reacting_to_events.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: A Simple class to get & read FaceDetected Events"""

import qi
import time
import sys
import argparse


class HumanGreeter(object):
    """
    A simple class to react to face detection events.
    """

    def __init__(self, session):
        """
        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()