Lucca Pirovano
127 lines
4.2 KiB
Python
127 lines
4.2 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 pygame
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import cv2
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import numpy as np
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class NaoTeleop:
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def __init__(self, session):
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self.session = session
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self.motion = session.service("ALMotion")
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self.posture = session.service("ALRobotPosture")
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self.video = None
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self.video_client = None
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self.running = True
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print("🔍 Initializing video...")
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self._init_video()
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pygame.init()
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self.screen = pygame.display.set_mode((640, 480))
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pygame.display.set_caption("NAO Teleoperation")
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self.clock = pygame.time.Clock()
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def _init_video(self):
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try:
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self.video = self.session.service("ALVideoDevice")
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print("✅ ALVideoDevice service found")
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except Exception as e:
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print(f"❌ Video service error: {e}")
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return
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# Try subscribeCamera (newer method)
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try:
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self.video_client = self.video.subscribeCamera("TeleopCam", 0, 2, 11, 10) # camera 0 = top
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print("✅ Camera subscribed using subscribeCamera!")
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return
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except Exception as e:
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print(f"subscribeCamera failed: {e}")
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# Fallback to old subscribe
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try:
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self.video_client = self.video.subscribe("TeleopCam", 2, 11, 10)
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print("✅ Camera subscribed using old method")
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except Exception as e:
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print(f"❌ All subscription methods failed: {e}")
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def get_image(self):
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if not self.video or not self.video_client:
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return None
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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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return cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
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except:
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pass
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return None
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def run(self):
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self.motion.wakeUp()
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self.posture.goToPosture("StandInit", 0.5)
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print("🎮 Controls Active - WASD/Arrows | ESC to quit")
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while self.running:
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for event in pygame.event.get():
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if event.type == pygame.QUIT or (event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE):
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self.running = False
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keys = pygame.key.get_pressed()
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x = y = theta = 0.0
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if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.8
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if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -0.8
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if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.6
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if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.6
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if abs(x) > 0.1 or abs(theta) > 0.1:
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self.motion.moveToward(x, y, theta)
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else:
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self.motion.stopMove()
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frame = self.get_image()
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if frame is not None:
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frame = cv2.resize(frame, (640, 480))
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rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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surf = pygame.surfarray.make_surface(rgb.swapaxes(0,1))
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self.screen.blit(surf, (0, 0))
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else:
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self.screen.fill((30, 30, 50))
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font = pygame.font.SysFont(None, 38)
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self.screen.blit(font.render("Camera Feed Not Available", True, (255, 100, 100)), (100, 200))
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pygame.display.flip()
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self.clock.tick(25)
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# Clean shutdown
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print("🛑 Shutting down...")
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self.motion.stopMove()
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self.motion.rest()
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if self.video and self.video_client:
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try:
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self.video.unsubscribe(self.video_client)
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except:
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pass
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pygame.quit()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--ip", type=str, default="127.0.0.1")
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parser.add_argument("--port", type=int, default=9559)
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args = parser.parse_args()
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session = qi.Session()
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try:
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session.connect(f"tcp://{args.ip}:{args.port}")
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print(f"✅ Connected to {args.ip}")
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except Exception as e:
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print(f"Connection failed: {e}")
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sys.exit(1)
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NaoTeleop(session).run()
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