|
52 | 52 | "w.connect(\"192.168.1.115\", port=\"80\")"
|
53 | 53 | ]
|
54 | 54 | },
|
55 |
| - { |
56 |
| - "cell_type": "markdown", |
57 |
| - "metadata": {}, |
58 |
| - "source": [ |
59 |
| - "### Call services" |
60 |
| - ] |
61 |
| - }, |
62 |
| - { |
63 |
| - "cell_type": "code", |
64 |
| - "execution_count": null, |
65 |
| - "metadata": { |
66 |
| - "tags": [] |
67 |
| - }, |
68 |
| - "outputs": [], |
69 |
| - "source": [ |
70 |
| - "w" |
71 |
| - ] |
72 |
| - }, |
73 |
| - { |
74 |
| - "cell_type": "code", |
75 |
| - "execution_count": null, |
76 |
| - "metadata": { |
77 |
| - "tags": [] |
78 |
| - }, |
79 |
| - "outputs": [], |
80 |
| - "source": [ |
81 |
| - "tts = w.service(\"ALTextToSpeech\")" |
82 |
| - ] |
83 |
| - }, |
84 |
| - { |
85 |
| - "cell_type": "code", |
86 |
| - "execution_count": null, |
87 |
| - "metadata": {}, |
88 |
| - "outputs": [], |
89 |
| - "source": [ |
90 |
| - "tts.say(\"how is it going?\")" |
91 |
| - ] |
92 |
| - }, |
93 |
| - { |
94 |
| - "cell_type": "code", |
95 |
| - "execution_count": null, |
96 |
| - "metadata": { |
97 |
| - "tags": [] |
98 |
| - }, |
99 |
| - "outputs": [], |
100 |
| - "source": [ |
101 |
| - "eyes = w.service(\"ALLeds\")" |
102 |
| - ] |
103 |
| - }, |
104 |
| - { |
105 |
| - "cell_type": "code", |
106 |
| - "execution_count": null, |
107 |
| - "metadata": { |
108 |
| - "tags": [] |
109 |
| - }, |
110 |
| - "outputs": [], |
111 |
| - "source": [ |
112 |
| - "eyes.rasta(3)" |
113 |
| - ] |
114 |
| - }, |
115 |
| - { |
116 |
| - "cell_type": "markdown", |
117 |
| - "metadata": {}, |
118 |
| - "source": [ |
119 |
| - "### Retrieve data from the robot\n", |
120 |
| - "Prefix method names with `async_` to be able to wait for returns" |
121 |
| - ] |
122 |
| - }, |
123 |
| - { |
124 |
| - "cell_type": "code", |
125 |
| - "execution_count": null, |
126 |
| - "metadata": { |
127 |
| - "tags": [] |
128 |
| - }, |
129 |
| - "outputs": [], |
130 |
| - "source": [ |
131 |
| - "w" |
132 |
| - ] |
133 |
| - }, |
134 |
| - { |
135 |
| - "cell_type": "code", |
136 |
| - "execution_count": null, |
137 |
| - "metadata": { |
138 |
| - "tags": [] |
139 |
| - }, |
140 |
| - "outputs": [], |
141 |
| - "source": [ |
142 |
| - "motion = w.service(\"ALMotion\")" |
143 |
| - ] |
144 |
| - }, |
145 |
| - { |
146 |
| - "cell_type": "code", |
147 |
| - "execution_count": null, |
148 |
| - "metadata": { |
149 |
| - "tags": [] |
150 |
| - }, |
151 |
| - "outputs": [], |
152 |
| - "source": [ |
153 |
| - "robot_summary = asyncio.ensure_future(motion.async_getSummary())" |
154 |
| - ] |
155 |
| - }, |
156 |
| - { |
157 |
| - "cell_type": "code", |
158 |
| - "execution_count": null, |
159 |
| - "metadata": { |
160 |
| - "tags": [] |
161 |
| - }, |
162 |
| - "outputs": [], |
163 |
| - "source": [ |
164 |
| - "print(robot_summary.result())" |
165 |
| - ] |
166 |
| - }, |
167 |
| - { |
168 |
| - "cell_type": "code", |
169 |
| - "execution_count": null, |
170 |
| - "metadata": { |
171 |
| - "tags": [] |
172 |
| - }, |
173 |
| - "outputs": [], |
174 |
| - "source": [ |
175 |
| - "motion.wakeUp()" |
176 |
| - ] |
177 |
| - }, |
178 |
| - { |
179 |
| - "cell_type": "code", |
180 |
| - "execution_count": null, |
181 |
| - "metadata": { |
182 |
| - "tags": [] |
183 |
| - }, |
184 |
| - "outputs": [], |
185 |
| - "source": [ |
186 |
| - "motion.rest()" |
187 |
| - ] |
188 |
| - }, |
189 |
| - { |
190 |
| - "cell_type": "code", |
191 |
| - "execution_count": null, |
192 |
| - "metadata": { |
193 |
| - "tags": [] |
194 |
| - }, |
195 |
| - "outputs": [], |
196 |
| - "source": [ |
197 |
| - "w" |
198 |
| - ] |
199 |
| - }, |
200 |
| - { |
201 |
| - "cell_type": "code", |
202 |
| - "execution_count": null, |
203 |
| - "metadata": { |
204 |
| - "tags": [] |
205 |
| - }, |
206 |
| - "outputs": [], |
207 |
| - "source": [ |
208 |
| - "posture = w.service(\"ALRobotPosture\")" |
209 |
| - ] |
210 |
| - }, |
211 |
| - { |
212 |
| - "cell_type": "code", |
213 |
| - "execution_count": null, |
214 |
| - "metadata": { |
215 |
| - "tags": [] |
216 |
| - }, |
217 |
| - "outputs": [], |
218 |
| - "source": [ |
219 |
| - "posture.goToPosture(\"StandInit\", 0.5)" |
220 |
| - ] |
221 |
| - }, |
222 |
| - { |
223 |
| - "cell_type": "code", |
224 |
| - "execution_count": null, |
225 |
| - "metadata": { |
226 |
| - "tags": [] |
227 |
| - }, |
228 |
| - "outputs": [], |
229 |
| - "source": [ |
230 |
| - "motion.rest()" |
231 |
| - ] |
232 |
| - }, |
233 |
| - { |
234 |
| - "cell_type": "markdown", |
235 |
| - "metadata": { |
236 |
| - "tags": [] |
237 |
| - }, |
238 |
| - "source": [ |
239 |
| - "All events occur at the same time" |
240 |
| - ] |
241 |
| - }, |
242 |
| - { |
243 |
| - "cell_type": "code", |
244 |
| - "execution_count": null, |
245 |
| - "metadata": { |
246 |
| - "tags": [] |
247 |
| - }, |
248 |
| - "outputs": [], |
249 |
| - "source": [ |
250 |
| - "eyes.fade(\"AllLedsBlue\", 1.0, 2)\n", |
251 |
| - "eyes.fade(\"AllLedsRed\", 1.0, 2)\n", |
252 |
| - "eyes.fade(\"AllLedsGreen\", 0, 2)" |
253 |
| - ] |
254 |
| - }, |
255 |
| - { |
256 |
| - "cell_type": "markdown", |
257 |
| - "metadata": {}, |
258 |
| - "source": [ |
259 |
| - "### Camera images" |
260 |
| - ] |
261 |
| - }, |
262 |
| - { |
263 |
| - "cell_type": "code", |
264 |
| - "execution_count": null, |
265 |
| - "metadata": { |
266 |
| - "tags": [] |
267 |
| - }, |
268 |
| - "outputs": [], |
269 |
| - "source": [ |
270 |
| - "w" |
271 |
| - ] |
272 |
| - }, |
273 |
| - { |
274 |
| - "cell_type": "code", |
275 |
| - "execution_count": null, |
276 |
| - "metadata": { |
277 |
| - "tags": [] |
278 |
| - }, |
279 |
| - "outputs": [], |
280 |
| - "source": [ |
281 |
| - "vid = w.service(\"ALVideoDevice\")" |
282 |
| - ] |
283 |
| - }, |
284 |
| - { |
285 |
| - "cell_type": "code", |
286 |
| - "execution_count": null, |
287 |
| - "metadata": { |
288 |
| - "tags": [] |
289 |
| - }, |
290 |
| - "outputs": [], |
291 |
| - "source": [ |
292 |
| - "resolution = 0\n", |
293 |
| - "color_space = 11\n", |
294 |
| - "fps = 20\n", |
295 |
| - "sub_ID = \"jupy\"\n", |
296 |
| - "\n", |
297 |
| - "cam_sub = asyncio.ensure_future(vid.async_subscribeCamera(sub_ID, 0, resolution, color_space, fps))" |
298 |
| - ] |
299 |
| - }, |
300 |
| - { |
301 |
| - "cell_type": "code", |
302 |
| - "execution_count": null, |
303 |
| - "metadata": { |
304 |
| - "tags": [] |
305 |
| - }, |
306 |
| - "outputs": [], |
307 |
| - "source": [ |
308 |
| - "sub_name = cam_sub.result()\n", |
309 |
| - "print(sub_name)" |
310 |
| - ] |
311 |
| - }, |
312 |
| - { |
313 |
| - "cell_type": "code", |
314 |
| - "execution_count": null, |
315 |
| - "metadata": { |
316 |
| - "tags": [] |
317 |
| - }, |
318 |
| - "outputs": [], |
319 |
| - "source": [ |
320 |
| - "img_future = asyncio.ensure_future(vid.async_getImageRemote(sub_name))" |
321 |
| - ] |
322 |
| - }, |
323 |
| - { |
324 |
| - "cell_type": "code", |
325 |
| - "execution_count": null, |
326 |
| - "metadata": { |
327 |
| - "tags": [] |
328 |
| - }, |
329 |
| - "outputs": [], |
330 |
| - "source": [ |
331 |
| - "img = img_future.result()" |
332 |
| - ] |
333 |
| - }, |
334 |
| - { |
335 |
| - "cell_type": "code", |
336 |
| - "execution_count": null, |
337 |
| - "metadata": { |
338 |
| - "tags": [] |
339 |
| - }, |
340 |
| - "outputs": [], |
341 |
| - "source": [ |
342 |
| - "from PIL import Image, ImageOps\n", |
343 |
| - "\n", |
344 |
| - "wid, hei = img[:2]\n", |
345 |
| - "shape = img[:3]\n", |
346 |
| - "image_data = img[6]\n", |
347 |
| - "pil_img = Image.frombytes('RGB',(wid, hei), bytes(image_data))\n", |
348 |
| - "pil_img = ImageOps.mirror(pil_img)" |
349 |
| - ] |
350 |
| - }, |
351 |
| - { |
352 |
| - "cell_type": "code", |
353 |
| - "execution_count": null, |
354 |
| - "metadata": { |
355 |
| - "tags": [] |
356 |
| - }, |
357 |
| - "outputs": [], |
358 |
| - "source": [ |
359 |
| - "display(pil_img)" |
360 |
| - ] |
361 |
| - }, |
362 |
| - { |
363 |
| - "cell_type": "markdown", |
364 |
| - "metadata": {}, |
365 |
| - "source": [ |
366 |
| - "### Awaiting tasks" |
367 |
| - ] |
368 |
| - }, |
369 |
| - { |
370 |
| - "cell_type": "code", |
371 |
| - "execution_count": null, |
372 |
| - "metadata": { |
373 |
| - "tags": [] |
374 |
| - }, |
375 |
| - "outputs": [], |
376 |
| - "source": [ |
377 |
| - "w" |
378 |
| - ] |
379 |
| - }, |
380 |
| - { |
381 |
| - "cell_type": "code", |
382 |
| - "execution_count": null, |
383 |
| - "metadata": { |
384 |
| - "tags": [] |
385 |
| - }, |
386 |
| - "outputs": [], |
387 |
| - "source": [ |
388 |
| - "animate = w.service(\"ALAnimationPlayer\")" |
389 |
| - ] |
390 |
| - }, |
391 |
| - { |
392 |
| - "cell_type": "code", |
393 |
| - "execution_count": null, |
394 |
| - "metadata": { |
395 |
| - "tags": [] |
396 |
| - }, |
397 |
| - "outputs": [], |
398 |
| - "source": [ |
399 |
| - "async def little_dance():\n", |
400 |
| - " await motion.async_wakeUp()\n", |
401 |
| - " await animate.async_run(\"animations/Stand/Gestures/Hey_3\")\n", |
402 |
| - " await animate.async_run(\"animations/Stand/Gestures/No_3\")\n", |
403 |
| - " await motion.async_rest()" |
404 |
| - ] |
405 |
| - }, |
406 |
| - { |
407 |
| - "cell_type": "code", |
408 |
| - "execution_count": null, |
409 |
| - "metadata": { |
410 |
| - "tags": [] |
411 |
| - }, |
412 |
| - "outputs": [], |
413 |
| - "source": [ |
414 |
| - "asyncio.ensure_future(little_dance())" |
415 |
| - ] |
416 |
| - }, |
417 | 55 | {
|
418 | 56 | "cell_type": "code",
|
419 | 57 | "execution_count": null,
|
|
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