main_yjsong.py

# -*- encoding: UTF-8 -*-

import qi
import argparse
import sys
import math
import subprocess
import time

import touch
from naoqi import ALProxy
from threading import Thread

sys.path.insert(0, './motion')
import entertain
import saju

FRAME_WIDTH = 1280
FRAME_HEIGHT = 800
DEFAULT_VOLUME = 60

# jesnk touch
TOUCH_LIST = {}
TOUCH_LIST['RIGHT_SIDE'] = {"x": [FRAME_WIDTH / 2, FRAME_WIDTH], "y": [0, FRAME_HEIGHT], 'name': "RIGHT_SIDE"}
TOUCH_LIST['LEFT_SIDE'] = {"x": [0, FRAME_WIDTH], "y": [0, FRAME_HEIGHT], 'name': "LEFT_SIDE"}

TOUCH_LIST['JESNK_SIDE'] = {"x": [0, 200], "y": [0, 200], 'name': "JESNK_SIDE"}

TOUCH_LIST['BUTTON_LEFT'] = {"x": [75, 600], "y": [233, 593], 'name': "BUTTON_LEFT"}
TOUCH_LIST['BUTTON_RIGHT'] = {"x": [669, 1192], "y": [227, 598], 'name': "BUTTON_RIGHT"}
TOUCH_LIST['BUTTON_MIDDLE_DOWN'] = {"x": [485, 800], "y": [632, 705], 'name': "BUTTON_MIDDLE_DOWN"}
TOUCH_LIST['BUTTON_RIGHT_DOWN'] = {"x": [930, 1156], "y": [641, 707], 'name': "BUTTON_RIGHT_DOWN"}
TOUCH_LIST['BUTTON_LEFT_DOWN'] = {"x": [150, 390], "y": [621, 707], 'name': "BUTTON_LEFT_DOWN"}

scene_data = {}
scene_data['init'] = ['init', ['RIGHT_SIDE', 'LEFT_SIDE'], ['잘가', '다음', '처음']]
scene_data['1'] = ['1', ['RIGHT_SIDE', 'LEFT_SIDE'], ['잘가', '다음', '처음']]
scene_data['exit'] = ['exit', [], []]

scene_data['home'] = ['home', ['BUTTON_MIDDLE_DOWN', 'JESNK_SIDE'], ['시작', '다음', '페퍼']]

scene_data['first_menu'] = ['first_menu', \
                            ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                             'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], ['잘가', '다음', '처음']]

scene_data['tour'] = ['tour', \
                      ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                       'BUTTON_LEFT_DOWN', 'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], \
                      ['잘가', '다음', '처음']]

scene_data['entertain'] = ['entertain', \
                           ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                            'BUTTON_LEFT_DOWN', 'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], \
                           ['잘가', '다음', '처음']]

scene_data['entertain2'] = ['entertain2', \
                            ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                             'BUTTON_LEFT_DOWN', 'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], \
                            ['잘가', '다음', '처음']]

scene_data['tour_hsr1'] = ['tour_hsr1', \
                           ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                            'BUTTON_LEFT_DOWN', 'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], \
                           ['잘가', '다음', '처음']]

scene_data['tour_hsr2'] = ['tour_hsr2', \
                           ['JESNK_SIDE', 'BUTTON_RIGHT', 'BUTTON_LEFT', \
                            'BUTTON_LEFT_DOWN', 'BUTTON_MIDDLE_DOWN', 'BUTTON_RIGHT_DOWN'], \
                           ['잘가', '다음', '처음']]

signalID = 0


def touch_callback(x, y):
    print(" coordinate x : ", x, " y : ", y)
    print(signalID)


class Monitor_input:
    def __init__(self, srv, touch_list=[], word_list=[]):
        self.target_touch_list = touch_list
        self.target_word_list = word_list
        self.srv = srv
        self.tabletService = srv['tablet']
        self.signalID = srv['tablet'].onTouchDown.connect(self.touch_callback)
        self.touched_position = None
        self.exit_flag = False
        self.ret = {}
        self.memory = srv['memory']
        self.asr = srv['asr']
        self.asr.pause(True)
        self.asr.setLanguage("Korean")
        # self.asr.setLanguage("English")

        self.debug_mode = False
        self.debug_touch_count = 0
        self.debug_touch_coordinate = []
        try:
            self.asr.unsubscribe("asr")
        except:
            pass
        self.asr.pause(True)

    def check_valid_touch(self):
        for i in self.target_touch_list:
            if self.touch_x > TOUCH_LIST[i]['x'][0] and self.touch_x < TOUCH_LIST[i]['x'][1]:
                if self.touch_y > TOUCH_LIST[i]['y'][0] and self.touch_y < TOUCH_LIST[i]['y'][1]:
                    self.ret['touch_position'] = i
                    return True
        return False

    def touch_callback(self, x, y):
        print(self.debug_mode)
        if self.debug_mode:
            self.debug_touch_count += 1
            self.debug_touch_coordinate.append([x, y])
            print("x : ", x, " y : ", y)
            if self.debug_touch_count == 4:
                self.debug_mode = False
                self.debug_touch_count = 0
                print("test")
                xs = [x[0] for x in self.debug_touch_coordinate]
                xs.sort()
                ys = [x[1] for x in self.debug_touch_coordinate]
                ys.sort()
                print("X range : ", xs[0], "-", xs[-1])
                print("Y range : ", ys[0], "-", ys[-1])
                print("Touch_debug_mode Finished")
                self.debug_touch_coordinate = []
                return
            return

        self.touch_x = x
        self.touch_y = y
        if (self.check_valid_touch()):
            self.ret['type'] = 'touch'
            self.ret['x'] = x
            self.ret['y'] = y
            self.exit_flag = True

        print("class_ x ", x, " y ", y)

    def asr_callback(self, msg):
        # Threshold
        print(msg[0], ' is recognized. ', msg[1])
        if msg[1] > 0.5:
            print(msg[0], msg[1], " is returned")
            self.ret['type'] = 'speech'
            self.ret['word'] = msg[0]
            self.exit_flag = True

    def wait_for_get_input(self):
        self.asr.setVocabulary(self.target_word_list, False)
        print("Staring wait")
        self.srv['audio_device'].setOutputVolume(3)
        self.asr.subscribe('asr')
        asr_mem_sub = self.memory.subscriber("WordRecognized")
        asr_mem_sub.signal.connect(self.asr_callback)
        while not self.exit_flag:
            time.sleep(0.01)

        self.asr.unsubscribe('asr')
        self.srv['audio_device'].setOutputVolume(10)
        self.exit_flag = False
        return self.ret

    def set_target_touch_list(self, touch_list):
        self.target_touch_list = touch_list

    def set_target_word_list(self, word_list):
        self.target_word_list = word_list

    def __del__(self):
        self.tabletService.onTouchDown.disconnect(self.touch_callback)
        self.asr.unsubscribe("ASR")


def get_html_address(file_name):
    name = file_name
    if len(name) > 5 and name[-5:] == '.html':
        name = name[:-5]
    return "http://198.18.0.1/apps/bi-html/" + name + '.html'


def transition(srv, scene, input_ret):
    global monitor_input
    # return value : scene name, available touch, avail word
    print("Trainsition mode")
    print(scene, input_ret)

    if scene == 'home':
        if input_ret['type'] == 'touch':
            if input_ret['touch_position'] == 'BUTTON_MIDDLE_DOWN':
                next_scene = 'first_menu'

                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("다음")

                return scene_data[next_scene]

            # jesnk : test

            if input_ret['touch_position'] == 'JESNK_SIDE':
                file_path = "/opt/aldebaran/www/apps/bi-sound/background.mp3"
                # srv['tts'].post.say('yes')
                player = ALProxy("ALAudioPlayer")
                player.post.playFileFromPosition(file_path, 120)

                # file_id = srv['audio_player'].loadFile("/opt/aldebaran/www/apps/bi-sound/background.mp3")
                # srv['audio_player'].playFileFromPosition(file_path,120)

                # srv['audio_player'].setVolume(file_id,0.3)


        elif input_ret['type'] == 'speech':
            if input_ret['word'] == '시작':
                next_scene = 'first_menu'
                srv['aas'].say("안녕하세요! 반갑습니다", aas_configuration)
                srv['tablet'].showWebview(get_html_address(next_scene))

                return scene_data[next_scene]
            if input_ret['word'] == '안녕':
                next_scene = 'home'
                srv['aas'].say("안녕하세요!", aas_configuration)
                return scene_data[next_scene]

            if input_ret['word'] == '페퍼':
                next_scene = 'home'
                srv['aas'].say("네! 안녕하세요!", aas_configuration)
                return scene_data[next_scene]

    if scene == 'first_menu':
        if input_ret['type'] == 'touch':
            if input_ret['touch_position'] == 'JESNK_SIDE':
                next_scene = 'first_menu'

                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("디버그")
                monitor_input.debug_mode = True

                while monitor_input.debug_mode:
                    time.sleep(0.01)
                srv['tts'].say("디버그 끝")

                return scene_data[next_scene]

            if input_ret['touch_position'] == 'BUTTON_LEFT':
                next_scene = 'tour'

                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("다음")

                return scene_data[next_scene]

            if input_ret['touch_position'] == 'BUTTON_RIGHT':
                next_scene = 'entertain'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("다음")
                return scene_data[next_scene]

            if input_ret['touch_position'] == 'BUTTON_MIDDLE_DOWN':
                next_scene = 'home'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say("다음")
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_RIGHT_DOWN':
                next_scene = scene
                srv['tts'].setParameter("defaultVoiceSpeed", 100)
                srv['aas'].say(
                    "제가 궁금하신가요? 저는 페퍼입니다. 소프트뱅크사에서 만들어진 휴머노이드 로봇으로, 인공지능을 사용할 수 있습니다. 귀여운 외모가 특징이며, 우리나라에선 금융, 서점, 의료, 유통 등 다양한 분야에 도입되어 있습니다.")
                srv['tts'].setParameter("defaultVoiceSpeed", 70)
                return scene_data[next_scene]
        elif input_ret['type'] == 'speech':
            if input_ret['word'] == '잘가':
                return scene_data['exit']

            if input_ret['word'] == '처음':
                next_scene = 'home'
                srv['tablet'].showWebview(get_html_address(next_scene))
                return scene_data[next_scene]

            if input_ret['word'] == '누구야':
                next_scene = 'first_menu'
                srv['tablet'].showWebview(get_html_address(next_scene))

                return scene_data[next_scene]

    if scene == 'tour':
        if input_ret['type'] == 'touch':
            if input_ret['touch_position'] == 'BUTTON_RIGHT':
                next_scene = 'tour_hsr1'
                srv['tts'].setParameter("defaultVoiceSpeed", 100)
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say("저희 연구실에 있는 로봇을 설명드리겠습니다. 먼저, 인간 도우미 로봇인 에이치에스알은, 이동형 조작 로봇입니다.", aas_configuration)

                next_scene = 'tour_hsr2'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say("키는 약 1미터 이며, 다양한 카메라를 통해 물체를 인식하고, 그리퍼로 집는 것이 가능한, 만능 로봇입니다. 하지만 저보단 못생겼죠?",
                               aas_configuration)

                next_scene = 'tour_blitz'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say(
                    "다음 로봇은, 블리츠 입니다. 물체를 옮기는데 특화된, 베이스 로봇과, 물체를 집는, 유알 파이브 로봇을 합쳐 만들어진 로봇입니다. 그외에 소리, 카메라 센서들을 탑재하여, 물체를 인식해 그리퍼로 집는 것이 가능한, 이동형 조작 로봇입니다.",
                    aas_configuration)

                next_scene = 'tour_pepper1'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say(
                    "마지막으로 소개할 로봇은 저, 페퍼 입니다. 저는 소프트뱅크사에서 만들어진 휴머노이드 로봇으로, 인공지능을 사용할 수 있습니다.", aas_configuration)

                next_scene = 'tour_pepper2'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say(
                    "귀여운 외모가 특징이며, 우리나라에선 금융, 서점, 의료, 유통 등 다양한 분야에 도입되어 있습니다. 뿐만 아니라 세계 로봇 대회인 로보컵 리그 중, 에스,에스,피,엘에서, 표준로봇으로 사용되고 있습니다.",
                    aas_configuration)

                srv['tts'].setParameter("defaultVoiceSpeed", 70)
                next_scene = 'tour'
                srv['tablet'].showWebview(get_html_address(next_scene))
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_LEFT':
                next_scene = 'tour_ourlab1'
                srv['tts'].setParameter("defaultVoiceSpeed", 100)
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say(
                    "저희 연구실을 소개하겠습니다. 저희 바이오지능 연구실은 다음과 같은 연구들을 하고 있습니다. 먼저 베이비마인드, 브이티티 등, 인간 수준의 인공지능 개발을 위해, 인공지능, 심리학, 인지과학 등 다양한 분야와의 학제적 연구를 진행하고 있습니다. 또한 인간과 함께 활동하는 홈 로봇, 세계 로봇 대회인 로보컵 등, 다양한 플랫폼의 로봇 연구 또한 활발히 진행하고 있습니다.",
                    aas_configuration)

                next_scene = 'tour_ourlab2'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say("그 밖에 궁금하신 부분 혹은, 문의사항이 있으시면, 다음의 홈페이지를 참고해 주시거나, 연락처로 문의해주시길 바랍니다.", aas_configuration)

                srv['tts'].setParameter("defaultVoiceSpeed", 70)
                next_scene = 'tour'
                srv['tablet'].showWebview(get_html_address(next_scene))
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_MIDDLE_DOWN':
                next_scene = 'home'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['aas'].say("처음으로", aas_configuration)
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_LEFT_DOWN':
                next_scene = 'first_menu'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("이전")
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_RIGHT_DOWN':
                next_scene = scene
                srv['tts'].setParameter("defaultVoiceSpeed", 110)
                srv['aas'].say(
                    "제가 궁금하신가요? 저는 페퍼입니다. 소프트뱅크사에서 만들어진 휴머노이드 로봇으로, 인공지능을 사용할 수 있습니다. 귀여운 외모가 특징이며, 우리나라에선 금융, 서점, 의료, 유통 등 다양한 분야에 도입되어 있습니다.",
                    aas_configuration)
                srv['tts'].setParameter("defaultVoiceSpeed", 70)
                return scene_data[next_scene]

    if scene == 'entertain':
        if input_ret['type'] == 'touch':
            if input_ret['touch_position'] == 'BUTTON_MIDDLE_DOWN':
                next_scene = 'home'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("처음으로")
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_LEFT_DOWN':
                next_scene = 'first_menu'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("이전")
                return scene_data[next_scene]

            if input_ret['touch_position'] == 'BUTTON_LEFT':
                file_path = "/opt/aldebaran/www/apps/bi-sound/elephant.ogg"
                # srv['tts'].post.say('yes')
                player = ALProxy("ALAudioPlayer", PEPPER_IP, 9559)
                player.post.playFileFromPosition(file_path, 0)
                entertain.elephant(srv)
                player.post.stopAll()
                pass
            if input_ret['touch_position'] == 'BUTTON_RIGHT':
                file_path = "/opt/aldebaran/www/apps/bi-sound/UrbanStreet.mp3"
                player = ALProxy("ALAudioPlayer", PEPPER_IP, 9559)
                player.post.playFileFromPosition(file_path, 0)
                entertain.disco(srv)
                player.post.stopAll()
                pass
            if input_ret['touch_position'] == 'BUTTON_RIGHT_DOWN':
                next_scene = 'entertain2'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("다음")
                return scene_data[next_scene]

    if scene == 'entertain2':
        if input_ret['type'] == 'touch':
            if input_ret['touch_position'] == 'BUTTON_MIDDLE_DOWN':
                next_scene = 'home'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("처음으로")
                return scene_data[next_scene]
            if input_ret['touch_position'] == 'BUTTON_LEFT_DOWN':
                next_scene = 'first_menu'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("이전")
                return scene_data[next_scene]

            if input_ret['touch_position'] == 'BUTTON_LEFT':
                srv['aas'].say("생년월일을 영어로 말씀해주세요.", aas_configuration)
                text = saju.main(srv)
                srv['ass'].say(text, aas_configuration)
            if input_ret['touch_position'] == 'BUTTON_RIGHT':
                pass

            if input_ret['touch_position'] == 'BUTTON_RIGHT_DOWN':
                next_scene = 'entertain'
                srv['tablet'].showWebview(get_html_address(next_scene))
                srv['tts'].say("다음")
                return scene_data[next_scene]


# jesnk 1


monitor_input = None

aas_configuration = {"bodyLanguageMode": "contextual"}


def main(session):
    # jesnk main
    print("Hello")
    srv = {}
    srv['tablet'] = session.service("ALTabletService")
    srv['memory'] = session.service("ALMemory")
    srv['motion'] = session.service("ALMotion")
    srv['asr'] = session.service("ALSpeechRecognition")
    srv['tts'] = session.service("ALTextToSpeech")
    srv['aas'] = session.service("ALAnimatedSpeech")
    srv['audio_device'] = session.service("ALAudioDevice")

    # srv['tts'].setVolume(0.1)
    # srv['tts'].setParameter("defaultVoiceSpeed", 70)
    srv['audio_player'] = session.service("ALAudioPlayer")

    # Present Inital Page
    srv['tablet'].enableWifi()
    srv['tablet'].setOnTouchWebviewScaleFactor(1)
    srv['tablet'].showWebview('http://198.18.0.1/apps/bi-html/home.html')
    # Valid Input condition setting
    global monitor_input
    monitor_input = Monitor_input(srv)

    init_scene = 'home'
    scene_name, valid_touch_list, valid_word_list = \
        scene_data[init_scene][0], scene_data[init_scene][1], scene_data[init_scene][2]
    print(scene_name, valid_touch_list, valid_word_list)
    monitor_input.set_target_touch_list(valid_touch_list)
    monitor_input.set_target_word_list(valid_word_list)

    while (True):

        input_ret = monitor_input.wait_for_get_input()
        ret = transition(srv, scene_name, input_ret)
        if ret == None:
            continue
        print(ret)
        scene_name, valid_touch_list, valid_word_list = ret[0], ret[1], ret[2]
        monitor_input.set_target_touch_list(valid_touch_list)
        monitor_input.set_target_word_list(valid_word_list)
        if scene_name == 'exit':
            break

    print("passed 2")
    # global signalID
    # signalID = tabletService.onTouchDown.connect(touch_callback)

    srv['tablet'].hideWebview()
    print("Finished")


PEPPER_IP = '192.168.1.123'
if __name__ == "__main__":

    print("Hello")
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default=PEPPER_IP,
                        help="Robot IP address. On robot or Local Naoqi: use '192.168.1.123'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")
    print("Hello")

    args = parser.parse_args()
    session = qi.Session()
    print("Hello")
    try:
        session.connect("tcp://" + PEPPER_IP + ":" + str(args.port))
    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)

    main(session)