", True, (255, 80, 80))
+                        self.screen.blit(text, (10, 10))
+                    elif self.music.current_title:
+                        status = f"♪ {self.music.current_title[:45]} {'(Paused)' if not self.music.is_playing else ''}"
+                        text = self.font.render(status, True, (0, 255, 100))
+                        self.screen.blit(text, (10, 10))
+
+                    # Music search interface
+                    if self.music_search_mode:
+                        box_h = min(self.display_height - 80, 260)
+                        s = pygame.Surface((self.display_width, box_h))
+                        s.set_alpha(220)
+                        s.fill((0, 0, 40))
+                        self.screen.blit(s, (0, 80))
+
+                        text = self.font.render(f"Search: {self.music_search_text}", True, (255, 255, 255))
+                        self.screen.blit(text, (20, 100))
+
+                        if self.music_results:
+                            shown = self.music_results[:5]
+                            for i, entry in enumerate(shown):
+                                row_y = 140 + i * 30
+                                if i == self.selected_result:
+                                    pygame.draw.rect(self.screen, (90, 90, 0), (16, row_y - 3, self.display_width - 32, 26))
+                                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, 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:
                         s = pygame.Surface((self.display_width, 40))
                         s.set_alpha(180)
@@ -453,19 +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()
 
 
@@ -489,7 +707,7 @@ if __name__ == "__main__":
         print(f"❌ Connection failed: {e}")
         sys.exit(1)
 
-    NaoTeleop(session,
+    NaoTeleop(session, nao_ip=args.ip,
               audio_device_index=args.audio_device_index,
               mic_channel=MIC_CHANNELS[args.mic_channel],
               mic_gain=args.mic_gain,

requirements.txt

@@ -1,12 +1,5 @@
-# requirements.txt for NAO Robot Teleoperation
-
-# Core NAOqi SDK (required - install via Aldebaran/SoftBank installer)
-# qi  # Usually installed with the NAOqi Python SDK
-
-# Python packages
-opencv-python>=4.5.0
-pygame>=2.0.0
-numpy>=1.21.0
-
-# Optional but recommended
-pillow>=9.0.0        # If you want PIL fallback for images
+qi
+opencv-python
+numpy
+pygame
+yt-dlp