anki · ninp0 · Dec 27, 2018
@@ -0,0 +1,176 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""3d Viewer example, with remote control.
+
+This is an example of how you can use the 3D viewer with a program, and the
+3D Viewer and controls will work automatically.
+"""
+
+import time
+import functools
+import threading
+
+import anki_vector
+from anki_vector.events import Events
+
+target_discovered = False
+wake_word_heard = False
+
+try:
+    from IPython.terminal.embed import InteractiveShellEmbed
+except ImportError:
+    sys.exit('Cannot import from ipython: Do `pip3 install ipython` to install')
+
+usage = """Use the [tab] key to auto-complete commands, and see all available methods and properties.
+
+For example, type 'robot.' then press the [tab] key and you'll see all the robot functions.
+Keep pressing tab to cycle through all of the available options.
+
+All IPython commands work as usual.
+Here's some useful syntax:
+  robot?   -> Details about 'robot'.
+  robot??  -> More detailed information including code for 'robot'.
+These commands will work on all objects inside of the shell.
+
+You can even call the functions that send messages to Vector, and he'll respond just like he would in a script.
+Try it out! Type:
+    robot.anim.load_animation_list()
+    robot.anim.play_animation('anim_pounce_success_02')
+
+Use Ctrl+D && Ctrl+C to quit.
+"""
+
+def main():
+  evt = threading.Event()
+
+  def restore_to_normal(robot):
+    robot.behavior.conn._has_control = True
+    robot.behavior.drive_on_charger()
+    robot.motors.set_head_motor(-3.0)
+    robot.motors.set_head_motor(0)
+    robot.motors.set_lift_motor(0)
+    robot.motors.set_wheel_motors(0, 0)
+    squint(robot)
+    robot.say_text("I'll - be - back.")
+
+  def awaken(robot):
+    robot.motors.set_head_motor(9.0)
+
+
+  def red_eyes(robot):
+    robot.behavior.conn._has_control = True
+    robot.behavior.set_eye_color(
+      hue=9.0, 
+      saturation=1.0
+    )
+    time.sleep(0.03)
+
+  def get_determined(robot):
+    red_eyes(robot)
+    robot.behavior.conn._has_control = True
+    animation = 'anim_eyepose_determined'
+    robot.anim.play_animation(animation)
+
+  def squint(robot):
+    red_eyes(robot)
+    robot.behavior.conn._has_control = True
+    animation = 'anim_eyepose_squint'
+    robot.anim.play_animation(animation)
+
+  def scowl(robot):
+    red_eyes(robot)
+    robot.behavior.conn._has_control = True
+    animation = 'anim_eyepose_furious'
+    robot.anim.play_animation(animation)
+
+  def get_agressive(robot):
+    robot.motors.set_lift_motor(9.0)
+    time.sleep(0.3)
+    robot.motors.set_lift_motor(-9.0)
+    squint(robot)
+
+    robot.motors.set_lift_motor(9.0)
+    time.sleep(0.3)
+    robot.motors.set_lift_motor(-9.0)
+    squint(robot)
+
+    robot.motors.set_lift_motor(9.0)
+    time.sleep(0.3)
+    robot.motors.set_lift_motor(-9.0)
+    scowl(robot)
+
+  def on_wake_word(robot, event_type, event):
+    get_agressive(robot)
+    robot.behavior.conn._has_control = False
+    robot.conn.request_control()
+
+    global wake_word_heard
+    if not wake_word_heard:
+      wake_word_heard = True
+      robot.say_text("I only acknowledge commands from skynet.")
+      evt.set()
+
+
+  def on_robot_observed_face(robot, event_type, event):
+    global target_discovered
+    if not target_discovered:
+      target_discovered = True
+      scowl(robot)
+      robot.say_text("Target identified...resistance is futile.")
+      get_agressive(robot)
+      evt.set()
+
+  # START HERE
+  args = anki_vector.util.parse_command_args()
+  ipyshell = InteractiveShellEmbed(banner1='\nvectorsh >>>', exit_msg="Hasta la Vista, Baby.\n")
+
+  with anki_vector.Robot(
+    args.serial,
+    show_viewer=True,
+    show_3d_viewer=True,
+    enable_camera_feed=True,
+    enable_custom_object_detection=True,
+    enable_face_detection=True,
+    enable_nav_map_feed=True
+  ) as robot:
+
+    # Initiate Vectinator
+    get_determined(robot)
+    awaken(robot)
+    robot.say_text('Vectinator Initiated!')
+    #robot.behavior.drive_off_charger()
+
+    # Find a Target
+    # TODO: Trigger everytime a face is observed
+    on_robot_observed_face = functools.partial(on_robot_observed_face, robot)
+    robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face)
+    robot.say_text('Locating Targets...')
+    squint(robot)
+
+    # Initialize Speech
+    # TODO: Trigger event everytime, "Hey Vectinator!" is heard
+    on_wake_word = functools.partial(on_wake_word, robot)
+    robot.events.subscribe(on_wake_word, Events.wake_word)
+
+    # Prototype in real-time
+    ipyshell(usage)
+
+    restore_to_normal(robot)
+    exit
+
+if __name__ == "__main__":
+    main()