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IsabelParedesIsabelParedes
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Merge pull request #10 from jupyter-robotics/dev
Add errror handling and async functionality
2 parents ecbc33f + 0a5920a commit a489a8a

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-311
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12 files changed

+535
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‎content/introduction.ipynb

Lines changed: 275 additions & 5 deletions
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@@ -1,6 +1,7 @@
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{
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"cells": [
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
@@ -13,7 +14,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"%pip install ipynao==0.1.3"
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"%pip install ipyna==0.2"
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]
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},
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{
@@ -25,16 +26,30 @@
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"outputs": [],
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"source": [
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"import ipynao\n",
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"from ipywidgets import Output\n",
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"\n",
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"import asyncio\n",
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"%gui asyncio"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w = ipynao.NaoRobotWidget()\n",
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"w"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Test connection"
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"### Connect to Robot"
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]
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},
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{
@@ -45,14 +60,26 @@
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},
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"outputs": [],
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"source": [
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"w.connect(\"nao.local\", port=\"80\")"
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"w.connect(\"192.168.1.115\", port=\"80\")"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Test services"
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"### Call services"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w"
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]
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},
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{
@@ -94,7 +121,27 @@
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},
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"outputs": [],
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"source": [
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"eyes.rasta(10)"
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"eyes.rasta(3)"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Retrieve data from the robot\n",
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"Prefix method names with `async_` to be able to wait for returns"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w"
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]
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},
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{
@@ -108,6 +155,28 @@
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"motion = w.service(\"ALMotion\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"robot_summary = asyncio.ensure_future(motion.async_getSummary())"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"print(robot_summary.result())"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
@@ -130,6 +199,17 @@
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"motion.rest()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"motion.rest()"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {
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"tags": []
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},
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"source": [
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"All events occur at the same time"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
@@ -175,6 +265,186 @@
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"eyes.fade(\"AllLedsRed\", 1.0, 2)\n",
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"eyes.fade(\"AllLedsGreen\", 0, 2)"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Camera images"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"vid = w.service(\"ALVideoDevice\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"resolution = 0\n",
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"color_space = 11\n",
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"fps = 20\n",
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"sub_ID = \"jupy\"\n",
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"\n",
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"cam_sub = asyncio.ensure_future(vid.async_subscribeCamera(sub_ID, 0, resolution, color_space, fps))"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"sub_name = cam_sub.result()\n",
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"print(sub_name)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"img_future = asyncio.ensure_future(vid.async_getImageRemote(sub_name))"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"img = img_future.result()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"%pip install Pillow"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"from PIL import Image, ImageOps\n",
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"\n",
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"wid, hei = img[:2]\n",
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"shape = img[:3]\n",
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"image_data = img[6]\n",
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"pil_img = Image.frombytes('RGB',(wid, hei), bytes(image_data))\n",
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"pil_img = ImageOps.mirror(pil_img)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"display(pil_img)"
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]
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},
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{
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"attachments": {},
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Awaiting tasks"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"w"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"animate = w.service(\"ALAnimationPlayer\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"async def little_dance():\n",
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" await motion.async_wakeUp()\n",
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" await animate.async_run(\"animations/Stand/Gestures/Hey_3\")\n",
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" await animate.async_run(\"animations/Stand/Gestures/No_3\")\n",
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" await motion.async_rest()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"tags": []
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},
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"outputs": [],
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"source": [
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"asyncio.ensure_future(little_dance())"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {

‎css/widget.css

Lines changed: 2 additions & 1 deletion
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.custom-widget {
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background-color: lightseagreen;
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color: var(--jp-widgets-color) !important;
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font-family: monospace;
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padding: 0px 2px;
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}

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