main.zip_NAO机器人_nao_nao 机器人_python

""" A sample showing how to make a Python script as an app. """ __version__ = "0.0.8" __copyright__ = "Copyright 2015, Aldebaran Robotics" __author__ = 'YOURNAME' __email__ = 'YOUREMAIL@aldebaran.com' import stk.runner import stk.events import stk.services import stk.logging import math import time import almath from interpreter import Tile # Define a ARuco object # Define tile object class Activity(object): "A sample standalone app, that demonstrates simple Python usage" APP_ID = "com.aldebaran.nao-maze" def __init__(self, qiapp): self.qiapp = qiapp self.events = stk.events.EventHelper(qiapp.session) self.s = stk.services.ServiceCache(qiapp.session) self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID) self.DXAruco = self.qiapp.session.service("DXAruco") self.signal_id = self.DXAruco.signal.connect(self.barcodeDetected) def on_start(self): self.events.connect_decorators(self) self.logger.info("@@@ LIFECYCLE/on_start") self.sleep() ## ForcePerception/HumanDetected @stk.events.on("MiddleTactilTouched") def onMiddleTactilTouched(self, touched): if touched: self.logger.info("@@@ EVENTS/Gesture") self.s.ALTextToSpeech.say("A button on my skull was clicked on") self.logger.info("@@@ EVENTS/eventNaoSkullWasSingleTouched : SingleMiddle") if self.isRobotSleeping: self.play() else: self.endGame() def sleep(self): self.logger.info("@@@ LIFECYCLE/sleep") self.s.ALTextToSpeech.say("Going to sleep") # Set the proper state self.isRobotSleeping = True # Reset the variables & models # Tell user to put me on start tile self.s.ALTextToSpeech.say("Please place me on the start tile") def endGame(self): self.logger.info("@@@ LIFECYCLE/sleep") self.stopDetection() self.sleep() def play(self): self.logger.info("@@@ LIFECYCLE/play") # Set the proper state self.isRobotSleeping = False self.taskInProgress = False # Tell user I am starting to play self.s.ALTextToSpeech.say("Switched on play mode. Starting to read arucos in front of me") # Launch detection self.launchDetection() def launchDetection(self): self.logger.info("@@@ LIFECYCLE/launchDetection") # Subscribe the DX Aruco service self.params = self.DXAruco.get_default_parameters() self.DXAruco.subscribe(self.params) #self.s.ALMotion.setStiffnesses("Head", 1.0) # Simple command for the HeadYaw joint at 10% max speed names = "HeadPitch" angles = 20.0*almath.TO_RAD fractionMaxSpeed = 0.1 self.s.ALMotion.angleInterpolationWithSpeed(names, angles, fractionMaxSpeed) def barcodeDetected(self, inputArucosDico): self.logger.info("@@@ LIFECYCLE/barcodeDetected") if not self.taskInProgress: self.taskInProgress = True self.tile = Tile() if len(inputArucosDico) > 1: self.s.ALTextToSpeech.say("Too many barcodes") else: for key, value in inputArucosDico.iteritems(): #self.logger.info("@@@ keyStan: %s" % key) #self.logger.info("@@@ valueStan = : %s" % value) #self.logger.info("@@@ valueStan x = : %s" % value['robot2target'][0]) self.tile.aruco.index = key self.tile.aruco.positionRobotToTarget.x = value['robot2target'][0] self.tile.aruco.positionRobotToTarget.y = value['robot2target'][1] self.tile.aruco.positionRobotToTarget.z = value['robot2target'][2] self.tile.aruco.positionRobotToTarget.wx = value['robot2target'][3] self.tile.aruco.positionRobotToTarget.wy = value['robot2target'][4] self.tile.aruco.positionRobotToTarget.wz = value['robot2target'][5] break self.tile.actAccordingly(self.logger, self.s, self.tile.aruco) #self.s.ALTextToSpeech.say("I am in the middle of something") self.taskInProgress = False def stopDetection(self): self.logger.info("@@@ LIFECYCLE/stopDetection") self.DXAruco.unsubscribe() # Unsubscribe from the DX Aruco service def stop(self): "Standard way of stopping the application." pass def on_stop(self): "Cleanup" self.endGame() self.logger.info("Application finished.") self.events.clear() if __name__ == "__main__": stk.runner.run_activity(Activity)