pepper_samples/answer.py at main · robervez/pepper_samples · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
# -*- encoding: UTF-8 -*-
""" Say 'hello, you' each time a human face is detected

"""

import sys
import time

from naoqi import ALProxy
from naoqi import ALBroker
from naoqi import ALModule

from optparse import OptionParser

NAO_IP = "localhost"


# Global variable to store the HumanGreeter module instance
HumanGreeter = None
memory = None


class HumanGreeterModule(ALModule):
    """ A simple module able to react
    to facedetection events

    """
    def __init__(self, name):
        ALModule.__init__(self, name)
        # No need for IP and port here because
        # we have our Python broker connected to NAOqi broker

        self.tts = ALProxy("ALTextToSpeech")

        print ("SONO NATOOOOOOO")
        print "th:",self.tts.getASRConfidenceThreshold()


        # Subscribe to the FaceDetected event:
        global memory
        memory = ALProxy("ALMemory")
        memory.subscribeToEvent("Dialog/LastInput",
            "HumanGreeter",
            "onInput")
        print("yeah!")


    def onInput(self, *_args):
        """ This will be called each time a face is
        detected.

        """

        print("Eccomi!!")
        # Unsubscribe to the event when talking,
        # to avoid repetitions
        memory.unsubscribeToEvent("Dialog/LastInput",
            "HumanGreeter")

        self.tts.say("Hello, you")
        for arg in _args:
            print(arg)
            value = memory.getData(arg)
            print(value)

        # Subscribe again to the event
        memory.subscribeToEvent("Dialog/LastInput",
            "HumanGreeter",
            "onInput")


def main():
    """ Main entry point

    """
    parser = OptionParser()
    parser.add_option("--pip",
        help="Parent broker port. The IP address or your robot",
        dest="pip")
    parser.add_option("--pport",
        help="Parent broker port. The port NAOqi is listening to",
        dest="pport",
        type="int")
    parser.set_defaults(
        pip=NAO_IP,
        pport=10531)

    (opts, args_) = parser.parse_args()
    pip   = opts.pip
    pport = opts.pport

    # We need this broker to be able to construct
    # NAOqi modules and subscribe to other modules
    # The broker must stay alive until the program exists
    myBroker = ALBroker("myBroker",
       "0.0.0.0",   # listen to anyone
       0,           # find a free port and use it
       pip,         # parent broker IP
       pport)       # parent broker port


    # Warning: HumanGreeter must be a global variable
    # The name given to the constructor must be the name of the
    # variable
    global HumanGreeter
    HumanGreeter = HumanGreeterModule("HumanGreeter")

    try:
        while True:
            time.sleep(1)
    except KeyboardInterrupt:
        print
        print "Interrupted by user, shutting down"
        myBroker.shutdown()
        sys.exit(0)


if __name__ == "__main__":
    main()