#!/usr/bin/env python # -*- encoding: UTF-8 -*- import qi import argparse import sys import time import threading import queue import cv2 import numpy as np import pygame import subprocess import os import json import re # Import the new music module from naomusic import NaoMusicPlayer # --- Audio for mic --- try: import pyaudio HAS_AUDIO = True except ImportError: HAS_AUDIO = False # ========================================== # NAO MIC STREAM # ========================================== class SoundReceiver: PREBUFFER_CHUNKS = 3 SILENCE_CHUNK = b"\x00" * 4096 def __init__(self, output_device_index=None, mic_gain=8.0): self.running = True self.underrun_count = 0 self.chunks_received = 0 self._write_errors = 0 self._peak_since_print = 0 self._last_status_print = 0 self.mic_gain = float(mic_gain) if HAS_AUDIO: self.p = pyaudio.PyAudio() print("šŸ”ˆ Available output devices:") for i in range(self.p.get_device_count()): info = self.p.get_device_info_by_index(i) if info.get("maxOutputChannels", 0) > 0: print(f" [{i}] {info['name']}") try: chosen = (self.p.get_device_info_by_index(output_device_index) if output_device_index is not None else self.p.get_default_output_device_info()) print(f"šŸ”ˆ Using: [{chosen['index']}] {chosen['name']}") except: pass self.stream = self.p.open(format=pyaudio.paInt16, channels=1, rate=16000, output=True, output_device_index=output_device_index, frames_per_buffer=2048) self._play_test_tone() self.queue = queue.Queue(maxsize=40) self.playback_thread = threading.Thread(target=self._playback_loop, daemon=True) self.playback_thread.start() def _play_test_tone(self): try: duration, freq, rate = 0.3, 440.0, 16000 t = np.linspace(0, duration, int(rate * duration), False) tone = (np.sin(freq * t * 2 * np.pi) * 12000).astype(np.int16) self.stream.write(tone.tobytes()) except: pass def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, buffer): if not HAS_AUDIO: return self.chunks_received += 1 try: self.queue.put_nowait(bytes(buffer)) except queue.Full: try: self.queue.get_nowait() self.queue.put_nowait(bytes(buffer)) except: pass def _playback_loop(self): primed = [] while self.running and len(primed) < self.PREBUFFER_CHUNKS: try: primed.append(self.queue.get(timeout=1.0)) except queue.Empty: break for chunk in primed: self._write_chunk(chunk) while self.running: try: chunk = self.queue.get(timeout=0.2) self._write_chunk(chunk) except queue.Empty: self.underrun_count += 1 try: self.stream.write(self.SILENCE_CHUNK) except: pass now = time.time() if now - self._last_status_print > 10: self._last_status_print = now print(f"šŸŽ¤ mic: {self.chunks_received} chunks, {self.underrun_count} underruns, peak {self._peak_since_print}") self._peak_since_print = 0 def _write_chunk(self, raw_bytes): try: samples = np.frombuffer(raw_bytes, dtype=np.int16).astype(np.float32) if samples.size: amplified = np.clip(samples * self.mic_gain, -32768, 32767) peak = int(np.abs(amplified).max()) if peak > self._peak_since_print: self._peak_since_print = peak self.stream.write(amplified.astype(np.int16).tobytes()) else: self.stream.write(raw_bytes) except: pass def close(self): self.running = False if HAS_AUDIO: try: self.playback_thread.join(timeout=1.0) except: pass try: self.stream.stop_stream() self.stream.close() self.p.terminate() except: pass # ========================================== # MAIN TELEOP # ========================================== class NaoTeleop: def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0): self.session = session self.nao_ip = nao_ip self.motion = session.service("ALMotion") self.posture = session.service("ALRobotPosture") self.tts = session.service("ALTextToSpeech") try: self.battery = session.service("ALBattery") except: self.battery = None self.music = NaoMusicPlayer(session, nao_ip) self.music_results = [] self.selected_result = 0 self.audio_device = None self.audio_service_name = "SoundReceiver" self.audio_device_index = audio_device_index self.mic_channel = mic_channel self.mic_gain = mic_gain self.running = True self.head_yaw = 0.0 self.head_pitch = 0.0 self.battery_level = 100 self.last_batt_check = 0 self.volume = 50 self.walk_speed = 0.6 self.typing_mode = False self.chat_message = "" self.music_search_mode = False self.music_search_text = "" self.music_search_pending = False self.video_scale = video_scale self.display_width = int(320 * video_scale) self.display_height = int(240 * video_scale) self._init_audio_device() self._init_video_maxfps() if HAS_AUDIO: self._init_mic_stream() pygame.init() self.screen = pygame.display.set_mode((self.display_width, self.display_height)) pygame.display.set_caption("NAO Teleop + Music on Robot") self.font = pygame.font.SysFont(None, 24) self.clock = pygame.time.Clock() self.update_title() def _safe(self, label, fn): try: return fn() except Exception as e: print(f"{label} error: {e}") return None def _init_audio_device(self): try: self.audio_device = self.session.service("ALAudioDevice") self.volume = self.audio_device.getOutputVolume() print(f"šŸ”Š NAO speaker volume: {self.volume}%") except Exception as e: print(f"āš ļø ALAudioDevice error: {e}") self.audio_device = None def _init_video_maxfps(self): try: self.video = self.session.service("ALVideoDevice") self.video_client = self.video.subscribeCamera("TeleopCam", 0, 0, 11, 25) print("āœ… Camera ready") except: print("āŒ Camera not available") self.video_client = None def _init_mic_stream(self): if not self.audio_device: return try: self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain) self.session.registerService(self.audio_service_name, self.sound_receiver) time.sleep(0.5) self.audio_device.setClientPreferences(self.audio_service_name, 16000, self.mic_channel, 0) self.audio_device.subscribe(self.audio_service_name) print(f"āœ… Mic stream ready (gain={self.mic_gain}x)") except Exception as e: print(f"āŒ Mic init failed: {e}") def get_image(self): if not hasattr(self, 'video') or not self.video_client: return None try: image = self.video.getImageRemote(self.video_client) if image and len(image) >= 7: w, h = image[0], image[1] arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3)) frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR) return cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST) except: pass return None def wave_gesture(self): if self.typing_mode: return print("šŸ¤š Waving hello...") try: self.motion.setStiffnesses("RArm", 1.0) names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"] angles = [[-1.5]*5, [-0.4,-0.7,-0.4,-0.7,-0.4], [0.6,1.1,0.6,1.1,0.6], [0.8,0.3,0.8,0.3,0.8], [0.0,1.5,0.0,-1.5,0.0], [1.0]*5] times = [[0.5,1.0,1.5,2.0,2.5]] * 6 self.motion.angleInterpolation(names, angles, times, True) neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0] self.motion.angleInterpolationWithSpeed(names, neutral, 0.3) # Relaxed stiffness after completion self.motion.setStiffnesses("RArm", 0.3) except Exception as e: print(f"Wave error: {e}") def cena_gesture(self): if self.typing_mode: return print("šŸ‘‹ YOU CAN'T SEE ME!") try: self.tts.say("You can't see me") self.motion.setStiffnesses("RArm", 1.0) names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"] # Setup for tight, face-level sweep tight_setup = [-0.4, -0.2, 0.0, 1.2, 1.5, 1.0] self.motion.angleInterpolation(names, tight_setup, [0.5]*6, True) # The horizontal "backhand" sweep self.motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True) self.motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True) self.motion.angleInterpolation(["RElbowYaw"], [0.0], 0.4, True) # Return to neutral neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0] self.motion.angleInterpolationWithSpeed(names, neutral, 0.3) # Relaxed stiffness after completion self.motion.setStiffnesses("RArm", 0.3) except Exception as e: print(f"Cena gesture error: {e}") def six_seven_gesture(self): if self.typing_mode: return print("šŸ–ļø SIX... SEVEN...") try: self.tts.say("Six, seven") self.motion.setStiffnesses(["RArm", "LArm"], 1.0) # Lock both arms up in front of the body, hands held out like a scale. # ElbowYaw is rotated ~90Ā° off zero here - that's what points the elbow's # bend axis so flexing tips the forearm forward/down instead of curling # it in across the chest. These joints don't move again until the return. hold_names = [ "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand", "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand" ] hold_angles = [ 0.2, -0.2, 1.4, 1.57, 0.6, 0.2, 0.2, -1.4, -1.57, 0.6 ] self.motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25) # Only the elbows seesaw now - a small tip back and forth, one arm # rising while the other falls, like weighing something in each hand # ("six... seven..."). Small amplitude so it stays a wobble, not a fold. elbow_names = ["RElbowRoll", "LElbowRoll"] r_low, r_high = 0.6, 1.0 l_low, l_high = -0.6, -1.0 elbow_angles = [ [r_low, r_high, r_low, r_high, r_low, r_high], [l_high, l_low, l_high, l_low, l_high, l_low], ] times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2 self.motion.angleInterpolation(elbow_names, elbow_angles, times, True) # Return everything to neutral neutral_names = hold_names + elbow_names neutral = [1.5, -0.15, 1.2, 0.0, 0.0, 1.5, 0.15, -1.2, 0.0, 0.0, 0.5, -0.5] self.motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3) # Relaxed stiffness after completion self.motion.setStiffnesses(["RArm", "LArm"], 0.3) except Exception as e: print(f"Six seven gesture error: {e}") def handle_head_movement(self): if self.typing_mode or self.music_search_mode: return keys = pygame.key.get_pressed() speed = 0.3 changed = False if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + speed, 0.5); changed = True if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True if changed: self._safe("Head move", lambda: self.motion.setAngles( ["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)) def reset_head(self): self.head_yaw = 0.0 self.head_pitch = 0.0 self._safe("Head reset", lambda: self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4)) def update_title(self): mode = "[TYPING] " if self.typing_mode else "" pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}% | Speed: {self.walk_speed:.2f}") def change_volume(self, delta): self.volume = int(min(100, max(0, self.volume + delta))) if self.audio_device: self._safe("Volume set", lambda: self.audio_device.setOutputVolume(self.volume)) print(f"šŸ”Š NAO volume: {self.volume}%") self.update_title() def check_battery(self): if not self.battery: return now = time.time() if now - self.last_batt_check > 10: try: self.battery_level = self.battery.getBatteryCharge() except: pass self.update_title() self.last_batt_check = now def run(self): print("šŸ¤– Waking up...") self.motion.wakeUp() print("šŸš¶ Going to StandInit...") self.posture.goToPosture("StandInit", 0.5) # Enable walk arms BEFORE forcing stiffness print("šŸ’Ŗ Enabling walk arms...") self.motion.setMoveArmsEnabled(True, True) # Give robot time to initialize motors time.sleep(1.0) # Force relaxed stiffness AFTER engine is active self.motion.setStiffnesses(["RArm", "LArm"], 0.3) print("šŸ¦¶ Initializing walk engine...") self._safe("moveInit", self.motion.moveInit) print("šŸ¦¶ Walk engine ready") print("\nšŸŽ® Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | 3=6-7 | M=Music search | X=Stop | -/==Volume | T=TTS | ESC=Quit") try: while self.running: try: self.check_battery() for event in pygame.event.get(): if event.type == pygame.QUIT: self.running = False elif event.type == pygame.KEYDOWN: if self.music_search_mode: if event.key == pygame.K_RETURN: if self.music_results: entry = self.music_results[self.selected_result] threading.Thread( target=self.music.play, args=(entry['url'], entry.get('title', 'Unknown')), daemon=True ).start() self.music_search_mode = False elif self.music_search_text.strip() and not self.music_search_pending: query = self.music_search_text self.music_search_pending = True def do_search(q=query): results = self.music.search(q) self.music_results = results self.selected_result = 0 self.music_search_pending = False if not results: self.music_search_mode = False threading.Thread(target=do_search, daemon=True).start() else: self.music_search_mode = False elif event.key == pygame.K_ESCAPE: self.music_search_mode = False self.music_search_text = "" self.music_results = [] elif event.key == pygame.K_UP: if self.music_results: self.selected_result = (self.selected_result - 1) % len(self.music_results[:5]) elif event.key == pygame.K_DOWN: if self.music_results: self.selected_result = (self.selected_result + 1) % len(self.music_results[:5]) elif event.key == pygame.K_BACKSPACE: self.music_search_text = self.music_search_text[:-1] self.music_results = [] elif event.key in (pygame.K_1, pygame.K_2, pygame.K_3, pygame.K_4, pygame.K_5): idx = int(event.unicode) - 1 if idx < len(self.music_results): entry = self.music_results[idx] threading.Thread( target=self.music.play, args=(entry['url'], entry.get('title', 'Unknown')), daemon=True ).start() self.music_search_mode = False elif event.unicode.isprintable(): self.music_search_text += event.unicode self.music_results = [] elif self.typing_mode: if event.key == pygame.K_RETURN: if self.chat_message.strip(): threading.Thread(target=self.tts.say, args=(self.chat_message,), daemon=True).start() self.chat_message = "" self.typing_mode = False elif event.key == pygame.K_ESCAPE: self.chat_message = "" self.typing_mode = False elif event.key == pygame.K_BACKSPACE: self.chat_message = self.chat_message[:-1] else: self.chat_message += event.unicode else: if event.key == pygame.K_ESCAPE: self.running = False elif event.key == pygame.K_1: self.wave_gesture() elif event.key == pygame.K_2: self.cena_gesture() elif event.key == pygame.K_3: self.six_seven_gesture() elif event.key == pygame.K_SPACE: self.reset_head() elif event.key == pygame.K_m: self.music_search_mode = True self.music_search_text = "" self.music_results = [] elif event.key == pygame.K_x: self.music.stop() elif event.key in (pygame.K_MINUS, pygame.K_KP_MINUS): self.change_volume(-5) elif event.key in (pygame.K_EQUALS, pygame.K_KP_PLUS): self.change_volume(5) elif event.key == pygame.K_t: self.typing_mode = True self._safe("stopMove", self.motion.stopMove) if not self.typing_mode and not self.music_search_mode: keys = pygame.key.get_pressed() speed_changed = False if keys[pygame.K_LEFTBRACKET]: self.walk_speed = max(0.1, self.walk_speed - 0.01) speed_changed = True if keys[pygame.K_RIGHTBRACKET]: self.walk_speed = min(1.0, self.walk_speed + 0.01) speed_changed = True if speed_changed: self.update_title() x = y = theta = 0.0 if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = self.walk_speed * 0.8 if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.walk_speed * 0.8 try: if abs(x) > 0.05 or abs(theta) > 0.05: stable_config = [ ["StepHeight", 0.02], ["MaxStepFrequency", 0.5], ["TorsoWy", 0.08], ["MaxStepX", 0.03] ] self.motion.moveToward(x, y, theta, stable_config) else: self.motion.stopMove() except Exception as e: print(f"Move error: {e}") self.handle_head_movement() frame = self.get_image() if frame is not None: up = cv2.resize(frame, (self.display_width, self.display_height), interpolation=cv2.INTER_CUBIC) rgb = cv2.cvtColor(up, cv2.COLOR_BGR2RGB) surf = pygame.surfarray.make_surface(rgb.swapaxes(0,1)) self.screen.blit(surf, (0, 0)) else: self.screen.fill((10, 10, 30)) # Music status if self.music.is_loading: text = self.font.render(f"ā™Ŗ {self.music.status}", True, (255, 200, 0)) self.screen.blit(text, (10, 10)) if self.music.progress > 0: bar_w = 220 pct = min(self.music.progress, 100) / 100.0 pygame.draw.rect(self.screen, (70, 70, 70), (10, 32, bar_w, 8)) pygame.draw.rect(self.screen, (255, 200, 0), (10, 32, int(bar_w * pct), 8)) elif self.music.load_error: text = self.font.render(f"ā™Ŗ Error: {self.music.load_error}", True, (255, 80, 80)) self.screen.blit(text, (10, 10)) elif self.music.current_title: text = self.font.render(f"ā™Ŗ {self.music.current_title[:45]}", True, (0, 255, 100)) self.screen.blit(text, (10, 10)) # Music search interface if self.music_search_mode: box_h = min(self.display_height - 80, 260) s = pygame.Surface((self.display_width, box_h)) s.set_alpha(220) s.fill((0, 0, 40)) self.screen.blit(s, (0, 80)) text = self.font.render(f"Search: {self.music_search_text}", True, (255, 255, 255)) self.screen.blit(text, (20, 100)) if self.music_results: shown = self.music_results[:5] for i, entry in enumerate(shown): row_y = 140 + i * 30 if i == self.selected_result: pygame.draw.rect(self.screen, (90, 90, 0), (16, row_y - 3, self.display_width - 32, 26)) color = (255, 255, 0) if i == self.selected_result else (200, 200, 200) title = entry.get('title', 'No title')[:60] line = self.font.render(f"{i+1}. {title}", True, color) self.screen.blit(line, (20, row_y)) hint_y = 140 + len(shown) * 30 + 6 hint = self.font.render("\u2191\u2193 Select Enter Confirm 1-5 Quick pick Esc Cancel", True, (150, 150, 150)) self.screen.blit(hint, (20, hint_y)) elif self.music_search_pending: text = self.font.render("Searching...", True, (200, 200, 200)) self.screen.blit(text, (20, 140)) else: text = self.font.render("No results. Type to search again, Enter to search", True, (200, 200, 200)) self.screen.blit(text, (20, 140)) # TTS box if self.typing_mode: s = pygame.Surface((self.display_width, 40)) s.set_alpha(180) s.fill((0,0,0)) self.screen.blit(s, (0, self.display_height-40)) text = self.font.render(f"Say: {self.chat_message}", True, (255,255,255)) self.screen.blit(text, (10, self.display_height-30)) pygame.display.flip() self.clock.tick(0) except Exception as e: print(f"\u26a0\ufe0f Frame error (continuing): {e}") finally: print("šŸ›‘ Shutting down...") self._safe("stopMove", self.motion.stopMove) self._safe("music stop", self.music.stop) if self.audio_device: self._safe("audio unsubscribe", lambda: self.audio_device.unsubscribe(self.audio_service_name)) if getattr(self, "sound_receiver", None): self._safe("sound receiver close", self.sound_receiver.close) if hasattr(self, 'video') and self.video_client: self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client)) self._safe("rest", self.motion.rest) pygame.quit() if __name__ == "__main__": MIC_CHANNELS = {"left": 1, "right": 2, "front": 3, "rear": 4} parser = argparse.ArgumentParser() parser.add_argument("--ip", type=str, default="127.0.0.1") parser.add_argument("--port", type=int, default=9559) parser.add_argument("--audio-device-index", type=int, default=None) parser.add_argument("--mic-channel", choices=MIC_CHANNELS.keys(), default="left") parser.add_argument("--mic-gain", type=float, default=8.0) parser.add_argument("--video-scale", type=float, default=2.0) args = parser.parse_args() session = qi.Session() try: session.connect(f"tcp://{args.ip}:{args.port}") print(f"āœ… Connected to {args.ip}") except Exception as e: print(f"āŒ Connection failed: {e}") sys.exit(1) NaoTeleop(session, nao_ip=args.ip, audio_device_index=args.audio_device_index, mic_channel=MIC_CHANNELS[args.mic_channel], mic_gain=args.mic_gain, video_scale=args.video_scale).run()