Lucca Pirovano
1220 lines
57 KiB
Python
1220 lines
57 KiB
Python
#!/usr/bin/env python
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# -*- encoding: UTF-8 -*-
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import qi
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import argparse
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import sys
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import time
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import threading
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import queue
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import cv2
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import numpy as np
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import pygame
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import subprocess
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import os
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import json
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import struct
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import socket
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# Import the new music module
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from naomusic import NaoMusicPlayer
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# --- Audio for mic ---
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try:
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import pyaudio
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HAS_AUDIO = True
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except ImportError:
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HAS_AUDIO = False
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# --- SSH for live mic relay (push-to-talk) ---
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try:
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import paramiko
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HAS_SSH = True
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except ImportError:
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HAS_SSH = False
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# ==========================================
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# MEDIA RELAY WIRE PROTOCOL (see nao_video_server.py)
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# One TCP connection, length-framed: [1 byte type][4 byte length][payload].
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# Replaces the old HTTP MJPEG pull - no multipart parsing, and now
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# carries mu-law-compressed mic audio too, not just video.
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# ==========================================
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TYPE_HELLO = 0x00
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TYPE_VIDEO = 0x01
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TYPE_AUDIO = 0x02
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def decode_ulaw(q):
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"""uint8 mu-law samples -> int16 PCM. Must match encode_ulaw() in
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nao_video_server.py exactly, or this just produces noise."""
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mu = 255.0
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y = (q.astype(np.float64) / 255.0) * 2.0 - 1.0
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x = np.sign(y) * (1.0 / mu) * (np.power(1.0 + mu, np.abs(y)) - 1.0)
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return np.clip(x * 32768.0, -32768, 32767).astype(np.int16)
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def _recv_exact(sock, n):
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"""Read exactly n bytes from a TCP socket (recv() can return short
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reads/chunks at any point - never assume one call gives you n)."""
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buf = b""
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while len(buf) < n:
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chunk = sock.recv(n - len(buf))
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if not chunk:
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raise IOError("media relay connection closed")
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buf += chunk
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return buf
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# ==========================================
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# NAO MIC STREAM
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# ==========================================
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class SoundReceiver:
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PREBUFFER_CHUNKS = 3
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SILENCE_CHUNK = b"\x00" * 4096
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def __init__(self, output_device_index=None, mic_gain=8.0, pyaudio_instance=None):
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self.running = True
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self.underrun_count = 0
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self.chunks_received = 0
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self._write_errors = 0
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self._peak_since_print = 0
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self._last_status_print = 0
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self.mic_gain = float(mic_gain)
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self.muted = False
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self._owns_pyaudio = False
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if HAS_AUDIO:
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self.p = pyaudio_instance if pyaudio_instance is not None else pyaudio.PyAudio()
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self._owns_pyaudio = pyaudio_instance is None
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print("🔈 Available output devices:")
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for i in range(self.p.get_device_count()):
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info = self.p.get_device_info_by_index(i)
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if info.get("maxOutputChannels", 0) > 0:
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print(f" [{i}] {info['name']}")
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try:
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chosen = (self.p.get_device_info_by_index(output_device_index) if output_device_index is not None
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else self.p.get_default_output_device_info())
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print(f"🔈 Using: [{chosen['index']}] {chosen['name']}")
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except: pass
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self.stream = self.p.open(format=pyaudio.paInt16, channels=1, rate=16000,
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output=True, output_device_index=output_device_index,
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frames_per_buffer=2048)
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self._play_test_tone()
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self.queue = queue.Queue(maxsize=40)
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self.playback_thread = threading.Thread(target=self._playback_loop, daemon=True)
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self.playback_thread.start()
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def _play_test_tone(self):
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try:
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duration, freq, rate = 0.3, 440.0, 16000
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t = np.linspace(0, duration, int(rate * duration), False)
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tone = (np.sin(freq * t * 2 * np.pi) * 12000).astype(np.int16)
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self.stream.write(tone.tobytes())
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except: pass
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def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, buffer):
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self.feed(bytes(buffer))
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def feed(self, raw_pcm_bytes):
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"""Push one chunk of 16-bit PCM into the playback queue,
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dropping the oldest chunk on overflow instead of blocking.
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Used both by the direct qi audio callback (processRemote,
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above) and by the TCP media relay path (which mu-law-decodes
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back to PCM before calling this)."""
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if not HAS_AUDIO: return
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self.chunks_received += 1
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try:
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self.queue.put_nowait(raw_pcm_bytes)
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except queue.Full:
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try:
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self.queue.get_nowait()
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self.queue.put_nowait(raw_pcm_bytes)
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except: pass
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def _playback_loop(self):
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primed = []
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while self.running and len(primed) < self.PREBUFFER_CHUNKS:
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try:
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primed.append(self.queue.get(timeout=1.0))
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except queue.Empty:
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break
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for chunk in primed:
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self._write_chunk(chunk)
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while self.running:
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try:
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chunk = self.queue.get(timeout=0.2)
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self._write_chunk(chunk)
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except queue.Empty:
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self.underrun_count += 1
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try:
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self.stream.write(self.SILENCE_CHUNK)
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except: pass
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now = time.time()
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if now - self._last_status_print > 10:
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self._last_status_print = now
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print(f"🎤 mic: {self.chunks_received} chunks, {self.underrun_count} underruns, peak {self._peak_since_print}")
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self._peak_since_print = 0
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def _write_chunk(self, raw_bytes):
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try:
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if self.muted:
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self.stream.write(b"\x00" * len(raw_bytes))
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return
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samples = np.frombuffer(raw_bytes, dtype=np.int16).astype(np.float32)
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if samples.size:
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amplified = np.clip(samples * self.mic_gain, -32768, 32767)
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peak = int(np.abs(amplified).max())
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if peak > self._peak_since_print:
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self._peak_since_print = peak
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self.stream.write(amplified.astype(np.int16).tobytes())
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else:
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self.stream.write(raw_bytes)
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except: pass
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def close(self):
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self.running = False
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if HAS_AUDIO:
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try: self.playback_thread.join(timeout=1.0)
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except: pass
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try:
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self.stream.stop_stream()
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self.stream.close()
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if self._owns_pyaudio:
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self.p.terminate()
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except: pass
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# ==========================================
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# LIVE MIC RELAY (push-to-talk over SSH)
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# ==========================================
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class LiveMicRelay:
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"""
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Push-to-talk: streams the local mic straight to NAO's own speaker.
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connect() (call once at startup, off the hot path) SSHes into the
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robot and launches a self-restarting `nc -l | aplay` loop that stays
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up for the whole session. Each start()/stop() (per push-to-talk
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press) then just opens/closes a plain TCP socket to that already-
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running listener and pipes raw mic audio into it - no SSH handshake
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per press. Closing the socket on stop() ends that iteration's nc,
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which ends aplay with it, and the remote loop immediately relaunches
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nc so it's ready for the next press. close() (call once at shutdown)
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tears down the persistent SSH connection and kills the remote loop.
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"""
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def __init__(self, nao_ip, ssh_user="nao", ssh_password="nao", ssh_port=22,
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port=5555, rate=16000, input_device_index=None, pyaudio_instance=None):
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self.nao_ip = nao_ip
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self.ssh_user = ssh_user
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self.ssh_password = ssh_password
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self.ssh_port = ssh_port
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self.port = port
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self.rate = rate
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self.input_device_index = input_device_index
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self.active = False
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self.connected = False # remote listener is up, ready for fast local connects
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# "idle" | "connecting" | "live" - read by the HUD to show status
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self.state = "idle"
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self._ssh_client = None
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self._ssh_channel = None
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self._sock = None
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self._stream = None
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self._thread = None
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# Reuse the app's single PyAudio context - a second independent one
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# opened from a background thread crashes PortAudio's PulseAudio
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# backend (pa_atomic_load assertion).
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self._p = pyaudio_instance if pyaudio_instance is not None else (pyaudio.PyAudio() if HAS_AUDIO else None)
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def connect(self):
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"""One-time setup: SSH in and launch a self-restarting remote
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listener (`nc | aplay` in a loop) that stays up for the whole app
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session. Call this once at startup, in a background thread so it
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doesn't block. After this, start()/stop() per push-to-talk press
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only do a fast local socket connect - no SSH in the hot path.
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"""
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if not HAS_SSH:
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print("🎙️ Live mic needs paramiko: pip install paramiko")
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return
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try:
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self._ssh_client = paramiko.SSHClient()
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self._ssh_client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
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self._ssh_client.connect(self.nao_ip, port=self.ssh_port, username=self.ssh_user,
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password=self.ssh_password, timeout=5)
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self._ssh_channel = self._ssh_client.get_transport().open_session()
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# A pty ties the remote process group to this channel, so
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# closing it in close() reliably kills the loop/nc/aplay
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# instead of leaving an orphaned process on the robot.
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self._ssh_channel.get_pty()
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remote_cmd = (
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f"while true; do nc -l -p {self.port} | "
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f"aplay -q -r {self.rate} -f S16_LE -c 1 -t raw -; done"
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)
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self._ssh_channel.exec_command(remote_cmd)
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time.sleep(0.4) # one-time wait for the first nc to bind
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self.connected = True
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print("🎙️ Talk relay: remote listener ready")
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except Exception as e:
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print(f"🎙️ Talk relay: couldn't set up remote listener ({e})")
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self.connected = False
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def close(self):
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"""Tear down the persistent SSH connection/listener. Call once at
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app shutdown - not per push-to-talk press."""
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if self._ssh_channel:
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try: self._ssh_channel.close()
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except: pass
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self._ssh_channel = None
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if self._ssh_client:
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try: self._ssh_client.close()
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except: pass
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self._ssh_client = None
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self.connected = False
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def start(self):
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if self.active:
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return
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if not HAS_AUDIO:
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print("🎙️ Live mic needs pyaudio installed")
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return
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if not self.connected:
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print("🎙️ Talk relay: remote listener not ready yet")
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return
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# If a previous relay thread is still tearing itself down, wait for
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# it to finish before reusing self._stream/_sock for a new one.
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if self._thread and self._thread.is_alive():
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self._thread.join(timeout=2.0)
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self.active = True
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self.state = "connecting"
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self._thread = threading.Thread(target=self._run, daemon=True)
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self._thread.start()
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def stop(self):
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"""Signal the relay thread to stop and wait for it to exit.
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Deliberately does NOT touch self._stream/_sock here: this is
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called from the main/render thread on key-up, and closing a
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PortAudio stream from a different thread while the relay thread is
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mid blocking-read() on it is what caused the ALSA segfault on
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release. Only _run() (via _cleanup, in its own thread) closes them.
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"""
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self.active = False
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self.state = "idle"
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if self._thread and self._thread.is_alive() and threading.current_thread() is not self._thread:
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self._thread.join(timeout=2.0)
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def _cleanup(self):
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"""Per-press teardown: only the local socket/mic stream. The SSH
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connection is persistent now - close() (at app shutdown) is what
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tears that down, not this."""
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if self._sock:
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try: self._sock.close()
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except: pass
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self._sock = None
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if self._stream:
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try:
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self._stream.stop_stream()
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self._stream.close()
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except: pass
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self._stream = None
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def _run(self):
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try:
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# Remote listener is already up (from connect()) - just make a
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# fast local socket connection, no SSH handshake here.
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self._sock = socket.create_connection((self.nao_ip, self.port), timeout=5)
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self._stream = self._p.open(format=pyaudio.paInt16, channels=1,
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rate=self.rate, input=True,
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input_device_index=self.input_device_index,
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frames_per_buffer=1024)
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print("🎙️ Talk relay: live")
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if self.active: # could've been stopped while we were still connecting
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self.state = "live"
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while self.active:
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try:
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chunk = self._stream.read(1024, exception_on_overflow=False)
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self._sock.sendall(chunk)
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except Exception:
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break
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except Exception as e:
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print(f"🎙️ Talk relay error: {e}")
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finally:
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self.active = False
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self.state = "idle"
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self._cleanup()
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print("🎙️ Talk relay: stopped")
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# ==========================================
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# ON-ROBOT VIDEO/AUDIO RELAY SERVER (auto-deploy)
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# ==========================================
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class VideoServerLauncher:
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"""
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SCPs nao_video_server.py to the robot's home directory over SFTP and
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launches it via a persistent, pty-backed SSH session - so the user
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never has to manually copy the file over or SSH in to start/stop it.
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Uses the same trick as LiveMicRelay: a pty ties the remote process
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group to the SSH channel, so close() (killing the channel) reliably
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kills the video server too instead of leaving it orphaned on the
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robot, still holding VIDEO_PORT/AUDIO_PORT, for next time.
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"""
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def __init__(self, nao_ip, ssh_user="nao", ssh_password="nao", ssh_port=22,
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local_path=None, remote_filename="nao_video_server.py"):
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self.nao_ip = nao_ip
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self.ssh_user = ssh_user
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self.ssh_password = ssh_password
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self.ssh_port = ssh_port
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self.local_path = local_path or os.path.join(
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os.path.dirname(os.path.abspath(__file__)), remote_filename)
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self.remote_filename = remote_filename
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self.ready = False
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self._ssh_client = None
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self._channel = None
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self._drain_thread = None
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def deploy_and_start(self):
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if not HAS_SSH:
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print("🎥 Video server auto-deploy needs paramiko: pip install paramiko")
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return False
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if not os.path.isfile(self.local_path):
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print(f"🎥 Video server auto-deploy: can't find {self.local_path}")
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return False
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try:
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self._ssh_client = paramiko.SSHClient()
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self._ssh_client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
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self._ssh_client.connect(self.nao_ip, port=self.ssh_port, username=self.ssh_user,
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password=self.ssh_password, timeout=10)
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# Best-effort: a previous session that didn't get to call
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# close() cleanly (laptop lost network, crashed, etc.) can
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# leave a stale instance squatting on the ports - clear it
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# before starting a fresh one.
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try:
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_, out, _ = self._ssh_client.exec_command(
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f"pkill -f {self.remote_filename}", timeout=5)
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out.channel.recv_exit_status()
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time.sleep(0.3)
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except Exception:
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pass
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sftp = self._ssh_client.open_sftp()
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try:
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remote_home = sftp.normalize(".") # robot's home dir
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remote_path = remote_home + "/" + self.remote_filename
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print(f"🎥 Copying {self.remote_filename} -> {self.nao_ip}:{remote_path}")
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sftp.put(self.local_path, remote_path)
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finally:
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sftp.close()
|
|
|
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self._channel = self._ssh_client.get_transport().open_session()
|
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self._channel.get_pty()
|
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remote_cmd = (
|
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"export PYTHONPATH=/opt/aldebaran/lib/python2.7/site-packages && "
|
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"export LD_LIBRARY_PATH=/opt/aldebaran/lib && "
|
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f"python2 {remote_path}"
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)
|
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self._channel.exec_command(remote_cmd)
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|
|
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self._drain_thread = threading.Thread(target=self._drain_output, daemon=True)
|
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self._drain_thread.start()
|
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|
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time.sleep(1.0) # give it a moment to bind before the client tries to connect
|
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if self._channel.exit_status_ready():
|
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print("🎥 Video server exited immediately - check the log lines above")
|
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self.ready = False
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return False
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|
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self.ready = True
|
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print("🎥 Video server deployed and running on robot")
|
|
return True
|
|
except Exception as e:
|
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print(f"🎥 Video server auto-deploy failed: {e}")
|
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self.ready = False
|
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return False
|
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|
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def _drain_output(self):
|
|
"""Keeps reading the remote process's stdout/stderr so its pty
|
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buffer never fills up and stalls the server, and so its own
|
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status prints (quality tier changes, client connects) surface
|
|
locally too."""
|
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chan = self._channel
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while chan and not chan.closed:
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try:
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got = False
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if chan.recv_ready():
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data = chan.recv(4096)
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if data:
|
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print(f"🎥 [nao_video_server] {data.decode('utf-8', 'replace').rstrip()}")
|
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got = True
|
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if chan.recv_stderr_ready():
|
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data = chan.recv_stderr(4096)
|
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if data:
|
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print(f"🎥 [nao_video_server] {data.decode('utf-8', 'replace').rstrip()}")
|
|
got = True
|
|
if not got:
|
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time.sleep(0.1)
|
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except Exception:
|
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break
|
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|
|
def close(self):
|
|
"""Kill the pty-backed channel (which kills the remote python
|
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process with it) and tear down the SSH connection. Call once at
|
|
app shutdown."""
|
|
if self._channel:
|
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try: self._channel.close()
|
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except: pass
|
|
self._channel = None
|
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if self._ssh_client:
|
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try: self._ssh_client.close()
|
|
except: pass
|
|
self._ssh_client = None
|
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self.ready = False
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# ==========================================
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# MAIN TELEOP
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# ==========================================
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class NaoTeleop:
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def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0,
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nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_port=5555, relay_rate=16000,
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video_fps=25, media_relay=None, deploy_video_server=True, video_server_path=None):
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self.session = session
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self.nao_ip = nao_ip
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self.motion = session.service("ALMotion")
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self.posture = session.service("ALRobotPosture")
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self.tts = session.service("ALTextToSpeech")
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try:
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self.battery = session.service("ALBattery")
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except:
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self.battery = None
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self.music = NaoMusicPlayer(session, nao_ip, ssh_port=nao_ssh_port)
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self.music_results = []
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self.selected_result = 0
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self.audio_device = None
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self.audio_service_name = "SoundReceiver"
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self.audio_device_index = audio_device_index
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self.mic_channel = mic_channel
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self.mic_gain = mic_gain
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# One shared PyAudio context for the whole app - SoundReceiver (mic
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# playback) and LiveMicRelay (push-to-talk capture) both use it,
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# since two separate contexts crash PortAudio's PulseAudio backend.
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self._pyaudio = pyaudio.PyAudio() if HAS_AUDIO else None
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self.mic_relay = LiveMicRelay(nao_ip, ssh_user=nao_ssh_user, ssh_password=nao_ssh_password,
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ssh_port=nao_ssh_port,
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port=relay_port, rate=relay_rate, pyaudio_instance=self._pyaudio)
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self.ptt_active = False
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self.running = True
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self.head_yaw = 0.0
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self.head_pitch = 0.0
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self.battery_level = 100
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self.last_batt_check = 0
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self.volume = 50
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self.walk_speed = 0.6
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self.typing_mode = False
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self.chat_message = ""
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self.music_search_mode = False
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self.music_search_text = ""
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self.music_search_pending = False
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self.video_scale = video_scale
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self.video_fps = video_fps
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self.media_relay = media_relay
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# True only if we actually subscribed to ALAudioDevice ourselves
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# (i.e. not using the relay, where nao_video_server.py owns the
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# mic subscription instead) - used at shutdown so we don't try
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# to unsubscribe from something we never subscribed to.
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self._qi_audio_subscribed = False
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self.display_width = int(320 * video_scale)
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self.display_height = int(240 * video_scale)
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# Video and movement are decoupled onto their own threads (see
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# _init_video_maxfps / run) so a stalled network RPC to the robot
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# never blocks keyboard input or the render loop.
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self._latest_frame = None
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self._latest_frame_ts = 0.0
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self._video_stop_event = threading.Event()
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self._desired_velocity = (0.0, 0.0, 0.0)
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self._movement_stop_event = threading.Event()
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self._movement_thread = None
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# If we're using the on-robot media relay, deploy+launch
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# nao_video_server.py over SSH now (before _init_video_maxfps
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# tries to connect to it) instead of requiring it to already be
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# running manually.
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self.video_server_launcher = None
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if self.media_relay and deploy_video_server:
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self.video_server_launcher = VideoServerLauncher(
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nao_ip, ssh_user=nao_ssh_user, ssh_password=nao_ssh_password,
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ssh_port=nao_ssh_port, local_path=video_server_path)
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self.video_server_launcher.deploy_and_start()
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self._init_audio_device()
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self._init_video_maxfps()
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if HAS_AUDIO:
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self._init_mic_stream()
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pygame.init()
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self.screen = pygame.display.set_mode((self.display_width, self.display_height))
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pygame.display.set_caption("NAO Teleop + Music on Robot")
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self.font = pygame.font.SysFont(None, 24)
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self.clock = pygame.time.Clock()
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self.update_title()
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def _safe(self, label, fn):
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try:
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return fn()
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except Exception as e:
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print(f"{label} error: {e}")
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return None
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def _init_audio_device(self):
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try:
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self.audio_device = self.session.service("ALAudioDevice")
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self.volume = self.audio_device.getOutputVolume()
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print(f"🔊 NAO speaker volume: {self.volume}%")
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except Exception as e:
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print(f"⚠️ ALAudioDevice error: {e}")
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self.audio_device = None
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def _init_video_maxfps(self):
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if self.media_relay:
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self.video = None
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self.video_client = "relay" # truthy sentinel, unsubscribe() is a no-op for this path
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print(f"✅ Camera via on-robot media relay: {self.media_relay}")
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threading.Thread(target=self._video_relay_loop, daemon=True).start()
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return
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try:
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self.video = self.session.service("ALVideoDevice")
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self.video_client = self.video.subscribeCamera("TeleopCam", 0, 0, 11, self.video_fps)
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print("✅ Camera ready")
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threading.Thread(target=self._video_loop, daemon=True).start()
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except:
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print("❌ Camera not available")
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self.video_client = None
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def _video_loop(self):
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"""Runs on its own thread for the app's lifetime. getImageRemote()
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is a blocking RPC over the network - if a call hangs during a
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WiFi hiccup, this thread just sits waiting on it. The render loop
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never touches this call directly; it only ever reads whatever
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self._latest_frame was last successfully set to, so a stalled
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fetch here can no longer freeze keyboard input or movement."""
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while not self._video_stop_event.is_set():
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try:
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image = self.video.getImageRemote(self.video_client)
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if image and len(image) >= 7:
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w, h = image[0], image[1]
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arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3))
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frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
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self._latest_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
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self._latest_frame_ts = time.time()
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except Exception:
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time.sleep(0.05)
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def _video_relay_loop(self):
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"""Same role as _video_loop, but speaks the lean length-framed
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TCP protocol from nao_video_server.py instead of pulling raw
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frames over the qi session. Video-only connection - it used to
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share one socket with audio, but a slow video send could then
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block audio behind it, so they're split (see the audio port,
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media_relay port + 1, handled by _audio_relay_loop)."""
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host, _, port_str = self.media_relay.partition(":")
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port = int(port_str) if port_str else 8000
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while not self._video_stop_event.is_set():
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sock = None
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try:
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sock = socket.create_connection((host, port), timeout=5)
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sock.settimeout(5.0)
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sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
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print(f"✅ Video relay connected: {host}:{port}")
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while not self._video_stop_event.is_set():
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msg_type, length = struct.unpack(">BI", _recv_exact(sock, 5))
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payload = _recv_exact(sock, length) if length else b""
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if msg_type == TYPE_VIDEO:
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arr = np.frombuffer(payload, dtype=np.uint8)
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frame = cv2.imdecode(arr, cv2.IMREAD_COLOR)
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if frame is not None:
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self._latest_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
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self._latest_frame_ts = time.time()
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# TYPE_HELLO: nothing to do with it yet, just skip.
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except Exception as e:
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print(f"video relay error: {e}")
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finally:
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if sock:
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try: sock.close()
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except: pass
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if not self._video_stop_event.is_set():
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time.sleep(0.5)
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def _audio_relay_loop(self):
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"""Mic audio's own connection - see _video_relay_loop for why
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this is split off rather than sharing video's socket. Connects
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to media_relay's host:port+1 by convention (matches AUDIO_PORT
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= VIDEO_PORT + 1 in nao_video_server.py)."""
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host, _, port_str = self.media_relay.partition(":")
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video_port = int(port_str) if port_str else 8000
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port = video_port + 1
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while not self._video_stop_event.is_set():
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sock = None
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try:
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sock = socket.create_connection((host, port), timeout=5)
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sock.settimeout(5.0)
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sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
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print(f"✅ Audio relay connected: {host}:{port}")
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while not self._video_stop_event.is_set():
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msg_type, length = struct.unpack(">BI", _recv_exact(sock, 5))
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payload = _recv_exact(sock, length) if length else b""
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if msg_type == TYPE_AUDIO and getattr(self, "sound_receiver", None):
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pcm = decode_ulaw(np.frombuffer(payload, dtype=np.uint8))
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self.sound_receiver.feed(pcm.tobytes())
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# TYPE_HELLO: nothing to do with it yet, just skip.
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except Exception as e:
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print(f"audio relay error: {e}")
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finally:
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if sock:
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try: sock.close()
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except: pass
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if not self._video_stop_event.is_set():
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time.sleep(0.5)
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def get_image(self):
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"""Non-blocking: returns whatever frame the background video
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thread most recently captured (or None before the first one
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arrives). Never makes a network call itself."""
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return self._latest_frame
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def _init_mic_stream(self):
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if not self.audio_device: return
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try:
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# Playback machinery is needed either way - only the source
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# of audio chunks differs (qi pub/sub below, vs mu-law
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# chunks arriving over the audio relay connection).
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self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain,
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pyaudio_instance=self._pyaudio)
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if self.media_relay:
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print(f"✅ Mic stream ready (gain={self.mic_gain}x, via media relay - compressed, own connection)")
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threading.Thread(target=self._audio_relay_loop, daemon=True).start()
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return
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self.session.registerService(self.audio_service_name, self.sound_receiver)
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time.sleep(0.5)
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self.audio_device.setClientPreferences(self.audio_service_name, 16000, self.mic_channel, 0)
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self.audio_device.subscribe(self.audio_service_name)
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self._qi_audio_subscribed = True
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print(f"✅ Mic stream ready (gain={self.mic_gain}x, uncompressed direct - use --media-relay on a tunneled link)")
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except Exception as e:
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print(f"❌ Mic init failed: {e}")
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def wave_gesture(self):
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if self.typing_mode: return
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print("🤚 Waving hello...")
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try:
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self.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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self.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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self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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self.motion.setStiffnesses("RArm", 0.3)
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except Exception as e:
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print(f"Wave error: {e}")
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def cena_gesture(self):
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if self.typing_mode: return
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print("👋 YOU CAN'T SEE ME!")
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try:
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self.tts.say("You can't see me")
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self.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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self.motion.angleInterpolation(names, tight_setup, [0.5]*6, True)
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# The horizontal "backhand" sweep
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self.motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True)
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self.motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True)
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self.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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self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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self.motion.setStiffnesses("RArm", 0.3)
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except Exception as e:
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print(f"Cena gesture error: {e}")
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def six_seven_gesture(self):
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if self.typing_mode: return
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print("🖐️ SIX... SEVEN...")
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try:
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threading.Thread(target=self.tts.say, args=("six seven",), daemon=True).start()
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self.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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self.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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self.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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self.motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
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# Relaxed stiffness after completion
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self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
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except Exception as e:
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print(f"Six seven gesture error: {e}")
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def handle_head_movement(self):
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if self.typing_mode or self.music_search_mode: return
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keys = pygame.key.get_pressed()
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speed = 0.3
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changed = False
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if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True
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if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + speed, 0.5); changed = True
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if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True
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if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True
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if changed:
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self._safe("Head move", lambda: self.motion.setAngles(
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["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3))
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def reset_head(self):
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self.head_yaw = 0.0
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self.head_pitch = 0.0
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self._safe("Head reset", lambda: self.motion.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.4))
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def update_title(self):
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mode = "[TYPING] " if self.typing_mode else ""
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pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}% | Speed: {self.walk_speed:.2f}")
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def change_volume(self, delta):
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self.volume = int(min(100, max(0, self.volume + delta)))
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if self.audio_device:
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self._safe("Volume set", lambda: self.audio_device.setOutputVolume(self.volume))
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print(f"🔊 NAO volume: {self.volume}%")
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self.update_title()
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|
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def check_battery(self):
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if not self.battery: return
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now = time.time()
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if now - self.last_batt_check > 10:
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try:
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self.battery_level = self.battery.getBatteryCharge()
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except: pass
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self.update_title()
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self.last_batt_check = now
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|
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def _movement_loop(self):
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"""Runs on its own thread for the app's lifetime, sending whatever
|
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velocity the render loop most recently recorded in
|
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self._desired_velocity. moveToward/stopMove are blocking network
|
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RPCs - if one hangs during a WiFi hiccup, only this thread stalls;
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the render loop keeps reading keys and updating the target
|
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velocity so the very next send (as soon as the network unblocks)
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reflects your latest input, not a stale one from before the drop.
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"""
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stable_config = [
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["StepHeight", 0.02],
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["MaxStepFrequency", 0.5],
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["TorsoWy", 0.08],
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["MaxStepX", 0.03]
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]
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while not self._movement_stop_event.is_set():
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x, y, theta = self._desired_velocity
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try:
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if abs(x) > 0.05 or abs(y) > 0.05 or abs(theta) > 0.05:
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self.motion.moveToward(x, y, theta, stable_config)
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else:
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self.motion.stopMove()
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except Exception as e:
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print(f"Move error: {e}")
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time.sleep(0.05) # ~20Hz send rate
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|
|
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def run(self):
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|
print("🤖 Enabling stiffness (no wakeUp stand-up)...")
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self.motion.setStiffnesses("Body", 1.0)
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|
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# Enable walk arms BEFORE forcing stiffness
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|
print("💪 Enabling walk arms...")
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self.motion.setMoveArmsEnabled(True, True)
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|
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# Force relaxed stiffness AFTER engine is active
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|
self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
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|
|
print("🦶 Initializing walk engine...")
|
|
self._safe("moveInit", self.motion.moveInit)
|
|
print("🦶 Walk engine ready")
|
|
|
|
if getattr(self, "mic_relay", None):
|
|
threading.Thread(target=self.mic_relay.connect, daemon=True).start()
|
|
|
|
self._movement_thread = threading.Thread(target=self._movement_loop, daemon=True)
|
|
self._movement_thread.start()
|
|
|
|
print("\n🎮 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 | V=Push-to-talk (hold) | 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()
|
|
|
|
if keys[pygame.K_v] and not self.ptt_active:
|
|
self.ptt_active = True
|
|
self.mic_relay.start()
|
|
if getattr(self, "sound_receiver", None):
|
|
self.sound_receiver.muted = True
|
|
elif not keys[pygame.K_v] and self.ptt_active:
|
|
self.ptt_active = False
|
|
self.mic_relay.stop()
|
|
if getattr(self, "sound_receiver", None):
|
|
self.sound_receiver.muted = False
|
|
|
|
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
|
|
|
|
# Just record intent here - the movement thread
|
|
# (see _movement_loop) is what actually calls
|
|
# moveToward/stopMove, so a stalled network RPC
|
|
# can't stop us reading the next key state.
|
|
self._desired_velocity = (x, y, theta)
|
|
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))
|
|
if time.time() - self._latest_frame_ts > 1.0:
|
|
warn = self.font.render("⚠ VIDEO STALE - reconnecting...", True, (255, 60, 60))
|
|
self.screen.blit(warn, (10, self.display_height - 30))
|
|
else:
|
|
self.screen.fill((10, 10, 30))
|
|
|
|
# Music status
|
|
if self.music.is_loading:
|
|
text = self.font.render(f"♪ {self.music.status}", True, (255, 200, 0))
|
|
self.screen.blit(text, (10, 10))
|
|
if self.music.progress > 0:
|
|
bar_w = 220
|
|
pct = min(self.music.progress, 100) / 100.0
|
|
pygame.draw.rect(self.screen, (70, 70, 70), (10, 32, bar_w, 8))
|
|
pygame.draw.rect(self.screen, (255, 200, 0), (10, 32, int(bar_w * pct), 8))
|
|
elif self.music.load_error:
|
|
text = self.font.render(f"♪ Error: {self.music.load_error}", True, (255, 80, 80))
|
|
self.screen.blit(text, (10, 10))
|
|
elif self.music.current_title:
|
|
text = self.font.render(f"♪ {self.music.current_title[:45]}", True, (0, 255, 100))
|
|
self.screen.blit(text, (10, 10))
|
|
|
|
# Voice chat HUD (top-right) - only shown while V is held / connecting
|
|
relay_state = getattr(self.mic_relay, "state", "idle")
|
|
if relay_state == "connecting":
|
|
label, color = "VOICE: CONNECTING...", (255, 200, 0)
|
|
elif relay_state == "live":
|
|
label, color = "VOICE: LIVE - speak now", (0, 255, 100)
|
|
else:
|
|
label, color = None, None
|
|
|
|
if label:
|
|
text = self.font.render(label, True, color)
|
|
pad = 8
|
|
box_w, box_h = text.get_width() + pad * 2 + 18, text.get_height() + pad
|
|
box_x = self.display_width - box_w - 10
|
|
box_y = 10
|
|
s = pygame.Surface((box_w, box_h))
|
|
s.set_alpha(180)
|
|
s.fill((0, 0, 0))
|
|
self.screen.blit(s, (box_x, box_y))
|
|
# pulsing dot for "live" so it's easy to catch out of the corner of your eye
|
|
if relay_state == "live":
|
|
pulse = 0.5 + 0.5 * abs((pygame.time.get_ticks() % 1000) / 500.0 - 1.0)
|
|
dot_color = tuple(int(c * pulse) for c in color)
|
|
else:
|
|
dot_color = color
|
|
pygame.draw.circle(self.screen, dot_color, (box_x + pad + 5, box_y + box_h // 2), 5)
|
|
self.screen.blit(text, (box_x + pad + 18, box_y + pad // 2))
|
|
|
|
# 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("🛑 Shutting down...")
|
|
self._movement_stop_event.set()
|
|
if self._movement_thread:
|
|
self._movement_thread.join(timeout=1.0)
|
|
self._video_stop_event.set()
|
|
self._safe("stopMove", self.motion.stopMove)
|
|
self._safe("music stop", self.music.stop)
|
|
if getattr(self, "mic_relay", None):
|
|
self._safe("mic relay stop", self.mic_relay.stop)
|
|
self._safe("mic relay close", self.mic_relay.close)
|
|
if getattr(self, "video_server_launcher", None):
|
|
self._safe("video server stop", self.video_server_launcher.close)
|
|
if self.audio_device and self._qi_audio_subscribed:
|
|
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 is not None and self.video_client:
|
|
self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client))
|
|
if getattr(self, "_pyaudio", None):
|
|
self._safe("pyaudio terminate", self._pyaudio.terminate)
|
|
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)
|
|
parser.add_argument("--video-fps", type=int, default=25,
|
|
help="Camera fps requested from NAO. Video is uncompressed RGB at "
|
|
"160x120, so this is roughly 460KB/s per fps - lower it "
|
|
"(e.g. 10-12) when tunneling over a constrained link. "
|
|
"Ignored when --media-relay is set (the server controls fps).")
|
|
parser.add_argument("--media-relay", type=str, default=None,
|
|
help="host:port to reach the on-robot media relay (nao_video_server.py) "
|
|
"at, e.g. 127.0.0.1:8000 when tunneled through the phone. Setting "
|
|
"this also makes naowalk auto-scp nao_video_server.py to the "
|
|
"robot's home dir over SSH and launch it (see --no-deploy-video-"
|
|
"server to skip that and connect to one you started yourself). "
|
|
"BOTH video and mic audio come compressed over this one TCP "
|
|
"connection (JPEG + mu-law) instead of raw frames/PCM over the "
|
|
"qi session - use this on a tunneled/shoddy link. --mic-channel "
|
|
"is ignored in this mode (set MIC_CHANNEL in nao_video_server.py "
|
|
"instead, since the mic subscription lives there now).")
|
|
parser.add_argument("--nao-ssh-user", type=str, default="nao",
|
|
help="SSH login for the live mic relay (push-to-talk)")
|
|
parser.add_argument("--nao-ssh-password", type=str, default="nao",
|
|
help="SSH password for the live mic relay (push-to-talk)")
|
|
parser.add_argument("--nao-ssh-port", type=int, default=22,
|
|
help="SSH port for the robot (music upload + push-to-talk). "
|
|
"Set this to your local forwarded port, e.g. 2222, when tunneling.")
|
|
parser.add_argument("--relay-port", type=int, default=5555,
|
|
help="TCP port used to stream mic audio to the robot's nc listener")
|
|
parser.add_argument("--relay-rate", type=int, default=16000,
|
|
help="Sample rate for the live mic relay - try 48000 if audio sounds sped up/slow")
|
|
parser.add_argument("--no-deploy-video-server", action="store_true",
|
|
help="Don't auto-scp/launch nao_video_server.py on the robot when "
|
|
"--media-relay is set - use this if you're already running it "
|
|
"yourself and just want naowalk to connect to it.")
|
|
parser.add_argument("--video-server-path", type=str, default=None,
|
|
help="Local path to nao_video_server.py to deploy (default: the "
|
|
"copy sitting next to naowalk.py)")
|
|
args = parser.parse_args()
|
|
|
|
session = qi.Session()
|
|
try:
|
|
session.connect(f"tcp://{args.ip}:{args.port}")
|
|
print(f"✅ Connected to {args.ip}")
|
|
except Exception as e:
|
|
print(f"❌ 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,
|
|
video_fps=args.video_fps,
|
|
media_relay=args.media_relay,
|
|
nao_ssh_user=args.nao_ssh_user,
|
|
nao_ssh_password=args.nao_ssh_password,
|
|
nao_ssh_port=args.nao_ssh_port,
|
|
relay_port=args.relay_port,
|
|
relay_rate=args.relay_rate,
|
|
deploy_video_server=not args.no_deploy_video_server,
|
|
video_server_path=args.video_server_path).run()
|