client.py

import sys

from PyQt4.QtGui import QWidget, QImage, QApplication, QPainter
from PyQt4 import QtCore
from naoqi import ALProxy

import vision_definitions
import socket
import struct

import os
import glob

HOST = '172.16.21.209' # The remote host
PORT = 50009 # The same port as used by the server
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))

i = 0
flag = 0

def bytes_to_int(bytes):
 result = 0
 for b in bytes:
 result = result * 256 + int(b)
 return result

class ImageWidget(QWidget):

 def __init__(self, IP, PORT, CameraID, parent=None):
 """
 Initialization.
 """
 QWidget.__init__(self, parent)
 self.initUI()
 self._image = QImage()
 self.setWindowTitle('Nao')

 self._imgWidth =100
 self._imgHeight =100
 self._cameraID = CameraID
 self.resize(self._imgWidth, self._imgHeight)

 # Proxy to ALVideoDevice.
 self._videoProxy = None

 # Our video module name.
 self._imgClient = ""

 # This will contain this alImage we get from Nao.
 self._alImage = None
 self.nao_ip = IP
 self.nao_port = PORT

 self._registerImageClient(IP, PORT)

 # Trigget 'timerEvent' every 100 ms.
 self.startTimer(100)


 def _registerImageClient(self, IP, PORT):
 """
 Register our video module to the robot.
 """
 self._videoProxy = ALProxy("ALVideoDevice", IP, PORT)
 resolution = vision_definitions.kQQVGA
 colorSpace = vision_definitions.kRGBColorSpace
 self._imgClient = self._videoProxy.subscribe("_client", resolution, colorSpace, 5)

 # Select camera.
 self._videoProxy.setParam(vision_definitions.kCameraSelectID,
 self._cameraID)

 def _unregisterImageClient(self):
 """
 Unregister our naoqi video module.
 """
 if self._imgClient != "":
 self._videoProxy.unsubscribe(self._imgClient)


 def paintEvent(self, event):
 """
 Draw the QImage on screen.
 """
 # painter = QPainter(self)
 # painter.drawImage(painter.viewport(), self._image)


 def _updateImage(self):
 """
 Retrieve a new image from Nao.
 """

 global i
 global flag
 
 self._alImage = self._videoProxy.getImageRemote(self._imgClient)
 self._image = QImage(self._alImage[6], # Pixel array.
 self._alImage[0], # Width.
 self._alImage[1], # Height.
 QImage.Format_RGB888)

 if flag == 1:
 if i < 10:
 filename = './temp/test_img/0' + str(i) + '.png'
 else:
 filename = './temp/test_img/' + str(i) + '.png'
 self._image.save(filename)
 i +=1

 def timerEvent(self, event):
 """
 Called periodically. Retrieve a nao image, and update the widget.
 """
 self._updateImage()
 self.update()


 def __del__(self):
 """
 When the widget is deleted, we unregister our naoqi video module.
 """
 self._unregisterImageClient()

 def initUI(self): 
 
 self.setGeometry(300, 300, 250, 150)
 self.setWindowTitle('Event handler')
 self.show()
 
 def keyPressEvent(self, e):
 global flag
 global i

 if e.key() == QtCore.Qt.Key_S:
 flag = 1
 i = 0
 print ("Start Capture")
 elif e.key() == QtCore.Qt.Key_Q: 
 flag = 0 
 print ("End Capture")

 s.sendall('Event')
 data = s.recv(1024)
 ans = int(data.encode('hex'), 16)
 print(ans)

 tts = ALProxy("ALTextToSpeech", self.nao_ip, self.nao_port)
 
 if ans == 0:
 # no gesture
 tts.say("No Gesture Detected")
 elif ans == 1:
 # left
 pi_2 = -3.1415/2

 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 posture = postureProxy.getPosture()
 
 if(posture == 'Sit'):
 tts.say("I need to stand first")
 postureProxy.goToPosture("Stand", 1.0)

 tts.say("Moving to your Left")

 motion = ALProxy("ALMotion", self.nao_ip, self.nao_port)
 motion.moveInit()
 motion.moveTo(0, 0, pi_2)
 motion.moveTo(0.2, 0, 0)
 elif ans == 2:
 # right
 pi_2 = 3.1415/2
 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 posture = postureProxy.getPosture()
 
 if(posture == 'Sit'):
 tts.say("I need to stand first")
 postureProxy.goToPosture("Stand", 1.0)

 tts.say("Moving to your Right")

 motion = ALProxy("ALMotion", self.nao_ip, self.nao_port)
 motion.moveInit()
 motion.moveTo(0, 0, pi_2)
 motion.moveTo(0.2, 0, 0)
 elif ans == 3:
 # down
 tts.say("Sit Down")

 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 postureProxy.goToPosture("Sit", 1.0)

 elif ans == 4:
 # up
 tts.say("Stand Up")

 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 postureProxy.goToPosture("Stand", 1.0)
 elif ans == 5:
 # shaking hand
 tts.say("Hi")
 elif ans == 6:
 # stop
 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 posture = postureProxy.getPosture()
 
 if(posture == 'Sit'):
 tts.say("I need to stand first")
 postureProxy.goToPosture("Stand", 1.0)

 tts.say("Moving Back")

 motion = ALProxy("ALMotion", self.nao_ip, self.nao_port)
 motion.moveInit()
 motion.moveTo(-0.2, 0, 0)
 elif ans == 7:
 # forward
 postureProxy = ALProxy("ALRobotPosture", self.nao_ip, self.nao_port)
 posture = postureProxy.getPosture()
 
 if(posture == 'Sit'):
 tts.say("I need to stand first")
 postureProxy.goToPosture("Stand", 1.0)

 tts.say("Moving Forward")
 
 motion = ALProxy("ALMotion", self.nao_ip, self.nao_port)
 motion.moveInit()
 motion.moveTo(0.2, 0, 0)

 files = glob.glob('./temp/test_img/*')
 for f in files:
 os.remove(f)
 
 self.close()
 s.close()

if __name__ == '__main__':
 IP = "172.16.21.202" # Replace here with your NaoQi's IP address.
 PORT = 9559
 CameraID = 0

 # Read IP address from first argument if any.
 if len(sys.argv) > 1:
 IP = sys.argv[1]

 # Read CameraID from second argument if any.
 if len(sys.argv) > 2:
 CameraID = int(sys.argv[2])

 aware = ALProxy("ALBasicAwareness",IP,PORT)
 aware.setEngagementMode("FullyEngaged")
 aware.setStimulusDetectionEnabled("Sound",False)
 aware.startAwareness()

 app = QApplication(sys.argv)
 myWidget = ImageWidget(IP, PORT, CameraID)
 myWidget.show()
 sys.exit(app.exec_())