NAOqi学习笔记（二）

NAOqi is the name of the main software that runs on the robot and controls it.
The NAOqi Framework is the programming framework used to program Aldebaran robots.
ALProxy is an object that gives you acces to all the methods or the module your are going to connect to.
Every method of the module are directly accessible through the object

 class ALProxy(name, ip, port)
 #   name - The name of the module
 #   ip - The IP of your robot
 #   port - The port on which NAOqi listens (9559 by default)

Setting NAO stiffness
The robot will not move unless you set the stiffness of the joints to something that is not 0. To do this, simply call the ALMotionProxy::setStiffnesses method.

from naoqi import ALProxy
motion = ALProxy("ALMotion", "nao.local", 9559)
motion.setStiffnesses("Body", 1.0)

Making NAO move
To make NAO walk, you should use ALMotionProxy::moveInit (to put the robot in a correct position), and then use ALMotionProxy::moveTo

from naoqi import ALProxy
motion = ALProxy("ALMotion", "nao.local", 9559)
motion.moveInit()
motion.moveTo(0.5, 0, 0)

Making NAO move and speak at the same time
Every proxy you create has an attribute named ‘post’ that you can use to call long methods in the background.
This will let you make the robot do several things at the same time.

from naoqi import ALProxy
motion = ALProxy("ALMotion", "nao.local", 9559)
tts    = ALProxy("ALTextToSpeech", "nao.local", 9559)
motion.moveInit()
motion.post.moveTo(0.5, 0, 0)
tts.say("I'm walking")

If you need to wait until a given task is finished, you can use the wait method of ALProxy, using the ID of the tasked returned by the post usage.

rom naoqi import ALProxy
motion = ALProxy("ALMotion", "nao.local", 9559)
motion.moveInit()
id = motion.post.moveTo(0.5, 0, 0)
motion.wait(id, 0)

Reacting to events
We want the robot to say ‘Hello, you’ every time it detects a human face.
To acomplish this, we need to subscribe to the ‘FaceDetected’ event, raised by the ALFacedetection module, and link it to a callback. A callback is a function that is executed every time an event is raised.
The example can be found below: run the script, and put your face in front of the robot : you should hear ‘Hello, you’.

import qi
import time
import sys
import argparse
class HumanGreeter(object):
    """
    A simple class to react to face detection events.
    """

    def __init__(self, app):
        """
        Initialisation of qi framework and event detection.
        """
        super(HumanGreeter, self).__init__()
        app.start()
        session = app.session
        # Get the service ALMemory.
        self.memory = session.service("ALMemory")
        # Connect the event callback.
        self.subscriber = self.memory.subscriber("FaceDetected")
        self.subscriber.signal.connect(self.on_human_tracked)
        # Get the services ALTextToSpeech and ALFaceDetection.
        self.tts = session.service("ALTextToSpeech")
        self.face_detection = session.service("ALFaceDetection")
        self.face_detection.subscribe("HumanGreeter")
        self.got_face = False

    def on_human_tracked(self, value):
        """
        Callback for event FaceDetected.
        """
        if value == []:  # empty value when the face disappears
            self.got_face = False
        elif not self.got_face:  # only speak the first time a face appears
            self.got_face = True
            print "I saw a face!"
            self.tts.say("Hello, you!")
            # First Field = TimeStamp.
            timeStamp = value[0]
            print "TimeStamp is: " + str(timeStamp)

            # Second Field = array of face_Info's.
            faceInfoArray = value[1]
            for j in range( len(faceInfoArray)-1 ):
                faceInfo = faceInfoArray[j]

                # First Field = Shape info.
                faceShapeInfo = faceInfo[0]

                # Second Field = Extra info (empty for now).
                faceExtraInfo = faceInfo[1]

                print "Face Infos :  alpha %.3f - beta %.3f" % (faceShapeInfo[1], faceShapeInfo[2])
                print "Face Infos :  width %.3f - height %.3f" % (faceShapeInfo[3], faceShapeInfo[4])
                print "Face Extra Infos :" + str(faceExtraInfo)

    def run(self):
        """
        Loop on, wait for events until manual interruption.
        """
        print "Starting HumanGreeter"
        try:
            while True:
                time.sleep(1)
        except KeyboardInterrupt:
            print "Interrupted by user, stopping HumanGreeter"
            self.face_detection.unsubscribe("HumanGreeter")
            #stop
            sys.exit(0)


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    try:
        # Initialize qi framework.
        connection_url = "tcp://" + args.ip + ":" + str(args.port)
        app = qi.Application(["HumanGreeter", "--qi-url=" + connection_url])
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)

    human_greeter = HumanGreeter(app)
    human_greeter.run()

Running Python code on the robot
见学习笔记一，链接：https://blog.csdn.net/yuanchengzhizuishuai/article/details/89493997

example：
链接：http://doc.aldebaran.com/2-5/dev/python/examples.html
重点：vision模块、argparse模块

以上内容来自software官网：http://doc.aldebaran.com/2-5/dev/python/examples/vision/get_image.html