Lucca Pirovano
581 lines
26 KiB
Python
581 lines
26 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 re
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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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# ==========================================
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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):
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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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if HAS_AUDIO:
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self.p = pyaudio.PyAudio()
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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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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(bytes(buffer))
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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(bytes(buffer))
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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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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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self.p.terminate()
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except: pass
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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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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)
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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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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.display_width = int(320 * video_scale)
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self.display_height = int(240 * video_scale)
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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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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, 25)
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print("✅ Camera ready")
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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 _init_mic_stream(self):
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if not self.audio_device: return
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try:
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self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain)
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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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print(f"✅ Mic stream ready (gain={self.mic_gain}x)")
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except Exception as e:
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print(f"❌ Mic init failed: {e}")
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def get_image(self):
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if not hasattr(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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frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
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return cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
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except:
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pass
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return None
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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 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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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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def run(self):
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print("🤖 Waking up...")
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self.motion.wakeUp()
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print("🚶 Going to StandInit...")
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self.posture.goToPosture("StandInit", 0.5)
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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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# Give robot time to initialize motors
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time.sleep(1.0)
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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...")
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self._safe("moveInit", self.motion.moveInit)
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print("🦶 Walk engine ready")
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print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | M=Music search | X=Stop | -/==Volume | T=TTS | ESC=Quit")
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try:
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while self.running:
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try:
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self.check_battery()
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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self.running = False
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elif event.type == pygame.KEYDOWN:
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if self.music_search_mode:
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if event.key == pygame.K_RETURN:
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if self.music_results:
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entry = self.music_results[self.selected_result]
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threading.Thread(
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target=self.music.play,
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args=(entry['url'], entry.get('title', 'Unknown')),
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daemon=True
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).start()
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self.music_search_mode = False
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elif self.music_search_text.strip() and not self.music_search_pending:
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query = self.music_search_text
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self.music_search_pending = True
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def do_search(q=query):
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results = self.music.search(q)
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self.music_results = results
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self.selected_result = 0
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self.music_search_pending = False
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if not results:
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self.music_search_mode = False
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threading.Thread(target=do_search, daemon=True).start()
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else:
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self.music_search_mode = False
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elif event.key == pygame.K_ESCAPE:
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self.music_search_mode = False
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self.music_search_text = ""
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self.music_results = []
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elif event.key == pygame.K_UP:
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if self.music_results:
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self.selected_result = (self.selected_result - 1) % len(self.music_results[:5])
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elif event.key == pygame.K_DOWN:
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if self.music_results:
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self.selected_result = (self.selected_result + 1) % len(self.music_results[:5])
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elif event.key == pygame.K_BACKSPACE:
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self.music_search_text = self.music_search_text[:-1]
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self.music_results = []
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elif event.key in (pygame.K_1, pygame.K_2, pygame.K_3, pygame.K_4, pygame.K_5):
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idx = int(event.unicode) - 1
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if idx < len(self.music_results):
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entry = self.music_results[idx]
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threading.Thread(
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target=self.music.play,
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args=(entry['url'], entry.get('title', 'Unknown')),
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daemon=True
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).start()
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self.music_search_mode = False
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|
elif event.unicode.isprintable():
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self.music_search_text += event.unicode
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self.music_results = []
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elif self.typing_mode:
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|
if event.key == pygame.K_RETURN:
|
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if self.chat_message.strip():
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threading.Thread(target=self.tts.say, args=(self.chat_message,), daemon=True).start()
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self.chat_message = ""
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self.typing_mode = False
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elif event.key == pygame.K_ESCAPE:
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self.chat_message = ""
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self.typing_mode = False
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elif event.key == pygame.K_BACKSPACE:
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self.chat_message = self.chat_message[:-1]
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else:
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self.chat_message += event.unicode
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else:
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if event.key == pygame.K_ESCAPE:
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self.running = False
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elif event.key == pygame.K_1:
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self.wave_gesture()
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|
elif event.key == pygame.K_2:
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self.cena_gesture()
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elif event.key == pygame.K_SPACE:
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self.reset_head()
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elif event.key == pygame.K_m:
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self.music_search_mode = True
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self.music_search_text = ""
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self.music_results = []
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elif event.key == pygame.K_x:
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self.music.stop()
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elif event.key in (pygame.K_MINUS, pygame.K_KP_MINUS):
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self.change_volume(-5)
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elif event.key in (pygame.K_EQUALS, pygame.K_KP_PLUS):
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self.change_volume(5)
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elif event.key == pygame.K_t:
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self.typing_mode = True
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self._safe("stopMove", self.motion.stopMove)
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|
|
|
if not self.typing_mode and not self.music_search_mode:
|
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keys = pygame.key.get_pressed()
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|
|
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speed_changed = False
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if keys[pygame.K_LEFTBRACKET]:
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self.walk_speed = max(0.1, self.walk_speed - 0.01)
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speed_changed = True
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if keys[pygame.K_RIGHTBRACKET]:
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|
self.walk_speed = min(1.0, self.walk_speed + 0.01)
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speed_changed = True
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if speed_changed:
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|
self.update_title()
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|
|
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x = y = theta = 0.0
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|
if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
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|
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
|
|
if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = self.walk_speed * 0.8
|
|
if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.walk_speed * 0.8
|
|
|
|
try:
|
|
if abs(x) > 0.05 or abs(theta) > 0.05:
|
|
stable_config = [
|
|
["StepHeight", 0.02],
|
|
["MaxStepFrequency", 0.5],
|
|
["TorsoWy", 0.08],
|
|
["MaxStepX", 0.03]
|
|
]
|
|
self.motion.moveToward(x, y, theta, stable_config)
|
|
else:
|
|
self.motion.stopMove()
|
|
except Exception as e:
|
|
print(f"Move error: {e}")
|
|
self.handle_head_movement()
|
|
|
|
frame = self.get_image()
|
|
if frame is not None:
|
|
up = cv2.resize(frame, (self.display_width, self.display_height), interpolation=cv2.INTER_CUBIC)
|
|
rgb = cv2.cvtColor(up, cv2.COLOR_BGR2RGB)
|
|
surf = pygame.surfarray.make_surface(rgb.swapaxes(0,1))
|
|
self.screen.blit(surf, (0, 0))
|
|
else:
|
|
self.screen.fill((10, 10, 30))
|
|
|
|
# Music status
|
|
if self.music.is_loading:
|
|
text = self.font.render(f"♪ {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))
|
|
|
|
# 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._safe("stopMove", self.motion.stopMove)
|
|
self._safe("music stop", self.music.stop)
|
|
if self.audio_device:
|
|
self._safe("audio unsubscribe", lambda: self.audio_device.unsubscribe(self.audio_service_name))
|
|
if getattr(self, "sound_receiver", None):
|
|
self._safe("sound receiver close", self.sound_receiver.close)
|
|
if hasattr(self, 'video') and self.video_client:
|
|
self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client))
|
|
self._safe("rest", self.motion.rest)
|
|
pygame.quit()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
MIC_CHANNELS = {"left": 1, "right": 2, "front": 3, "rear": 4}
|
|
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument("--ip", type=str, default="127.0.0.1")
|
|
parser.add_argument("--port", type=int, default=9559)
|
|
parser.add_argument("--audio-device-index", type=int, default=None)
|
|
parser.add_argument("--mic-channel", choices=MIC_CHANNELS.keys(), default="left")
|
|
parser.add_argument("--mic-gain", type=float, default=8.0)
|
|
parser.add_argument("--video-scale", type=float, default=2.0)
|
|
args = parser.parse_args()
|
|
|
|
session = qi.Session()
|
|
try:
|
|
session.connect(f"tcp://{args.ip}:{args.port}")
|
|
print(f"✅ 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).run()
|