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| Author | SHA1 | Date | |
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 Lucca Pirovano
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17a469b921 | ||
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Lucca Pirovano
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76087efc09 | ||
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Lucca Pirovano
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273f0b2b3e | ||
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Lucca Pirovano
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ae9d1652a4 | ||
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Lucca Pirovano
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7d0b968b36 | ||
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Lucca Pirovano
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4a4625028b |
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---
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title: "Automate NAO video server deployment and cleanup"
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tags: []
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author: claude
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count: 2
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exporter: 3.1.0
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date: 2026-07-21T22-15-10+0000
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url: https://claude.ai/chat/44ac3c8f-f04d-4b23-a71d-f35c28b50a86
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---
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# Automate NAO video server deployment and cleanup
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## Table of Contents
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- [1: make naowalk automatically scp the video server to the nao's home dire…](#chat-1)
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- [2: lets gut the original audio and video code out, i want it all going th…](#chat-2)
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## chat-1
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> make naowalk automatically scp the video server to the nao's home directory, and run, then terminate the video server on close
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Now I'll add a launcher class that deploys and runs `nao_video_server.py` over SSH, then wire it into startup/shutdown.
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Now update the `NaoTeleop.__init__` signature and wire in the deploy call before video/audio init:
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Now add teardown in the shutdown block:
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Now add the CLI flags and pass them through:
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Let’s update the `--media-relay` help text, since it currently implies the server must already be running manually:
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Now let's sanity-check the file compiles and the diff looks right:
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Diff looks clean. Now let's copy the finished file to outputs and present it.
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___
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###### [top](#table-of-contents)
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## chat-2
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> lets gut the original audio and video code out, i want it all going through the relay, including my mic. Also lets see if we can improve the latency on the nao's mic audio
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Good, this stays unchanged (`start()`/`stop()` API preserved). Now let's check the HUD and shutdown/argparse sections:
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That's fine to leave as-is (harmless dead branch for "connecting"). Now the shutdown block and CLI/argparse section:
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Now let's do the bigger refactor. Starting with `nao_video_server.py` — adding the bidirectional talk channel and tightening audio buffering for latency:
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Given the scope of changes, I'll rewrite `nao_video_server.py` in full rather than patching piecemeal:
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Now let's do the equivalent large refactor on `naowalk.py`, section by section. First, the protocol constants and header comment:
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Now let's tune `SoundReceiver` for lower latency:
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Now update `feed()` to actively trim the backlog instead of just dropping one chunk on overflow:
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Now let's replace `LiveMicRelay` with the new `PushToTalk` class that talks over the media relay instead of SSH:
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Now I'll replace the entire `LiveMicRelay` class with `PushToTalk`:
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Now let's update `NaoTeleop.__init__` and the video/audio init methods:
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Now I'll replace this whole block with the simplified, relay-only version:
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___
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###### [top](#table-of-contents)
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# Loaded by naowalk.py's gesture loader (_load_gestures). The filename's
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# leading digit ("1") is which number key triggers this. Every gesture
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# file just needs a run(motion, tts) function - motion is the connected
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# ALMotion proxy, tts is ALTextToSpeech. Optionally set NAME below to
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# control the display name shown in the on-screen controls hint.
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NAME = "Wave"
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def run(motion, tts):
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motion.setStiffnesses("RArm", 1.0)
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names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
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angles = [[-1.5]*5, [-0.4,-0.7,-0.4,-0.7,-0.4], [0.6,1.1,0.6,1.1,0.6],
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[0.8,0.3,0.8,0.3,0.8], [0.0,1.5,0.0,-1.5,0.0], [1.0]*5]
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times = [[0.5,1.0,1.5,2.0,2.5]] * 6
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motion.angleInterpolation(names, angles, times, True)
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neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
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motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses("RArm", 0.3)
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NAME = "Cena"
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def run(motion, tts):
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tts.say("You can't see me")
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motion.setStiffnesses("RArm", 1.0)
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names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
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# Setup for tight, face-level sweep
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tight_setup = [-0.4, -0.2, 0.0, 1.2, 1.5, 1.0]
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motion.angleInterpolation(names, tight_setup, [0.5]*6, True)
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# The horizontal "backhand" sweep
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motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True)
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motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True)
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motion.angleInterpolation(["RElbowYaw"], [0.0], 0.4, True)
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# Return to neutral
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neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
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motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses("RArm", 0.3)
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import threading
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NAME = "6-7"
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def run(motion, tts):
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# Threaded so the TTS call doesn't block the arm motion below.
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threading.Thread(target=tts.say, args=("six seven",), daemon=True).start()
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motion.setStiffnesses(["RArm", "LArm"], 1.0)
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# Lock both arms up in front of the body, hands held out like a scale.
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# ElbowYaw is rotated ~90° off zero here - that's what points the elbow's
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# bend axis so flexing tips the forearm forward/down instead of curling
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# it in across the chest. These joints don't move again until the return.
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hold_names = [
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"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand",
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"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand"
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]
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hold_angles = [
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0.2, -0.2, 1.4, 1.57, 0.6,
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0.2, 0.2, -1.4, -1.57, 0.6
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]
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motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25)
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# Only the elbows seesaw now - a small tip back and forth, one arm
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# rising while the other falls, like weighing something in each hand
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# ("six... seven..."). Small amplitude so it stays a wobble, not a fold.
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elbow_names = ["RElbowRoll", "LElbowRoll"]
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r_low, r_high = 0.6, 1.0
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l_low, l_high = -0.6, -1.0
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elbow_angles = [
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[r_low, r_high, r_low, r_high, r_low, r_high],
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[l_high, l_low, l_high, l_low, l_high, l_low],
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]
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times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2
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motion.angleInterpolation(elbow_names, elbow_angles, times, True)
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# Return everything to neutral
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neutral_names = hold_names + elbow_names
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neutral = [1.5, -0.15, 1.2, 0.0, 0.0,
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1.5, 0.15, -1.2, 0.0, 0.0,
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0.5, -0.5]
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motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses(["RArm", "LArm"], 0.3)
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import os
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NAME = "Gangnam Style"
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# The Choregraphe project lives in a sibling folder with the same name
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# as this file (minus the .py) - e.g. gestures/4_gangnam_style/ next
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# to gestures/4_gangnam_style.py - containing manifest.xml and a
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# GangnamStyle/behavior.xar subfolder, exactly what Choregraphe's
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# "Export as package" produces.
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PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
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BEHAVIOR_SUBDIR = "GangnamStyle"
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def run(motion, tts, teleop):
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# Deploys (first run only, cached after) + runs the actual
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# Choregraphe behavior on the robot - this blocks until it
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# finishes, same as the old hand-coded version did.
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teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
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# The .xar moves legs/hips, unlike the old arms-only version, so
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# bring him back to a known walk-ready stance afterward.
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teleop.idle_crouch()
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File diff suppressed because it is too large
Load Diff
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<?xml version='1.0' encoding='UTF-8'?>
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<package uuid=".lastUploadedChoregrapheBehavior" version="0.0.0" installOnlyAtStartup="false">
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<names>
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<name lang="en_US">.lastUploadedChoregrapheBehavior</name>
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<name lang="en_US-x-scrald">.lastUploadedChoregrapheBehavior</name>
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</names>
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<descriptionLanguages>
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<language>en_US</language>
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</descriptionLanguages>
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<contents>
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<behaviorContent path="GangnamStyle">
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<nature>interactive</nature>
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<permissions/>
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</behaviorContent>
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</contents>
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</package>
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import os
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NAME = "Tai Chi"
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# The Choregraphe project lives in a sibling folder with the same name
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# as this file (minus the .py) - e.g. gestures/5_tai_chi/ next to
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# gestures/5_tai_chi.py - containing manifest.xml and a
|
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# behavior_1/behavior.xar subfolder, exactly what Choregraphe's
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# "Export as package" produces.
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PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
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BEHAVIOR_SUBDIR = "behavior_1"
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def run(motion, tts, teleop):
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# Deploys (first run only, cached after) + runs the actual
|
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# Choregraphe behavior on the robot - this blocks until it
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# finishes, same pattern as the Gangnam Style gesture.
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teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
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# Tai chi moves legs/hips through slow stances, so bring him back
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# to a known walk-ready stance afterward.
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teleop.idle_crouch()
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<?xml version="1.0" encoding="UTF-8" ?>
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<Package name="5_tai_chi" format_version="5">
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<Manifest src="manifest.xml" />
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<BehaviorDescriptions>
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<BehaviorDescription name="behavior" src="tai_chi" xar="behavior.xar" />
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</BehaviorDescriptions>
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<Dialogs />
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<Resources />
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<Topics />
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<IgnoredPaths />
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<Translations auto-fill="en_US">
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<Translation name="translation_en_US" src="translations/translation_en_US.ts" language="en_US" />
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</Translations>
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</Package>
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<?xml version='1.0' encoding='UTF-8'?>
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<package version="0.0.0" uuid="5_tai_chi-0cc7f3" installOnlyAtStartup="false">
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<names>
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<name lang="en_US">Untitled</name>
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</names>
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<supportedLanguages>
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<language>en_US</language>
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</supportedLanguages>
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<descriptionLanguages>
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<language>en_US</language>
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</descriptionLanguages>
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<contents>
|
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<behaviorContent path="tai_chi">
|
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<nature>interactive</nature>
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<permissions/>
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</behaviorContent>
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</contents>
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</package>
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<?xml version="1.0" encoding="UTF-8" ?>
|
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<ChoregrapheProject xmlns="http://www.ald.softbankrobotics.com/schema/choregraphe/project.xsd" xar_version="3">
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<Box name="root" id="-1" localization="8" tooltip="Root box of Choregraphe's behavior. Highest level possible." x="0" y="0">
|
||||||
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<bitmap>media/images/box/root.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[]]>
|
||||||
|
</content>
|
||||||
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</script>
|
||||||
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<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
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||||||
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
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<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
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<Timeline enable="0">
|
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<BehaviorLayer name="behavior_layer1">
|
||||||
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<BehaviorKeyframe name="keyframe1" index="1">
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||||||
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<Diagram>
|
||||||
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<Box name="Tai Chi Chuan" id="11" localization="8" tooltip="Arms part of Tai Chi Chuan dance." x="198" y="164">
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<bitmap>media/images/box/movement/dance.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
|
||||||
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
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<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
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||||||
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<Timeline enable="1" fps="5" start_frame="1" end_frame="-1" size="250">
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||||||
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<BehaviorLayer name="LED">
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<BehaviorKeyframe name="keyframe15" index="15">
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||||||
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<Diagram>
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||||||
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<Box name="Light_ConcentratedEyes" id="1" localization="8" tooltip="Set an animated gaze which expresses concentration." x="231" y="105">
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||||||
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<bitmap>media/images/box/interaction/LED.png</bitmap>
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||||||
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<script language="4">
|
||||||
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<content>
|
||||||
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<![CDATA[class MyClass(GeneratedClass):
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||||||
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def __init__(self):
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||||||
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try: # disable autoBind;
|
||||||
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GeneratedClass.__init__(self, False);
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||||||
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except TypeError: # if NAOqi < 1.14;
|
||||||
|
GeneratedClass.__init__( self );
|
||||||
|
|
||||||
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def onLoad(self):
|
||||||
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self.bIsRunning = False;
|
||||||
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self.leds = self.session().service("ALLeds")
|
||||||
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||||||
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def onUnload(self):
|
||||||
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self.onInput_onStop(); # will stop current loop execution
|
||||||
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||||||
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def onInput_onStart(self):
|
||||||
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#self.log( self.getName() + ": start - begin" );
|
||||||
|
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||||||
|
if( self.bIsRunning ):
|
||||||
|
#print( self.getName() + ": already started => nothing" );
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||||||
|
return;
|
||||||
|
|
||||||
|
self.bIsRunning = True;
|
||||||
|
self.bMustStop = False;
|
||||||
|
|
||||||
|
rDuration = 1.0;
|
||||||
|
self.leds.fadeRGB( "FaceLedsTop", 0x0000ff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLedsInternal", 0x00ff00, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLedsBottom", 0x0000ff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLedsExternal", 0x0000ff, rDuration );
|
||||||
|
|
||||||
|
while( not self.bMustStop ):
|
||||||
|
rTime=1.0
|
||||||
|
self.leds.fadeRGB( "FaceLedsInternal", 0x000000, rTime );
|
||||||
|
if( self.bMustStop ):
|
||||||
|
break;
|
||||||
|
self.leds.fadeRGB( "FaceLedsInternal", 0x00ff00, rDuration );
|
||||||
|
|
||||||
|
|
||||||
|
# end while
|
||||||
|
self.bIsRunning = False;
|
||||||
|
self.onStopped();
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.bMustStop = True; # will stop current loop execution]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
|
</Box>
|
||||||
|
<Box name="Tocolor" id="2" localization="8" tooltip="tags:
LED" x="490" y="183">
|
||||||
|
<bitmap>media/images/box/interaction/LED.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
#~ puts code for box initialization here
|
||||||
|
self.leds = self.session().service("ALLeds")
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
#~ puts code for box cleanup here
|
||||||
|
self.leds.reset("EarLeds")
|
||||||
|
pass
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
rDuration = 0.2
|
||||||
|
self.leds.fadeRGB( "BrainLeds", 0xffffff, rDuration)
|
||||||
|
|
||||||
|
self.onStopped()
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.onUnload() #~ it is usually a good idea to call onUnload of this box in a onStop method, as the code written in onUnload is used to finish the working of the box as well
|
||||||
|
pass]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
|
<Resource name="Left eye leds" type="Lock" timeout="1" />
|
||||||
|
<Resource name="Right eye leds" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
<BehaviorKeyframe name="Eye48" index="247">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Blink" id="3" localization="8" tooltip="tags:
LED" x="339" y="161">
|
||||||
|
<bitmap>media/images/box/interaction/LED.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
#~ puts code for box initialization here
|
||||||
|
self.leds = self.session().service("ALLeds")
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
#~ puts code for box cleanup here
|
||||||
|
pass
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
rDuration = 0.05;
|
||||||
|
self.leds.fadeRGB( "FaceLed0", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed1", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed2", 0xffffff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed3", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed4", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed5", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed6", 0xffffff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed7", 0x000000, rDuration );
|
||||||
|
|
||||||
|
time.sleep( 0.1 );
|
||||||
|
|
||||||
|
rDuration = 0.05;
|
||||||
|
self.leds.fadeRGB( "FaceLeds", 0xffffff, rDuration );
|
||||||
|
|
||||||
|
self.onStopped()
|
||||||
|
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.onUnload() #~ it is usually a good idea to call onUnload of this box in a onStop method, as the code written in onUnload is used to finish the working of the box as well
|
||||||
|
pass]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
|
<Resource name="Left eye leds" type="Lock" timeout="1" />
|
||||||
|
<Resource name="Right eye leds" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="3" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
<BehaviorLayer name="music">
|
||||||
|
<BehaviorKeyframe name="keyframe12" index="12">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Play Sound" id="1" localization="8" tooltip="Play a sound file. Select the file in parameters. The format of the file can be wav or ogg (on virtual robot) and also mp3 (on a real robot).

Note: There can be some delay to play ogg or mp3 (on a robot) files. We advise you to use wav if
you want a fast play of the file." x="193" y="90">
|
||||||
|
<bitmap>media/images/box/interaction/play_music.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
self.bIsRunning = True
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
if( self.bIsRunning ):
|
||||||
|
self.onUnload()
|
||||||
|
self.onStopped()]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when Diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Starts the music." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Stops the music." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished or stopped." id="4" />
|
||||||
|
<Parameter name="File name" inherits_from_parent="0" content_type="4" value="/sounds/mikhael-landscape-paisaje.ogg" default_value="" tooltip="Name of the file you want to play.

Note: You can click on the folder icon to browse the project content or import
new files to the project." id="5" />
|
||||||
|
<Parameter name="Begin position (s)" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="0" max="600" tooltip="Position in seconds where the playing must start." id="6" />
|
||||||
|
<Parameter name="Volume (%)" inherits_from_parent="0" content_type="1" value="100" default_value="100" min="0" max="100" tooltip="Volume the file is played with." id="7" />
|
||||||
|
<Parameter name="Balance L/R" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="-1" max="1" tooltip="Value which determines if the sound is played more on the robot's left or right.
You can particularly set it to:
- -1 to play only on the left loudspeaker.
- 0 to play on both loudspeakers.
- 1 to play only on the right loudspeaker." id="8" />
|
||||||
|
<Parameter name="Play in loop" inherits_from_parent="0" content_type="0" value="0" default_value="0" tooltip="This parameter allows to play the file in loop. The playing will start each time at
the beginning of the file." id="9" />
|
||||||
|
<Timeline enable="0">
|
||||||
|
<BehaviorLayer name="behavior_layer1">
|
||||||
|
<BehaviorKeyframe name="keyframe1" index="1">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Play Sound File" id="2" localization="8" tooltip="Play the sound." x="442" y="70">
|
||||||
|
<bitmap>media/images/box/interaction/play_music.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[import time
|
||||||
|
|
||||||
|
class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
self.player = self.session().service('ALAudioPlayer')
|
||||||
|
self.playerStop = self.session().service('ALAudioPlayer') #Create another service as wait is blocking if audioout is remote
|
||||||
|
self.bIsRunning = False
|
||||||
|
self.ids = []
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
for id in self.ids:
|
||||||
|
try:
|
||||||
|
self.playerStop.stop(id)
|
||||||
|
except:
|
||||||
|
pass
|
||||||
|
while( self.bIsRunning ):
|
||||||
|
time.sleep( 0.2 )
|
||||||
|
|
||||||
|
def onInput_onStart(self, p):
|
||||||
|
self.bIsRunning = True
|
||||||
|
try:
|
||||||
|
if (self.getParameter("Play in loop")) :
|
||||||
|
id = self.player.pCall("playFileInLoop",p,self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
|
||||||
|
else :
|
||||||
|
id = self.player.pCall("playFileFromPosition",p,self.getParameter("Begin position (s)"),self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
|
||||||
|
self.ids.append(id)
|
||||||
|
self.player.wait(id)
|
||||||
|
finally:
|
||||||
|
try:
|
||||||
|
self.ids.remove(id)
|
||||||
|
except:
|
||||||
|
pass
|
||||||
|
if( self.ids == [] ):
|
||||||
|
self.onStopped() # activate output of the box
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.onUnload()]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when Diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="3" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this Input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this Input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when Box behavior is finished." id="4" />
|
||||||
|
<Parameter name="Begin position (s)" inherits_from_parent="1" content_type="2" value="0" default_value="0" min="0" max="600" tooltip="Position in seconds where the playing must start." id="5" />
|
||||||
|
<Parameter name="Volume (%)" inherits_from_parent="1" content_type="1" value="100" default_value="100" min="0" max="100" tooltip="Volume the file is played with." id="6" />
|
||||||
|
<Parameter name="Balance L/R" inherits_from_parent="1" content_type="2" value="0" default_value="0" min="-1" max="1" tooltip="Value which determines if the sound is played more on the robot's left or right.
You can particularly set it to:
- -1 to play only on the left loudspeaker.
- 0 to play on both loudspeakers.
- 1 to play only on the right loudspeaker." id="7" />
|
||||||
|
<Parameter name="Play in loop" inherits_from_parent="1" content_type="0" value="0" default_value="0" tooltip="This parameter allows to play the file in loop. The playing will start each time at
the beginning of the file." id="8" />
|
||||||
|
</Box>
|
||||||
|
<Box name="Get Attached File" id="1" localization="8" tooltip="Use this box to choose an attached file in its parameters. The filename will be sent on
the output when the input is stimulated." x="216" y="71">
|
||||||
|
<bitmap>media/images/box/folder.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
self.onStopped(self.behaviorAbsolutePath() + self.getParameter("File name"))]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="1" inner="0" tooltip="To send the filepath on the output." id="2" />
|
||||||
|
<Output name="onStopped" type="3" type_size="1" nature="2" inner="0" tooltip="The filepath of the selected resource file." id="3" />
|
||||||
|
<Parameter name="File name" inherits_from_parent="1" content_type="4" value="" default_value="" tooltip="Name of the file which is going to be sent on the box output.

Note: You can click on the folder icon to browse the project content or import
new files to the project." id="4" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="0" indexofinput="4" outputowner="2" indexofoutput="4" />
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="2" />
|
||||||
|
<Link inputowner="2" indexofinput="2" outputowner="1" indexofoutput="3" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
</Timeline>
|
||||||
|
<Resource name="Audio player" type="Lock" timeout="0" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
<ActuatorList model="nao">
|
||||||
|
<ActuatorCurve name="value" actuator="HeadYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="4.82967e-06" />
|
||||||
|
<Key frame="35" value="4.82968e-06" />
|
||||||
|
<Key frame="45" value="4.82968e-06" />
|
||||||
|
<Key frame="55" value="-2.73208e-05" />
|
||||||
|
<Key frame="65" value="18" />
|
||||||
|
<Key frame="75" value="-17" />
|
||||||
|
<Key frame="85" value="-68" />
|
||||||
|
<Key frame="95" value="-16" />
|
||||||
|
<Key frame="105" value="12" />
|
||||||
|
<Key frame="118" value="90" />
|
||||||
|
<Key frame="131" value="12" />
|
||||||
|
<Key frame="142" value="8" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-8" />
|
||||||
|
<Key frame="172" value="16" />
|
||||||
|
<Key frame="185" value="-12" />
|
||||||
|
<Key frame="198" value="-90" />
|
||||||
|
<Key frame="211" value="-12" />
|
||||||
|
<Key frame="222" value="-8" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="0" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="HeadPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="5.12931e-06" />
|
||||||
|
<Key frame="35" value="-2.73208e-05" />
|
||||||
|
<Key frame="45" value="5.0962e-06" />
|
||||||
|
<Key frame="55" value="6.01466e-06" />
|
||||||
|
<Key frame="65" value="19" />
|
||||||
|
<Key frame="75" value="18" />
|
||||||
|
<Key frame="85" value="5.26559e-06" />
|
||||||
|
<Key frame="95" value="-19" />
|
||||||
|
<Key frame="105" value="8" />
|
||||||
|
<Key frame="118" value="-5" />
|
||||||
|
<Key frame="131" value="8" />
|
||||||
|
<Key frame="142" value="22" />
|
||||||
|
<Key frame="152" value="32" />
|
||||||
|
<Key frame="162" value="22" />
|
||||||
|
<Key frame="172" value="-19" />
|
||||||
|
<Key frame="185" value="8" />
|
||||||
|
<Key frame="198" value="-5" />
|
||||||
|
<Key frame="211" value="8" />
|
||||||
|
<Key frame="222" value="22" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-10.0411" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LShoulderPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="110" />
|
||||||
|
<Key frame="35" value="120" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="21" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="11" />
|
||||||
|
<Key frame="95" value="-46" />
|
||||||
|
<Key frame="105" value="-10" />
|
||||||
|
<Key frame="118" value="-17" />
|
||||||
|
<Key frame="131" value="-10" />
|
||||||
|
<Key frame="142" value="30" />
|
||||||
|
<Key frame="152" value="27" />
|
||||||
|
<Key frame="162" value="19" />
|
||||||
|
<Key frame="172" value="-27" />
|
||||||
|
<Key frame="185" value="4" />
|
||||||
|
<Key frame="198" value="-4" />
|
||||||
|
<Key frame="211" value="4" />
|
||||||
|
<Key frame="222" value="19" />
|
||||||
|
<Key frame="231" value="97" />
|
||||||
|
<Key frame="250" value="83.0164" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LShoulderRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="10" />
|
||||||
|
<Key frame="25" value="20" />
|
||||||
|
<Key frame="35" value="10" />
|
||||||
|
<Key frame="45" value="10" />
|
||||||
|
<Key frame="55" value="10" />
|
||||||
|
<Key frame="65" value="40" />
|
||||||
|
<Key frame="75" value="0" />
|
||||||
|
<Key frame="85" value="5" />
|
||||||
|
<Key frame="95" value="10" />
|
||||||
|
<Key frame="105" value="23" />
|
||||||
|
<Key frame="118" value="66" />
|
||||||
|
<Key frame="131" value="23" />
|
||||||
|
<Key frame="142" value="23" />
|
||||||
|
<Key frame="152" value="10" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="23" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="12" />
|
||||||
|
<Key frame="231" value="54" />
|
||||||
|
<Key frame="250" value="12.7723" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LElbowYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-90" />
|
||||||
|
<Key frame="25" value="-90" />
|
||||||
|
<Key frame="35" value="-90" />
|
||||||
|
<Key frame="45" value="-90" />
|
||||||
|
<Key frame="55" value="-90" />
|
||||||
|
<Key frame="65" value="-22" />
|
||||||
|
<Key frame="75" value="0" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="0" />
|
||||||
|
<Key frame="152" value="12" />
|
||||||
|
<Key frame="162" value="11" />
|
||||||
|
<Key frame="172" value="-24" />
|
||||||
|
<Key frame="185" value="-24" />
|
||||||
|
<Key frame="198" value="-5" />
|
||||||
|
<Key frame="211" value="-24" />
|
||||||
|
<Key frame="222" value="11" />
|
||||||
|
<Key frame="227" value="-21.7" />
|
||||||
|
<Key frame="231" value="-14" />
|
||||||
|
<Key frame="250" value="-68.8135" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LElbowRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="-40" />
|
||||||
|
<Key frame="35" value="-60" />
|
||||||
|
<Key frame="45" value="0" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-95" />
|
||||||
|
<Key frame="75" value="-55" />
|
||||||
|
<Key frame="85" value="-85" />
|
||||||
|
<Key frame="95" value="-58" />
|
||||||
|
<Key frame="105" value="-58" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="-58" />
|
||||||
|
<Key frame="142" value="-58" />
|
||||||
|
<Key frame="152" value="-51" />
|
||||||
|
<Key frame="162" value="-49" />
|
||||||
|
<Key frame="172" value="-64" />
|
||||||
|
<Key frame="185" value="-49" />
|
||||||
|
<Key frame="198" value="-72" />
|
||||||
|
<Key frame="211" value="-49" />
|
||||||
|
<Key frame="222" value="-49" />
|
||||||
|
<Key frame="227" value="-57" />
|
||||||
|
<Key frame="231" value="-81.4" />
|
||||||
|
<Key frame="250" value="-23.6757" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LWristYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-88" />
|
||||||
|
<Key frame="250" value="5.78932" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHand" mute="0" unit="1">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="250" value="0.291787" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RShoulderPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="110" />
|
||||||
|
<Key frame="35" value="120" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="10" />
|
||||||
|
<Key frame="75" value="35" />
|
||||||
|
<Key frame="85" value="60" />
|
||||||
|
<Key frame="95" value="-27" />
|
||||||
|
<Key frame="105" value="4" />
|
||||||
|
<Key frame="118" value="-4" />
|
||||||
|
<Key frame="131" value="4" />
|
||||||
|
<Key frame="142" value="19" />
|
||||||
|
<Key frame="152" value="27" />
|
||||||
|
<Key frame="162" value="30" />
|
||||||
|
<Key frame="172" value="-46" />
|
||||||
|
<Key frame="185" value="-10" />
|
||||||
|
<Key frame="198" value="-17" />
|
||||||
|
<Key frame="211" value="-10" />
|
||||||
|
<Key frame="222" value="30" />
|
||||||
|
<Key frame="231" value="97" />
|
||||||
|
<Key frame="250" value="82.7438" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RShoulderRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-10" />
|
||||||
|
<Key frame="25" value="-10" />
|
||||||
|
<Key frame="35" value="-20" />
|
||||||
|
<Key frame="45" value="-10" />
|
||||||
|
<Key frame="55" value="-9.99896" />
|
||||||
|
<Key frame="65" value="-4" />
|
||||||
|
<Key frame="75" value="-48" />
|
||||||
|
<Key frame="85" value="-87" />
|
||||||
|
<Key frame="95" value="-23" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="0" />
|
||||||
|
<Key frame="152" value="-10" />
|
||||||
|
<Key frame="162" value="-23" />
|
||||||
|
<Key frame="172" value="-10" />
|
||||||
|
<Key frame="185" value="-23" />
|
||||||
|
<Key frame="198" value="-66" />
|
||||||
|
<Key frame="211" value="-23" />
|
||||||
|
<Key frame="222" value="-32" />
|
||||||
|
<Key frame="231" value="-54" />
|
||||||
|
<Key frame="250" value="-12.6315" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RElbowYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="90" />
|
||||||
|
<Key frame="35" value="90" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="90" />
|
||||||
|
<Key frame="65" value="11" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="90" />
|
||||||
|
<Key frame="95" value="24" />
|
||||||
|
<Key frame="105" value="24" />
|
||||||
|
<Key frame="118" value="5" />
|
||||||
|
<Key frame="131" value="24" />
|
||||||
|
<Key frame="142" value="-11" />
|
||||||
|
<Key frame="152" value="-12" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="0" />
|
||||||
|
<Key frame="227" value="19.6" />
|
||||||
|
<Key frame="231" value="14" />
|
||||||
|
<Key frame="250" value="68.8565" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RElbowRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="40" />
|
||||||
|
<Key frame="35" value="60" />
|
||||||
|
<Key frame="45" value="1.47493e-05" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="71" />
|
||||||
|
<Key frame="75" value="94" />
|
||||||
|
<Key frame="85" value="4" />
|
||||||
|
<Key frame="95" value="64" />
|
||||||
|
<Key frame="105" value="49" />
|
||||||
|
<Key frame="118" value="72" />
|
||||||
|
<Key frame="131" value="49" />
|
||||||
|
<Key frame="142" value="49" />
|
||||||
|
<Key frame="152" value="51" />
|
||||||
|
<Key frame="162" value="58" />
|
||||||
|
<Key frame="172" value="58" />
|
||||||
|
<Key frame="185" value="58" />
|
||||||
|
<Key frame="198" value="2" />
|
||||||
|
<Key frame="211" value="58" />
|
||||||
|
<Key frame="222" value="58" />
|
||||||
|
<Key frame="227" value="64.9" />
|
||||||
|
<Key frame="231" value="78.3" />
|
||||||
|
<Key frame="250" value="23.387" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RWristYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="88" />
|
||||||
|
<Key frame="250" value="6.23278" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHand" mute="0" unit="1">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="250" value="0.301984" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipYawPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-6.2" />
|
||||||
|
<Key frame="25" value="-6.9" />
|
||||||
|
<Key frame="35" value="-6.94104" />
|
||||||
|
<Key frame="45" value="-7.04938" />
|
||||||
|
<Key frame="55" value="-8.2" />
|
||||||
|
<Key frame="65" value="-9.6" />
|
||||||
|
<Key frame="75" value="-5.7" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="-0.566539" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="-3.9" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-9.74084" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-3" />
|
||||||
|
<Key frame="25" value="-7" />
|
||||||
|
<Key frame="35" value="-11.4235" />
|
||||||
|
<Key frame="45" value="5.96288" />
|
||||||
|
<Key frame="55" value="6" />
|
||||||
|
<Key frame="65" value="-10" />
|
||||||
|
<Key frame="75" value="10" />
|
||||||
|
<Key frame="85" value="24.1" />
|
||||||
|
<Key frame="95" value="30.3" />
|
||||||
|
<Key frame="105" value="28.7" />
|
||||||
|
<Key frame="118" value="32.4" />
|
||||||
|
<Key frame="131" value="28.7" />
|
||||||
|
<Key frame="142" value="19.9829" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-15" />
|
||||||
|
<Key frame="167" value="14.4" />
|
||||||
|
<Key frame="172" value="15" />
|
||||||
|
<Key frame="185" value="8" />
|
||||||
|
<Key frame="198" value="40" />
|
||||||
|
<Key frame="211" value="8" />
|
||||||
|
<Key frame="222" value="-15" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="6.82441" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="-19.8395" />
|
||||||
|
<Key frame="45" value="-0.0382666" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-35" />
|
||||||
|
<Key frame="85" value="-60" />
|
||||||
|
<Key frame="95" value="-60" />
|
||||||
|
<Key frame="105" value="-60" />
|
||||||
|
<Key frame="118" value="-60" />
|
||||||
|
<Key frame="131" value="-60" />
|
||||||
|
<Key frame="142" value="-59.6787" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-42.5" />
|
||||||
|
<Key frame="172" value="-7" />
|
||||||
|
<Key frame="185" value="-50" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="-50" />
|
||||||
|
<Key frame="222" value="-37.5" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="7.30057" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LKneePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="42.8009" />
|
||||||
|
<Key frame="45" value="0.0951225" />
|
||||||
|
<Key frame="55" value="-5.69182e-06" />
|
||||||
|
<Key frame="65" value="80" />
|
||||||
|
<Key frame="75" value="70" />
|
||||||
|
<Key frame="85" value="120" />
|
||||||
|
<Key frame="95" value="120" />
|
||||||
|
<Key frame="105" value="120" />
|
||||||
|
<Key frame="118" value="120" />
|
||||||
|
<Key frame="131" value="120" />
|
||||||
|
<Key frame="142" value="120.887" />
|
||||||
|
<Key frame="152" value="100" />
|
||||||
|
<Key frame="162" value="85" />
|
||||||
|
<Key frame="172" value="7" />
|
||||||
|
<Key frame="185" value="100" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="100" />
|
||||||
|
<Key frame="222" value="75" />
|
||||||
|
<Key frame="231" value="120" />
|
||||||
|
<Key frame="250" value="-5.09006" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LAnklePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="5.75265e-06" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="-22.1511" />
|
||||||
|
<Key frame="45" value="-0.569877" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-37.1" />
|
||||||
|
<Key frame="75" value="-35" />
|
||||||
|
<Key frame="85" value="-60" />
|
||||||
|
<Key frame="95" value="-60" />
|
||||||
|
<Key frame="105" value="-60" />
|
||||||
|
<Key frame="118" value="-60" />
|
||||||
|
<Key frame="131" value="-60" />
|
||||||
|
<Key frame="142" value="-59.6787" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-42.5" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="5.75265e-06" />
|
||||||
|
<Key frame="198" value="30" />
|
||||||
|
<Key frame="211" value="5.75265e-06" />
|
||||||
|
<Key frame="217" value="-31.8" />
|
||||||
|
<Key frame="222" value="-37.5" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="5.00876" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LAnkleRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="3" />
|
||||||
|
<Key frame="25" value="7" />
|
||||||
|
<Key frame="35" value="9.83048" />
|
||||||
|
<Key frame="45" value="-6.94104" />
|
||||||
|
<Key frame="55" value="-6" />
|
||||||
|
<Key frame="65" value="10" />
|
||||||
|
<Key frame="75" value="-15" />
|
||||||
|
<Key frame="85" value="3.6" />
|
||||||
|
<Key frame="95" value="4.2" />
|
||||||
|
<Key frame="105" value="0.5" />
|
||||||
|
<Key frame="118" value="1.8" />
|
||||||
|
<Key frame="131" value="0.5" />
|
||||||
|
<Key frame="142" value="6.97225" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-13.8" />
|
||||||
|
<Key frame="167" value="-31.9" />
|
||||||
|
<Key frame="172" value="-24.3" />
|
||||||
|
<Key frame="185" value="-20" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="-20" />
|
||||||
|
<Key frame="222" value="-17.9" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-6.34798" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHipRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="3" />
|
||||||
|
<Key frame="25" value="-7" />
|
||||||
|
<Key frame="35" value="-24.8982" />
|
||||||
|
<Key frame="45" value="-6.04821" />
|
||||||
|
<Key frame="55" value="-6" />
|
||||||
|
<Key frame="65" value="-20" />
|
||||||
|
<Key frame="75" value="-45" />
|
||||||
|
<Key frame="85" value="-31" />
|
||||||
|
<Key frame="95" value="-12.7" />
|
||||||
|
<Key frame="105" value="-25.6" />
|
||||||
|
<Key frame="118" value="-40" />
|
||||||
|
<Key frame="131" value="-25.6" />
|
||||||
|
<Key frame="142" value="15.2077" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-20" />
|
||||||
|
<Key frame="172" value="-30.9" />
|
||||||
|
<Key frame="185" value="-29.3" />
|
||||||
|
<Key frame="198" value="-34.2" />
|
||||||
|
<Key frame="211" value="-35" />
|
||||||
|
<Key frame="222" value="-30.5" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-6.82407" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHipPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.134711" />
|
||||||
|
<Key frame="45" value="0.21464" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-10" />
|
||||||
|
<Key frame="85" value="-6" />
|
||||||
|
<Key frame="95" value="-7" />
|
||||||
|
<Key frame="105" value="-50" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="-50" />
|
||||||
|
<Key frame="142" value="-45.3545" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-60" />
|
||||||
|
<Key frame="172" value="-60" />
|
||||||
|
<Key frame="185" value="-60" />
|
||||||
|
<Key frame="198" value="-60" />
|
||||||
|
<Key frame="211" value="-60" />
|
||||||
|
<Key frame="222" value="-60" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="7.30058" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RKneePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.178188" />
|
||||||
|
<Key frame="45" value="-0.410883" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="80" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="7" />
|
||||||
|
<Key frame="95" value="7" />
|
||||||
|
<Key frame="105" value="100" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="100" />
|
||||||
|
<Key frame="142" value="90.0035" />
|
||||||
|
<Key frame="152" value="100" />
|
||||||
|
<Key frame="162" value="120" />
|
||||||
|
<Key frame="172" value="120" />
|
||||||
|
<Key frame="185" value="120" />
|
||||||
|
<Key frame="198" value="120" />
|
||||||
|
<Key frame="211" value="120" />
|
||||||
|
<Key frame="222" value="120" />
|
||||||
|
<Key frame="231" value="120" />
|
||||||
|
<Key frame="250" value="-5.26102" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RAnklePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="5.75266e-06" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.266079" />
|
||||||
|
<Key frame="45" value="-0.349163" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-10" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="5.75266e-06" />
|
||||||
|
<Key frame="118" value="30" />
|
||||||
|
<Key frame="131" value="5.75266e-06" />
|
||||||
|
<Key frame="142" value="-45.8771" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-60" />
|
||||||
|
<Key frame="172" value="-60" />
|
||||||
|
<Key frame="185" value="-60" />
|
||||||
|
<Key frame="198" value="-60" />
|
||||||
|
<Key frame="211" value="-60" />
|
||||||
|
<Key frame="222" value="-60" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="5.00876" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RAnkleRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-3" />
|
||||||
|
<Key frame="25" value="7.5" />
|
||||||
|
<Key frame="35" value="22.6325" />
|
||||||
|
<Key frame="45" value="6.68218" />
|
||||||
|
<Key frame="55" value="6" />
|
||||||
|
<Key frame="65" value="16.9" />
|
||||||
|
<Key frame="75" value="35.6" />
|
||||||
|
<Key frame="85" value="45" />
|
||||||
|
<Key frame="95" value="42.6" />
|
||||||
|
<Key frame="105" value="25" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="25" />
|
||||||
|
<Key frame="142" value="9.83317" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-10" />
|
||||||
|
<Key frame="172" value="-2.41531" />
|
||||||
|
<Key frame="185" value="-3.18747" />
|
||||||
|
<Key frame="198" value="-0.718272" />
|
||||||
|
<Key frame="211" value="-0.558977" />
|
||||||
|
<Key frame="222" value="-1.55043" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="6.34774" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="RHipYawPitch (RHipYawPitch)" actuator="RHipYawPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-6.2" />
|
||||||
|
<Key frame="25" value="-6.9" />
|
||||||
|
<Key frame="35" value="-7.55628" />
|
||||||
|
<Key frame="45" value="-7.04938" />
|
||||||
|
<Key frame="55" value="-8.2" />
|
||||||
|
<Key frame="65" value="-9.6" />
|
||||||
|
<Key frame="142" value="0.178188" />
|
||||||
|
<Key frame="250" value="-9.74084" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
</ActuatorList>
|
||||||
|
</Timeline>
|
||||||
|
<Resource name="Standing" type="Lock" timeout="1" />
|
||||||
|
<Resource name="All motors" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="11" indexofinput="2" outputowner="0" indexofoutput="2" />
|
||||||
|
<Link inputowner="0" indexofinput="4" outputowner="11" indexofoutput="4" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
</Timeline>
|
||||||
|
</Box>
|
||||||
|
</ChoregrapheProject>
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!DOCTYPE TS>
|
||||||
|
<TS version="2.1" language="en_US"/>
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,433 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
"""
|
||||||
|
nao_video_server.py - RUNS ON THE ROBOT, under its own Python 2.7.
|
||||||
|
|
||||||
|
Opens a qi session to NAOqi over localhost (zero network hop - it's
|
||||||
|
the same box) and serves TWO persistent, length-framed TCP streams -
|
||||||
|
one for compressed video (JPEG), one for compressed audio (mu-law) -
|
||||||
|
each on its own port/connection. They used to share one connection,
|
||||||
|
but a single big video frame mid-send could block audio behind it for
|
||||||
|
its whole transfer time, which is a bad tradeoff for something as
|
||||||
|
latency-sensitive as audio. Splitting them means a slow video frame
|
||||||
|
can never delay audio.
|
||||||
|
|
||||||
|
The audio connection is bidirectional: this side keeps writing the
|
||||||
|
robot's own mic (TYPE_AUDIO) to the client, while a reader thread on
|
||||||
|
the same socket listens for TYPE_TALK chunks pushed the other way
|
||||||
|
(push-to-talk audio from the client's mic) and plays them on the
|
||||||
|
robot's speaker via TalkPlayer. Video stays one-way, server->client.
|
||||||
|
|
||||||
|
Why not HTTP: the phone tunnel only forwards specific TCP ports, so
|
||||||
|
this still rides over TCP - but a 5-byte binary header has none of
|
||||||
|
HTTP's chunked/multipart-boundary parsing overhead, and it's trivial
|
||||||
|
to keep alive and reconnect on a flaky link.
|
||||||
|
|
||||||
|
Why mic capture lives here now: it used to be shipped raw (16-bit PCM,
|
||||||
|
uncompressed) straight through NAOqi's own pub/sub over the qi RPC
|
||||||
|
session the client holds - i.e. across the tunnel, uncompressed, the
|
||||||
|
whole time. Subscribing to ALAudioDevice locally (same zero-hop trick
|
||||||
|
as the camera) means only mu-law-compressed bytes ever cross the
|
||||||
|
tunnel, half the size of raw PCM.
|
||||||
|
|
||||||
|
Wire format, identical on both connections (all integers big-endian,
|
||||||
|
via `struct`):
|
||||||
|
1 byte type 0x00 HELLO 0x01 VIDEO 0x02 AUDIO 0x03 TALK
|
||||||
|
4 bytes length
|
||||||
|
N bytes payload
|
||||||
|
HELLO payload: JSON, informational only
|
||||||
|
VIDEO payload: JPEG bytes (video connection, server->client only)
|
||||||
|
AUDIO payload: mu-law 8-bit samples, mono (audio connection, server->client - robot's mic)
|
||||||
|
TALK payload: mu-law 8-bit samples, mono (audio connection, client->server - push-to-talk)
|
||||||
|
|
||||||
|
Under load (slow/lossy tunnel), video quality and frame rate step
|
||||||
|
down automatically (see QUALITY_TIERS) and recover once sends are
|
||||||
|
fast again - and since encoding is throttled to match, this also cuts
|
||||||
|
CPU use on a congested link instead of just wasting it on frames that
|
||||||
|
would've been discarded anyway.
|
||||||
|
|
||||||
|
Needs the SDK's own env vars, since the bindings aren't on a login
|
||||||
|
shell's default path:
|
||||||
|
|
||||||
|
export PYTHONPATH=/opt/aldebaran/lib/python2.7/site-packages
|
||||||
|
export LD_LIBRARY_PATH=/opt/aldebaran/lib
|
||||||
|
python2 nao_video_server.py
|
||||||
|
|
||||||
|
Stdlib only (BaseHTTPServer/Flask are gone entirely now) plus qi,
|
||||||
|
cv2, and numpy, which are already confirmed present on the robot.
|
||||||
|
"""
|
||||||
|
import collections
|
||||||
|
import json
|
||||||
|
import socket
|
||||||
|
import struct
|
||||||
|
import subprocess
|
||||||
|
import threading
|
||||||
|
import time
|
||||||
|
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
import qi
|
||||||
|
|
||||||
|
# ---- tunables ----
|
||||||
|
NAOQI_PORT = 9561 # local qi session port (confirmed working)
|
||||||
|
VIDEO_PORT = 8000 # forward both of these through the phone tunnel
|
||||||
|
AUDIO_PORT = 8001 # kept on its own connection so a slow video
|
||||||
|
# frame can never block/delay audio delivery
|
||||||
|
CAMERA_RESOLUTION = 1 # 0=kQQVGA(160x120) 1=kQVGA(320x240) 2=kVGA(640x480)
|
||||||
|
CAMERA_COLORSPACE = 11 # kRGBColorSpace
|
||||||
|
CAMERA_FPS = 20
|
||||||
|
AUDIO_RATE = 16000
|
||||||
|
AUDIO_CHANNELS = 1
|
||||||
|
MIC_CHANNEL = 1 # 1=left 2=right 3=front 4=rear (ALAudioDevice channel index)
|
||||||
|
AUDIO_QUEUE_MAX = 60 # chunks buffered before we start dropping the oldest
|
||||||
|
|
||||||
|
# (jpeg_quality, min_seconds_between_frames) - best link first, worst last.
|
||||||
|
# The server steps down a tier when a video send is slow, and back up
|
||||||
|
# after a run of fast ones.
|
||||||
|
QUALITY_TIERS = [
|
||||||
|
(70, 0.05),
|
||||||
|
(55, 0.07),
|
||||||
|
(40, 0.10),
|
||||||
|
(25, 0.15),
|
||||||
|
]
|
||||||
|
SLOW_SEND_THRESHOLD = 0.20 # seconds - a send this slow means congestion
|
||||||
|
FAST_STREAK_TO_RECOVER = 30 # consecutive quick sends before stepping back up
|
||||||
|
|
||||||
|
TYPE_HELLO = 0x00
|
||||||
|
TYPE_VIDEO = 0x01
|
||||||
|
TYPE_AUDIO = 0x02
|
||||||
|
TYPE_TALK = 0x03
|
||||||
|
|
||||||
|
|
||||||
|
def encode_ulaw(pcm16):
|
||||||
|
"""int16 numpy array -> uint8 numpy array, mu-law companded.
|
||||||
|
Must match decode_ulaw() in naowalk.py exactly, or the far end
|
||||||
|
just hears noise - keep the two in sync if you touch this."""
|
||||||
|
mu = 255.0
|
||||||
|
x = np.clip(pcm16.astype(np.float64) / 32768.0, -1.0, 1.0)
|
||||||
|
y = np.sign(x) * np.log1p(mu * np.abs(x)) / np.log1p(mu)
|
||||||
|
return (((y + 1.0) / 2.0) * 255.0).round().astype(np.uint8)
|
||||||
|
|
||||||
|
|
||||||
|
def decode_ulaw(q):
|
||||||
|
"""uint8 mu-law samples -> int16 PCM. Inverse of encode_ulaw()
|
||||||
|
above, used to play back incoming push-to-talk (TYPE_TALK) chunks.
|
||||||
|
Must match naowalk.py's encode_ulaw() exactly, or push-to-talk
|
||||||
|
just produces noise on the robot's speaker."""
|
||||||
|
mu = 255.0
|
||||||
|
y = (q.astype(np.float64) / 255.0) * 2.0 - 1.0
|
||||||
|
x = np.sign(y) * (1.0 / mu) * (np.power(1.0 + mu, np.abs(y)) - 1.0)
|
||||||
|
return np.clip(x * 32768.0, -32768, 32767).astype(np.int16)
|
||||||
|
|
||||||
|
|
||||||
|
class FrameGrabber(object):
|
||||||
|
"""Background thread: keeps the single most recent JPEG-encoded
|
||||||
|
frame available, at whatever quality tier the link currently
|
||||||
|
supports. A stalled capture never blocks a client's read."""
|
||||||
|
|
||||||
|
def __init__(self, session):
|
||||||
|
self.video = session.service("ALVideoDevice")
|
||||||
|
self.client = self.video.subscribeCamera(
|
||||||
|
"MediaServer", 0, CAMERA_RESOLUTION, CAMERA_COLORSPACE, CAMERA_FPS)
|
||||||
|
self._lock = threading.Lock()
|
||||||
|
self._jpeg = None
|
||||||
|
self._tier = 0
|
||||||
|
self._fast_streak = 0
|
||||||
|
self._stop = threading.Event()
|
||||||
|
self._thread = threading.Thread(target=self._loop)
|
||||||
|
self._thread.daemon = True
|
||||||
|
self._thread.start()
|
||||||
|
|
||||||
|
def _loop(self):
|
||||||
|
last_encode = 0.0
|
||||||
|
while not self._stop.is_set():
|
||||||
|
try:
|
||||||
|
image = self.video.getImageRemote(self.client)
|
||||||
|
if not image or len(image) < 7:
|
||||||
|
continue
|
||||||
|
# getImageRemote() blocks until the next camera frame is
|
||||||
|
# ready (~1/CAMERA_FPS), so this loop is already paced -
|
||||||
|
# but under a congested tier we send far less often than
|
||||||
|
# that, so skip the (expensive) convert+encode work for
|
||||||
|
# frames we're just going to overwrite unsent anyway.
|
||||||
|
quality, min_interval = self.quality_and_interval()
|
||||||
|
now = time.time()
|
||||||
|
if now - last_encode < min_interval:
|
||||||
|
continue
|
||||||
|
w, h = image[0], image[1]
|
||||||
|
arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3))
|
||||||
|
bgr = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
|
||||||
|
ok, buf = cv2.imencode(".jpg", bgr, [cv2.IMWRITE_JPEG_QUALITY, quality])
|
||||||
|
if ok:
|
||||||
|
with self._lock:
|
||||||
|
self._jpeg = buf.tobytes()
|
||||||
|
last_encode = now
|
||||||
|
except Exception as e:
|
||||||
|
print("frame grab error: %s" % e)
|
||||||
|
time.sleep(0.2)
|
||||||
|
|
||||||
|
def quality_and_interval(self):
|
||||||
|
with self._lock:
|
||||||
|
return QUALITY_TIERS[self._tier]
|
||||||
|
|
||||||
|
def report_send_time(self, elapsed):
|
||||||
|
"""Called by the writer thread after each video send so we can
|
||||||
|
adapt to how the link is actually behaving right now."""
|
||||||
|
with self._lock:
|
||||||
|
if elapsed > SLOW_SEND_THRESHOLD:
|
||||||
|
self._fast_streak = 0
|
||||||
|
if self._tier < len(QUALITY_TIERS) - 1:
|
||||||
|
self._tier += 1
|
||||||
|
print("link looks congested - dropping to quality tier %d" % self._tier)
|
||||||
|
else:
|
||||||
|
self._fast_streak += 1
|
||||||
|
if self._fast_streak >= FAST_STREAK_TO_RECOVER and self._tier > 0:
|
||||||
|
self._tier -= 1
|
||||||
|
self._fast_streak = 0
|
||||||
|
print("link recovered - raising to quality tier %d" % self._tier)
|
||||||
|
|
||||||
|
def latest(self):
|
||||||
|
with self._lock:
|
||||||
|
return self._jpeg
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
self._stop.set()
|
||||||
|
try:
|
||||||
|
self.video.unsubscribe(self.client)
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
class MicGrabber(object):
|
||||||
|
"""Subscribes to the robot's own mic locally (zero-hop, same trick
|
||||||
|
as FrameGrabber) and mu-law-encodes each chunk as it arrives. This
|
||||||
|
replaces the old design where raw PCM was pushed to the client
|
||||||
|
directly through NAOqi's pub/sub over the (tunneled) qi session."""
|
||||||
|
|
||||||
|
def __init__(self, session, channel=MIC_CHANNEL):
|
||||||
|
self.audio = session.service("ALAudioDevice")
|
||||||
|
self._svc_name = "MicRelay"
|
||||||
|
self._lock = threading.Lock()
|
||||||
|
self._chunks = collections.deque(maxlen=AUDIO_QUEUE_MAX)
|
||||||
|
session.registerService(self._svc_name, self)
|
||||||
|
time.sleep(0.5) # let NAOqi's service directory propagate the
|
||||||
|
# registration before ALAudioDevice looks it up
|
||||||
|
# by name, or subscribe() fails to find it
|
||||||
|
self.audio.setClientPreferences(self._svc_name, AUDIO_RATE, channel, 0)
|
||||||
|
self.audio.subscribe(self._svc_name)
|
||||||
|
|
||||||
|
def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, buffer):
|
||||||
|
try:
|
||||||
|
pcm = np.frombuffer(bytes(buffer), dtype=np.int16)
|
||||||
|
chunk = encode_ulaw(pcm).tobytes()
|
||||||
|
with self._lock:
|
||||||
|
self._chunks.append(chunk)
|
||||||
|
except Exception as e:
|
||||||
|
print("mic encode error: %s" % e)
|
||||||
|
|
||||||
|
def pop_all(self):
|
||||||
|
"""Drain everything queued right now, oldest first."""
|
||||||
|
with self._lock:
|
||||||
|
out = list(self._chunks)
|
||||||
|
self._chunks.clear()
|
||||||
|
return out
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
try:
|
||||||
|
self.audio.unsubscribe(self._svc_name)
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
class TalkPlayer(object):
|
||||||
|
"""Decodes incoming TYPE_TALK chunks (push-to-talk audio pushed
|
||||||
|
from the client) and plays them on the robot's speaker.
|
||||||
|
|
||||||
|
Uses a persistent `aplay` subprocess fed raw PCM over its stdin -
|
||||||
|
the same playback mechanism the old SSH `nc -l | aplay` relay
|
||||||
|
used, just sourced from decoded network chunks instead of a raw
|
||||||
|
pipe. The process is kept open across calls (silence between
|
||||||
|
presses is fine); it's only recreated if it exited or hasn't
|
||||||
|
been started yet."""
|
||||||
|
|
||||||
|
def __init__(self, rate=AUDIO_RATE):
|
||||||
|
self.rate = rate
|
||||||
|
self._proc = None
|
||||||
|
self._lock = threading.Lock()
|
||||||
|
|
||||||
|
def _ensure_proc(self):
|
||||||
|
if self._proc is None or self._proc.poll() is not None:
|
||||||
|
self._proc = subprocess.Popen(
|
||||||
|
["aplay", "-q", "-t", "raw", "-f", "S16_LE",
|
||||||
|
"-c", str(AUDIO_CHANNELS), "-r", str(self.rate)],
|
||||||
|
stdin=subprocess.PIPE)
|
||||||
|
|
||||||
|
def play(self, ulaw_payload):
|
||||||
|
pcm = decode_ulaw(np.frombuffer(ulaw_payload, dtype=np.uint8))
|
||||||
|
with self._lock:
|
||||||
|
try:
|
||||||
|
self._ensure_proc()
|
||||||
|
self._proc.stdin.write(pcm.tobytes())
|
||||||
|
self._proc.stdin.flush()
|
||||||
|
except Exception as e:
|
||||||
|
print("talk playback error: %s" % e)
|
||||||
|
self._proc = None
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
with self._lock:
|
||||||
|
if self._proc is not None:
|
||||||
|
try:
|
||||||
|
self._proc.stdin.close()
|
||||||
|
self._proc.terminate()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
self._proc = None
|
||||||
|
|
||||||
|
|
||||||
|
def _recv_exact(sock, n):
|
||||||
|
"""Read exactly n bytes from a TCP socket (recv() can return short
|
||||||
|
reads/chunks at any point - never assume one call gives you n).
|
||||||
|
Mirror of naowalk.py's _recv_exact()."""
|
||||||
|
buf = b""
|
||||||
|
while len(buf) < n:
|
||||||
|
chunk = sock.recv(n - len(buf))
|
||||||
|
if not chunk:
|
||||||
|
raise IOError("media relay connection closed")
|
||||||
|
buf += chunk
|
||||||
|
return buf
|
||||||
|
|
||||||
|
|
||||||
|
def _send(conn, msg_type, payload):
|
||||||
|
conn.sendall(struct.pack(">BI", msg_type, len(payload)))
|
||||||
|
conn.sendall(payload)
|
||||||
|
|
||||||
|
|
||||||
|
def serve_video(grabber, host, port):
|
||||||
|
"""Video gets its own connection/thread - a slow sendall() here
|
||||||
|
(a big JPEG frame over a bad link) must never be able to delay
|
||||||
|
audio, which used to share this same socket and paid for it in
|
||||||
|
latency."""
|
||||||
|
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||||
|
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||||
|
sock.bind((host, port))
|
||||||
|
sock.listen(1)
|
||||||
|
print("video server listening on :%d" % port)
|
||||||
|
while True:
|
||||||
|
conn, addr = sock.accept()
|
||||||
|
conn.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
|
||||||
|
conn.settimeout(5.0)
|
||||||
|
print("video client connected: %s" % (addr,))
|
||||||
|
last_jpeg = None
|
||||||
|
last_send = 0.0
|
||||||
|
try:
|
||||||
|
_send(conn, TYPE_HELLO, json.dumps({"stream": "video"}).encode("utf-8"))
|
||||||
|
while True:
|
||||||
|
jpeg = grabber.latest()
|
||||||
|
_, min_interval = grabber.quality_and_interval()
|
||||||
|
now = time.time()
|
||||||
|
if jpeg is not None and jpeg is not last_jpeg and now - last_send >= min_interval:
|
||||||
|
t0 = time.time()
|
||||||
|
_send(conn, TYPE_VIDEO, jpeg)
|
||||||
|
grabber.report_send_time(time.time() - t0)
|
||||||
|
last_jpeg = jpeg
|
||||||
|
last_send = now
|
||||||
|
else:
|
||||||
|
time.sleep(0.01)
|
||||||
|
except Exception as e:
|
||||||
|
print("video client disconnected (%s)" % e)
|
||||||
|
finally:
|
||||||
|
try:
|
||||||
|
conn.close()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
def _talk_reader(conn, player):
|
||||||
|
"""Runs alongside the audio writer loop on the same connection -
|
||||||
|
the audio socket is bidirectional now, so this thread's the read
|
||||||
|
half: it pulls TYPE_TALK frames pushed from the client (push-to-
|
||||||
|
talk) and hands each decoded chunk to TalkPlayer. conn has a
|
||||||
|
socket timeout set by the caller, so a quiet stretch between
|
||||||
|
button presses just means occasional socket.timeout - not a
|
||||||
|
disconnect - and the loop keeps going."""
|
||||||
|
try:
|
||||||
|
while True:
|
||||||
|
try:
|
||||||
|
header = _recv_exact(conn, 5)
|
||||||
|
except socket.timeout:
|
||||||
|
continue
|
||||||
|
msg_type, length = struct.unpack(">BI", header)
|
||||||
|
payload = _recv_exact(conn, length)
|
||||||
|
if msg_type == TYPE_TALK:
|
||||||
|
player.play(payload)
|
||||||
|
except Exception as e:
|
||||||
|
print("talk reader stopped (%s)" % e)
|
||||||
|
|
||||||
|
|
||||||
|
def serve_audio(mic, player, host, port):
|
||||||
|
"""Audio's own connection/thread. Checked eagerly (short sleep,
|
||||||
|
not paced like video) since gaps are far more noticeable than a
|
||||||
|
video frame being a beat stale."""
|
||||||
|
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||||
|
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||||
|
sock.bind((host, port))
|
||||||
|
sock.listen(1)
|
||||||
|
print("audio server listening on :%d" % port)
|
||||||
|
while True:
|
||||||
|
conn, addr = sock.accept()
|
||||||
|
conn.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
|
||||||
|
conn.settimeout(5.0)
|
||||||
|
print("audio client connected: %s" % (addr,))
|
||||||
|
reader_thread = threading.Thread(target=_talk_reader, args=(conn, player))
|
||||||
|
reader_thread.daemon = True
|
||||||
|
reader_thread.start()
|
||||||
|
try:
|
||||||
|
_send(conn, TYPE_HELLO,
|
||||||
|
json.dumps({"rate": AUDIO_RATE, "channels": AUDIO_CHANNELS}).encode("utf-8"))
|
||||||
|
while True:
|
||||||
|
chunks = mic.pop_all() if mic is not None else []
|
||||||
|
if chunks:
|
||||||
|
for chunk in chunks:
|
||||||
|
_send(conn, TYPE_AUDIO, chunk)
|
||||||
|
else:
|
||||||
|
time.sleep(0.005)
|
||||||
|
except Exception as e:
|
||||||
|
print("audio client disconnected (%s)" % e)
|
||||||
|
finally:
|
||||||
|
try:
|
||||||
|
conn.close()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
session = qi.Session()
|
||||||
|
session.connect("tcp://127.0.0.1:%d" % NAOQI_PORT)
|
||||||
|
print("connected to local NAOqi on port %d" % NAOQI_PORT)
|
||||||
|
|
||||||
|
grabber = FrameGrabber(session)
|
||||||
|
mic = None
|
||||||
|
try:
|
||||||
|
mic = MicGrabber(session)
|
||||||
|
print("mic capture ready (mu-law, %dHz)" % AUDIO_RATE)
|
||||||
|
except Exception as e:
|
||||||
|
print("mic capture unavailable (%s) - video only" % e)
|
||||||
|
|
||||||
|
video_thread = threading.Thread(target=serve_video, args=(grabber, "0.0.0.0", VIDEO_PORT))
|
||||||
|
video_thread.daemon = True
|
||||||
|
video_thread.start()
|
||||||
|
|
||||||
|
player = TalkPlayer()
|
||||||
|
|
||||||
|
try:
|
||||||
|
serve_audio(mic, player, "0.0.0.0", AUDIO_PORT)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
pass
|
||||||
|
finally:
|
||||||
|
grabber.close()
|
||||||
|
if mic:
|
||||||
|
mic.close()
|
||||||
|
player.close()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
-101
@@ -1,101 +0,0 @@
|
|||||||
#!/usr/bin/env python
|
|
||||||
# -*- encoding: UTF-8 -*-
|
|
||||||
"""
|
|
||||||
Standalone NAO audio diagnostic - deliberately bypasses naowalk.py entirely.
|
|
||||||
|
|
||||||
Run this FIRST when troubleshooting "I can't hear the robot's mic". It tests
|
|
||||||
each link in the chain independently, so a failure tells you exactly where
|
|
||||||
the problem is instead of "somewhere in 300 lines of PyAudio/threading code":
|
|
||||||
|
|
||||||
TEST 1 - Front mic hardware energy.
|
|
||||||
Uses ALAudioDevice's built-in energy meter. No PyAudio, no
|
|
||||||
network audio streaming, no laptop audio stack involved at all.
|
|
||||||
This is the lowest-level check of "does the mic itself work".
|
|
||||||
|
|
||||||
TEST 2 - Local on-robot recording.
|
|
||||||
Records straight to a .wav file on the robot's own disk, then
|
|
||||||
you pull it off and play it normally. This bypasses the live
|
|
||||||
network stream, the SoundReceiver/queue/threading code, and
|
|
||||||
your laptop's PyAudio output path - all at once.
|
|
||||||
|
|
||||||
TEST 3 - Robot's own speaker.
|
|
||||||
Plays a tone through the ROBOT's speaker (not your laptop), to
|
|
||||||
confirm robot-side audio output is fine, independent of any of
|
|
||||||
the mic-listening code.
|
|
||||||
|
|
||||||
If TEST 1 shows no energy change when you make noise: mic hardware/mute/
|
|
||||||
environment issue, upstream of any code in this project.
|
|
||||||
If TEST 1 works but TEST 2's file is silent: something is wrong with the
|
|
||||||
recording/robot-audio-stack itself, still nothing to do with naowalk.py.
|
|
||||||
If TEST 2's file has clear audio: the mic and robot are fine, and the bug
|
|
||||||
is specifically in naowalk.py's live-streaming path (network delivery,
|
|
||||||
PyAudio device selection, etc.) - go back to the diagnostics already
|
|
||||||
built into naowalk.py (device list / test beep / peak level) to isolate it
|
|
||||||
further.
|
|
||||||
|
|
||||||
Usage:
|
|
||||||
python3 nao_audio_diagnostic.py --ip spike.local --port 9559
|
|
||||||
"""
|
|
||||||
|
|
||||||
import qi
|
|
||||||
import argparse
|
|
||||||
import time
|
|
||||||
|
|
||||||
parser = argparse.ArgumentParser()
|
|
||||||
parser.add_argument("--ip", type=str, default="127.0.0.1")
|
|
||||||
parser.add_argument("--port", type=int, default=9559)
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
session = qi.Session()
|
|
||||||
session.connect(f"tcp://{args.ip}:{args.port}")
|
|
||||||
print(f"✅ Connected to {args.ip}")
|
|
||||||
audio = session.service("ALAudioDevice")
|
|
||||||
|
|
||||||
# --- TEST 1: mic hardware energy, all four channels ------------------------
|
|
||||||
print("\n=== TEST 1: Mic hardware energy (all 4 mics) ===")
|
|
||||||
print("Make noise near the robot's head (clap, talk right up close to it) for 10s...")
|
|
||||||
audio.enableEnergyComputation()
|
|
||||||
front_readings, rear_readings, left_readings, right_readings = [], [], [], []
|
|
||||||
for i in range(10):
|
|
||||||
f, r, l, rt = (audio.getFrontMicEnergy(), audio.getRearMicEnergy(),
|
|
||||||
audio.getLeftMicEnergy(), audio.getRightMicEnergy())
|
|
||||||
front_readings.append(f); rear_readings.append(r); left_readings.append(l); right_readings.append(rt)
|
|
||||||
print(f" t={i}s front={f:.2f} rear={r:.2f} left={l:.2f} right={rt:.2f}")
|
|
||||||
time.sleep(1)
|
|
||||||
audio.disableEnergyComputation()
|
|
||||||
|
|
||||||
results = {"front": front_readings, "rear": rear_readings, "left": left_readings, "right": right_readings}
|
|
||||||
flat = [name for name, vals in results.items() if max(vals) - min(vals) < 2]
|
|
||||||
if len(flat) == 4:
|
|
||||||
print("⚠️ ALL FOUR mics are flat. This points to something systemic - e.g. audio "
|
|
||||||
"inputs closed (closeAudioInputs() called somewhere and never reopened), "
|
|
||||||
"or a low-level hardware/driver fault - rather than one damaged mic.")
|
|
||||||
elif flat:
|
|
||||||
print(f"⚠️ Flat mic(s): {', '.join(flat)}. The others responded normally, which "
|
|
||||||
f"points to a fault specific to {', '.join(flat)} rather than the audio "
|
|
||||||
f"pipeline as a whole (that pipeline is clearly working for the others).")
|
|
||||||
else:
|
|
||||||
print("✅ All four mics responded to noise - hardware capture is fine across the board.")
|
|
||||||
|
|
||||||
# --- TEST 2: local on-robot recording ---------------------------------------
|
|
||||||
print("\n=== TEST 2: Local on-robot recording ===")
|
|
||||||
remote_path = "/home/nao/mic_test.wav"
|
|
||||||
print(f"Recording 5s directly to {remote_path} on the robot itself "
|
|
||||||
f"(this bypasses the network stream and your laptop's audio stack entirely)...")
|
|
||||||
audio.startMicrophonesRecording(remote_path)
|
|
||||||
time.sleep(5)
|
|
||||||
audio.stopMicrophonesRecording()
|
|
||||||
print(f"Done. Pull it off and play it with:")
|
|
||||||
print(f" scp nao@{args.ip}:{remote_path} .")
|
|
||||||
print(f" (then open mic_test.wav in any media player - it's 4-channel, so check all channels)")
|
|
||||||
print("If that file has clearly audible sound, the mic and robot are fine and the")
|
|
||||||
print("bug is specifically in naowalk.py's live-streaming path.")
|
|
||||||
|
|
||||||
# --- TEST 3: robot's own speaker, via TTS (version-agnostic) ---------------
|
|
||||||
print("\n=== TEST 3: Robot's own speaker ===")
|
|
||||||
input("Press Enter to have the robot say a test phrase out loud...")
|
|
||||||
session.service("ALTextToSpeech").say("Testing 1 2 3, can you hear me.")
|
|
||||||
print("If you heard the robot speak just now, its speaker output is fine "
|
|
||||||
"(this is unrelated to hearing its mic on your laptop, but rules out a robot-wide audio fault).")
|
|
||||||
|
|
||||||
print("\nDone. Report back which test(s) failed and we'll know exactly where to look.")
|
|
||||||
+6
-3
@@ -9,15 +9,17 @@ import time
|
|||||||
import threading
|
import threading
|
||||||
|
|
||||||
class NaoMusicPlayer:
|
class NaoMusicPlayer:
|
||||||
def __init__(self, session, nao_ip):
|
def __init__(self, session, nao_ip, ssh_port=22):
|
||||||
self.session = session
|
self.session = session
|
||||||
self.player = session.service("ALAudioPlayer")
|
self.player = session.service("ALAudioPlayer")
|
||||||
self.nao_ip = nao_ip
|
self.nao_ip = nao_ip
|
||||||
|
self.ssh_port = ssh_port
|
||||||
self.music_dir = "/home/nao/music"
|
self.music_dir = "/home/nao/music"
|
||||||
self.local_path = "/tmp/song.mp3"
|
self.local_path = "/tmp/song.mp3"
|
||||||
self.remote_path = f"{self.music_dir}/song.mp3"
|
self.remote_path = f"{self.music_dir}/song.mp3"
|
||||||
try:
|
try:
|
||||||
subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
|
subprocess.run(["sshpass", "-p", "nao", "ssh", "-p", str(self.ssh_port),
|
||||||
|
f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
|
||||||
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
||||||
except: pass
|
except: pass
|
||||||
self.current_file = None
|
self.current_file = None
|
||||||
@@ -110,7 +112,8 @@ class NaoMusicPlayer:
|
|||||||
t = threading.Thread(target=ticker, daemon=True)
|
t = threading.Thread(target=ticker, daemon=True)
|
||||||
t.start()
|
t.start()
|
||||||
scp_result = subprocess.run(
|
scp_result = subprocess.run(
|
||||||
["sshpass", "-p", "nao", "scp", self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
|
["sshpass", "-p", "nao", "scp", "-P", str(self.ssh_port),
|
||||||
|
self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
|
||||||
capture_output=True, text=True, timeout=60
|
capture_output=True, text=True, timeout=60
|
||||||
)
|
)
|
||||||
stop_ticker.set()
|
stop_ticker.set()
|
||||||
|
|||||||
+737
-285
File diff suppressed because it is too large
Load Diff
Executable
+2
@@ -0,0 +1,2 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
nmcli c up naorobotwifi\ \(WAP\) && nmcli c up BC-VR\ \(USBWIFI\)
|
||||||
Submodule
+1
Submodule other-repos/nao-dances added at 5cae0354f5
@@ -1,3 +1,5 @@
|
|||||||
#!/bin/bash
|
#!/bin/bash
|
||||||
pactl set-source-volume alsa_input.pci-0000_00_1b.0.analog-stereo 32%
|
pactl set-source-volume alsa_input.pci-0000_00_1b.0.analog-stereo 32%
|
||||||
python3.11 naowalk.py --ip spike.local --port 9561 --mic-gain 9 --video-scale 3.0
|
#python3.11 naowalk.py --ip spike.local --port 9561 --mic-gain 9 --video-scale 3.0
|
||||||
|
#python3.11 naowalk.py --ip 127.0.0.1 --port 9561 --mic-gain 9 --video-scale 3.0 --nao-ssh-port 2222 --media-relay 127.0.0.1:8000
|
||||||
|
python3.11 naowalk.py --ip spike.local --port 9561 --mic-gain 9 --video-scale 3.0 --nao-ssh-port 22 --media-relay spike.local:8000
|
||||||
|
|||||||
Executable
+1
@@ -0,0 +1 @@
|
|||||||
|
ssh -N -L 9561:192.168.0.100:9561 -L 2222:192.168.0.100:22 -L 8000:192.168.0.100:8000 root@10.196.124.46
|
||||||
Reference in New Issue
Block a user