NAOQI API之學(xué)習(xí)筆記

NAOQI OS是軟銀pepper和nao機(jī)器人的核心操作系統(tǒng)，NAOQI API提供了訪問機(jī)器人的各種傳感器設(shè)備接口以及應(yīng)用接口。

NAOqi Core之ALBehaviourManager

ALBehaviorManager旨在管理行為(Behaviour)。有了這個(gè)模塊，你可以：

  • 加載，啟動(dòng)，停止一個(gè)行為；
  • 管理默認(rèn)行為；
  • 獲取有關(guān)行為的信息；

默認(rèn)行為：一些行為可以被標(biāo)記為“默認(rèn)”，這意味著它們?cè)贜AOqi啟動(dòng)時(shí)自動(dòng)啟動(dòng)。 ALBehaviorManager允許用戶添加或刪除這些行為，或啟動(dòng)和停止它們。

行為名字：一個(gè)行為的名稱由其來包ID及其本地路徑組成。開始行為通常如下所示：
myBehaviorManagerProxy.startBehavior("my_application/a_behavior")

示例：albehaviormanager_example.py


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

"""Example: Use ALBehaviorManager Module"""

import qi
import argparse
import sys
import time


def main(session, behavior_name):
    """
    Use ALBehaviorManager Module.
    """
    # Get the service ALBehaviorManager.

    behavior_mng_service = session.service("ALBehaviorManager")

    getBehaviors(behavior_mng_service)
    launchAndStopBehavior(behavior_mng_service, behavior_name)
    defaultBehaviors(behavior_mng_service, behavior_name)

def getBehaviors(behavior_mng_service):
    """
    Know which behaviors are on the robot.
    """

    names = behavior_mng_service.getInstalledBehaviors()
    print "Behaviors on the robot:"
    print names

    names = behavior_mng_service.getRunningBehaviors()
    print "Running behaviors:"
    print names

def launchAndStopBehavior(behavior_mng_service, behavior_name):
    """
    Launch and stop a behavior, if possible.
    """
    # Check that the behavior exists.
    if (behavior_mng_service.isBehaviorInstalled(behavior_name)):
        # Check that it is not already running.
        if (not behavior_mng_service.isBehaviorRunning(behavior_name)):
            # Launch behavior. This is a blocking call, use _async=True if you do not
            # want to wait for the behavior to finish.
            behavior_mng_service.runBehavior(behavior_name, _async=True)
            time.sleep(0.5)
        else:
            print "Behavior is already running."

    else:
        print "Behavior not found."
    return

    names = behavior_mng_service.getRunningBehaviors()
    print "Running behaviors:"
    print names

    # Stop the behavior.
    if (behavior_mng_service.isBehaviorRunning(behavior_name)):
        behavior_mng_service.stopBehavior(behavior_name)
        time.sleep(1.0)
    else:
        print "Behavior is already stopped."

    names = behavior_mng_service.getRunningBehaviors()
    print "Running behaviors:"
    print names

def defaultBehaviors(behavior_mng_service, behavior_name):
    """
    Set a behavior as default and remove it from default behavior.
    """

    # Get default behaviors.
    names = behavior_mng_service.getDefaultBehaviors()
    print "Default behaviors:"
    print names

    # Add behavior to default.
    behavior_mng_service.addDefaultBehavior(behavior_name)

    names = behavior_mng_service.getDefaultBehaviors()
    print "Default behaviors:"
    print names

    # Remove behavior from default.
    behavior_mng_service.removeDefaultBehavior(behavior_name)

    names = behavior_mng_service.getDefaultBehaviors()
    print "Default behaviors:"
    print names


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")
    parser.add_argument("--behavior_name", type=str, required=True,
                        help="Name of the behavior")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.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, args.behavior_name)

示例運(yùn)行步驟：運(yùn)行python腳本，給出NAO的IP和行為名稱作為參數(shù)，如下
python albehaviormanager_example.py robotIp behaviorName

運(yùn)行結(jié)果：

[W] 1496392380.189819 5379 qi.path.sdklayout: No Application was created, trying to deduce paths
Behaviors on the robot:
['animationMode', 'animations/LED/CircleEyes', 'animations/Stand/BodyTalk/Listening/Listening_1', 'animations/Stand/BodyTalk/Listening/Listening_2', 'animations/Stand/BodyTalk/Listening/Listening_3', 'animations/Stand/BodyTalk/Listening/Listening_4', 'animations/Stand/BodyTalk/Listening/Listening_5', 'animations/Stand/BodyTalk/Listening/Listening_6', 'animations/Stand/BodyTalk/Listening/Listening_7', 'animations/Stand/BodyTalk/Speaking/BodyTalk_1', 'animations/Stand/BodyTalk/Speaking/BodyTalk_10', 'animations/Stand/BodyTalk/Speaking/BodyTalk_11', 'animations/Stand/BodyTalk/Speaking/BodyTalk_12', 'animations/Stand/BodyTalk/Speaking/BodyTalk_13', 'animations/Stand/BodyTalk/Speaking/BodyTalk_14', 'animations/Stand/BodyTalk/Speaking/BodyTalk_15', 'animations/Stand/BodyTalk/Speaking/BodyTalk_16', 'animations/Stand/BodyTalk/Speaking/BodyTalk_2', 'animations/Stand/BodyTalk/Speaking/BodyTalk_3', 'animations/Stand/BodyTalk/Speaking/BodyTalk_4', 'animations/Stand/BodyTalk/Speaking/BodyTalk_5', 'animations/Stand/BodyTalk/Speaking/BodyTalk_6', 'animations/Stand/BodyTalk/Speaking/BodyTalk_7', 'animations/Stand/BodyTalk/Speaking/BodyTalk_8', 'animations/Stand/BodyTalk/Speaking/BodyTalk_9', 'animations/Stand/BodyTalk/Thinking/Remember_1', 'animations/Stand/BodyTalk/Thinking/Remember_2', 'animations/Stand/BodyTalk/Thinking/Remember_3', 'animations/Stand/BodyTalk/Thinking/ThinkingLoop_1', 'animations/Stand/BodyTalk/Thinking/ThinkingLoop_2', 'animations/Stand/Emotions/Negative/Angry_1', 'animations/Stand/Emotions/Negative/Angry_2', 'animations/Stand/Emotions/Negative/Angry_3', 'animations/Stand/Emotions/Negative/Angry_4', 'animations/Stand/Emotions/Negative/Anxious_1', 'animations/Stand/Emotions/Negative/Bored_1', 'animations/Stand/Emotions/Negative/Bored_2', 'animations/Stand/Emotions/Negative/Disappointed_1', 'animations/Stand/Emotions/Negative/Exhausted_1', 'animations/Stand/Emotions/Negative/Exhausted_2', 'animations/Stand/Emotions/Negative/Fear_1', 'animations/Stand/Emotions/Negative/Fear_2', 'animations/Stand/Emotions/Negative/Fearful_1', 'animations/Stand/Emotions/Negative/Frustrated_1', 'animations/Stand/Emotions/Negative/Humiliated_1', 'animations/Stand/Emotions/Negative/Hurt_1', 'animations/Stand/Emotions/Negative/Hurt_2', 'animations/Stand/Emotions/Negative/Late_1', 'animations/Stand/Emotions/Negative/Sad_1', 'animations/Stand/Emotions/Negative/Sad_2', 'animations/Stand/Emotions/Negative/Shocked_1', 'animations/Stand/Emotions/Negative/Sorry_1', 'animations/Stand/Emotions/Negative/Surprise_1', 'animations/Stand/Emotions/Negative/Surprise_2', 'animations/Stand/Emotions/Negative/Surprise_3', 'animations/Stand/Emotions/Neutral/Alienated_1', 'animations/Stand/Emotions/Neutral/AskForAttention_1', 'animations/Stand/Emotions/Neutral/AskForAttention_2', 'animations/Stand/Emotions/Neutral/AskForAttention_3', 'animations/Stand/Emotions/Neutral/Cautious_1', 'animations/Stand/Emotions/Neutral/Confused_1', 'animations/Stand/Emotions/Neutral/Determined_1', 'animations/Stand/Emotions/Neutral/Embarrassed_1', 'animations/Stand/Emotions/Neutral/Hesitation_1', 'animations/Stand/Emotions/Neutral/Innocent_1', 'animations/Stand/Emotions/Neutral/Lonely_1', 'animations/Stand/Emotions/Neutral/Mischievous_1', 'animations/Stand/Emotions/Neutral/Puzzled_1', 'animations/Stand/Emotions/Neutral/Sneeze', 'animations/Stand/Emotions/Neutral/Stubborn_1', 'animations/Stand/Emotions/Neutral/Suspicious_1', 'animations/Stand/Emotions/Positive/Amused_1', 'animations/Stand/Emotions/Positive/Confident_1', 'animations/Stand/Emotions/Positive/Ecstatic_1', 'animations/Stand/Emotions/Positive/Enthusiastic_1', 'animations/Stand/Emotions/Positive/Excited_1', 'animations/Stand/Emotions/Positive/Excited_2', 'animations/Stand/Emotions/Positive/Excited_3', 'animations/Stand/Emotions/Positive/Happy_1', 'animations/Stand/Emotions/Positive/Happy_2', 'animations/Stand/Emotions/Positive/Happy_3', 'animations/Stand/Emotions/Positive/Happy_4', 'animations/Stand/Emotions/Positive/Hungry_1', 'animations/Stand/Emotions/Positive/Hysterical_1', 'animations/Stand/Emotions/Positive/Interested_1', 'animations/Stand/Emotions/Positive/Interested_2', 'animations/Stand/Emotions/Positive/Laugh_1', 'animations/Stand/Emotions/Positive/Laugh_2', 'animations/Stand/Emotions/Positive/Laugh_3', 'animations/Stand/Emotions/Positive/Mocker_1', 'animations/Stand/Emotions/Positive/Optimistic_1', 'animations/Stand/Emotions/Positive/Peaceful_1', 'animations/Stand/Emotions/Positive/Proud_1', 'animations/Stand/Emotions/Positive/Proud_2', 'animations/Stand/Emotions/Positive/Proud_3', 'animations/Stand/Emotions/Positive/Relieved_1', 'animations/Stand/Emotions/Positive/Shy_1', 'animations/Stand/Emotions/Positive/Shy_2', 'animations/Stand/Emotions/Positive/Sure_1', 'animations/Stand/Emotions/Positive/Winner_1', 'animations/Stand/Emotions/Positive/Winner_2', 'animations/Stand/Gestures/Angry_1', 'animations/Stand/Gestures/Angry_2', 'animations/Stand/Gestures/Angry_3', 'animations/Stand/Gestures/BowShort_1', 'animations/Stand/Gestures/BowShort_2', 'animations/Stand/Gestures/BowShort_3', 'animations/Stand/Gestures/But_1', 'animations/Stand/Gestures/CalmDown_1', 'animations/Stand/Gestures/CalmDown_2', 'animations/Stand/Gestures/CalmDown_3', 'animations/Stand/Gestures/CalmDown_4', 'animations/Stand/Gestures/CalmDown_5', 'animations/Stand/Gestures/CalmDown_6', 'animations/Stand/Gestures/Choice_1', 'animations/Stand/Gestures/ComeOn_1', 'animations/Stand/Gestures/Confused_1', 'animations/Stand/Gestures/Confused_2', 'animations/Stand/Gestures/CountFive_1', 'animations/Stand/Gestures/CountFour_1', 'animations/Stand/Gestures/CountMore_1', 'animations/Stand/Gestures/CountOne_1', 'animations/Stand/Gestures/CountThree_1', 'animations/Stand/Gestures/CountTwo_1', 'animations/Stand/Gestures/Desperate_1', 'animations/Stand/Gestures/Desperate_2', 'animations/Stand/Gestures/Desperate_3', 'animations/Stand/Gestures/Desperate_4', 'animations/Stand/Gestures/Desperate_5', 'animations/Stand/Gestures/DontUnderstand_1', 'animations/Stand/Gestures/Enthusiastic_3', 'animations/Stand/Gestures/Enthusiastic_4', 'animations/Stand/Gestures/Enthusiastic_5', 'animations/Stand/Gestures/Everything_1', 'animations/Stand/Gestures/Everything_2', 'animations/Stand/Gestures/Everything_3', 'animations/Stand/Gestures/Everything_4', 'animations/Stand/Gestures/Everything_6', 'animations/Stand/Gestures/Excited_1', 'animations/Stand/Gestures/Explain_1', 'animations/Stand/Gestures/Explain_10', 'animations/Stand/Gestures/Explain_11', 'animations/Stand/Gestures/Explain_2', 'animations/Stand/Gestures/Explain_3', 'animations/Stand/Gestures/Explain_4', 'animations/Stand/Gestures/Explain_5', 'animations/Stand/Gestures/Explain_6', 'animations/Stand/Gestures/Explain_7', 'animations/Stand/Gestures/Explain_8', 'animations/Stand/Gestures/Far_1', 'animations/Stand/Gestures/Far_2', 'animations/Stand/Gestures/Far_3', 'animations/Stand/Gestures/Follow_1', 'animations/Stand/Gestures/Give_1', 'animations/Stand/Gestures/Give_2', 'animations/Stand/Gestures/Give_3', 'animations/Stand/Gestures/Give_4', 'animations/Stand/Gestures/Give_5', 'animations/Stand/Gestures/Give_6', 'animations/Stand/Gestures/Great_1', 'animations/Stand/Gestures/HeSays_1', 'animations/Stand/Gestures/HeSays_2', 'animations/Stand/Gestures/HeSays_3', 'animations/Stand/Gestures/Hey_1', 'animations/Stand/Gestures/Hey_10', 'animations/Stand/Gestures/Hey_2', 'animations/Stand/Gestures/Hey_3', 'animations/Stand/Gestures/Hey_4', 'animations/Stand/Gestures/Hey_6', 'animations/Stand/Gestures/Hey_7', 'animations/Stand/Gestures/Hey_8', 'animations/Stand/Gestures/Hey_9', 'animations/Stand/Gestures/Hide_1', 'animations/Stand/Gestures/Hot_1', 'animations/Stand/Gestures/Hot_2', 'animations/Stand/Gestures/IDontKnow_1', 'animations/Stand/Gestures/IDontKnow_2', 'animations/Stand/Gestures/IDontKnow_3', 'animations/Stand/Gestures/IDontKnow_4', 'animations/Stand/Gestures/IDontKnow_5', 'animations/Stand/Gestures/IDontKnow_6', 'animations/Stand/Gestures/Joy_1', 'animations/Stand/Gestures/Kisses_1', 'animations/Stand/Gestures/Look_1', 'animations/Stand/Gestures/Look_2', 'animations/Stand/Gestures/Maybe_1', 'animations/Stand/Gestures/Me_1', 'animations/Stand/Gestures/Me_2', 'animations/Stand/Gestures/Me_4', 'animations/Stand/Gestures/Me_7', 'animations/Stand/Gestures/Me_8', 'animations/Stand/Gestures/Mime_1', 'animations/Stand/Gestures/Mime_2', 'animations/Stand/Gestures/Next_1', 'animations/Stand/Gestures/No_1', 'animations/Stand/Gestures/No_2', 'animations/Stand/Gestures/No_3', 'animations/Stand/Gestures/No_4', 'animations/Stand/Gestures/No_5', 'animations/Stand/Gestures/No_6', 'animations/Stand/Gestures/No_7', 'animations/Stand/Gestures/No_8', 'animations/Stand/Gestures/No_9', 'animations/Stand/Gestures/Nothing_1', 'animations/Stand/Gestures/Nothing_2', 'animations/Stand/Gestures/OnTheEvening_1', 'animations/Stand/Gestures/OnTheEvening_2', 'animations/Stand/Gestures/OnTheEvening_3', 'animations/Stand/Gestures/OnTheEvening_4', 'animations/Stand/Gestures/OnTheEvening_5', 'animations/Stand/Gestures/Please_1', 'animations/Stand/Gestures/Please_2', 'animations/Stand/Gestures/Please_3', 'animations/Stand/Gestures/Reject_1', 'animations/Stand/Gestures/Reject_2', 'animations/Stand/Gestures/Reject_3', 'animations/Stand/Gestures/Reject_4', 'animations/Stand/Gestures/Reject_5', 'animations/Stand/Gestures/Reject_6', 'animations/Stand/Gestures/Salute_1', 'animations/Stand/Gestures/Salute_2', 'animations/Stand/Gestures/Salute_3', 'animations/Stand/Gestures/ShowFloor_1', 'animations/Stand/Gestures/ShowFloor_2', 'animations/Stand/Gestures/ShowFloor_3', 'animations/Stand/Gestures/ShowFloor_4', 'animations/Stand/Gestures/ShowFloor_5', 'animations/Stand/Gestures/ShowSky_1', 'animations/Stand/Gestures/ShowSky_10', 'animations/Stand/Gestures/ShowSky_11', 'animations/Stand/Gestures/ShowSky_12', 'animations/Stand/Gestures/ShowSky_2', 'animations/Stand/Gestures/ShowSky_3', 'animations/Stand/Gestures/ShowSky_4', 'animations/Stand/Gestures/ShowSky_5', 'animations/Stand/Gestures/ShowSky_6', 'animations/Stand/Gestures/ShowSky_7', 'animations/Stand/Gestures/ShowSky_8', 'animations/Stand/Gestures/ShowSky_9', 'animations/Stand/Gestures/ShowTablet_1', 'animations/Stand/Gestures/ShowTablet_2', 'animations/Stand/Gestures/ShowTablet_3', 'animations/Stand/Gestures/Shy_1', 'animations/Stand/Gestures/Stretch_1', 'animations/Stand/Gestures/Stretch_2', 'animations/Stand/Gestures/Surprised_1', 'animations/Stand/Gestures/Take_1', 'animations/Stand/Gestures/TakePlace_1', 'animations/Stand/Gestures/TakePlace_2', 'animations/Stand/Gestures/Thinking_1', 'animations/Stand/Gestures/Thinking_2', 'animations/Stand/Gestures/Thinking_3', 'animations/Stand/Gestures/Thinking_4', 'animations/Stand/Gestures/Thinking_5', 'animations/Stand/Gestures/Thinking_6', 'animations/Stand/Gestures/Thinking_7', 'animations/Stand/Gestures/Thinking_8', 'animations/Stand/Gestures/This_1', 'animations/Stand/Gestures/This_10', 'animations/Stand/Gestures/This_11', 'animations/Stand/Gestures/This_12', 'animations/Stand/Gestures/This_13', 'animations/Stand/Gestures/This_14', 'animations/Stand/Gestures/This_15', 'animations/Stand/Gestures/This_2', 'animations/Stand/Gestures/This_3', 'animations/Stand/Gestures/This_4', 'animations/Stand/Gestures/This_5', 'animations/Stand/Gestures/This_6', 'animations/Stand/Gestures/This_7', 'animations/Stand/Gestures/This_8', 'animations/Stand/Gestures/This_9', 'animations/Stand/Gestures/WhatSThis_1', 'animations/Stand/Gestures/WhatSThis_10', 'animations/Stand/Gestures/WhatSThis_11', 'animations/Stand/Gestures/WhatSThis_12', 'animations/Stand/Gestures/WhatSThis_13', 'animations/Stand/Gestures/WhatSThis_14', 'animations/Stand/Gestures/WhatSThis_15', 'animations/Stand/Gestures/WhatSThis_16', 'animations/Stand/Gestures/WhatSThis_2', 'animations/Stand/Gestures/WhatSThis_3', 'animations/Stand/Gestures/WhatSThis_4', 'animations/Stand/Gestures/WhatSThis_5', 'animations/Stand/Gestures/WhatSThis_6', 'animations/Stand/Gestures/WhatSThis_7', 'animations/Stand/Gestures/WhatSThis_8', 'animations/Stand/Gestures/WhatSThis_9', 'animations/Stand/Gestures/Whisper_1', 'animations/Stand/Gestures/Wings_1', 'animations/Stand/Gestures/Wings_2', 'animations/Stand/Gestures/Wings_3', 'animations/Stand/Gestures/Wings_4', 'animations/Stand/Gestures/Wings_5', 'animations/Stand/Gestures/Yes_1', 'animations/Stand/Gestures/Yes_2', 'animations/Stand/Gestures/Yes_3', 'animations/Stand/Gestures/You_1', 'animations/Stand/Gestures/You_2', 'animations/Stand/Gestures/You_3', 'animations/Stand/Gestures/You_4', 'animations/Stand/Gestures/You_5', 'animations/Stand/Gestures/YouKnowWhat_1', 'animations/Stand/Gestures/YouKnowWhat_2', 'animations/Stand/Gestures/YouKnowWhat_3', 'animations/Stand/Gestures/YouKnowWhat_4', 'animations/Stand/Gestures/YouKnowWhat_5', 'animations/Stand/Gestures/YouKnowWhat_6', 'animations/Stand/Gestures/Yum_1', 'animations/Stand/Reactions/EthernetOff_1', 'animations/Stand/Reactions/EthernetOn_1', 'animations/Stand/Reactions/Heat_1', 'animations/Stand/Reactions/Heat_2', 'animations/Stand/Reactions/LightShine_1', 'animations/Stand/Reactions/LightShine_2', 'animations/Stand/Reactions/LightShine_3', 'animations/Stand/Reactions/LightShine_4', 'animations/Stand/Reactions/SeeColor_1', 'animations/Stand/Reactions/SeeColor_2', 'animations/Stand/Reactions/SeeColor_3', 'animations/Stand/Reactions/SeeSomething_1', 'animations/Stand/Reactions/SeeSomething_3', 'animations/Stand/Reactions/SeeSomething_4', 'animations/Stand/Reactions/SeeSomething_5', 'animations/Stand/Reactions/SeeSomething_6', 'animations/Stand/Reactions/SeeSomething_7', 'animations/Stand/Reactions/SeeSomething_8', 'animations/Stand/Reactions/ShakeBody_1', 'animations/Stand/Reactions/ShakeBody_2', 'animations/Stand/Reactions/ShakeBody_3', 'animations/Stand/Reactions/TouchHead_1', 'animations/Stand/Reactions/TouchHead_2', 'animations/Stand/Reactions/TouchHead_3', 'animations/Stand/Reactions/TouchHead_4', 'animations/Stand/Waiting/AirGuitar_1', 'animations/Stand/Waiting/BackRubs_1', 'animations/Stand/Waiting/Bandmaster_1', 'animations/Stand/Waiting/Binoculars_1', 'animations/Stand/Waiting/BreathLoop_1', 'animations/Stand/Waiting/BreathLoop_2', 'animations/Stand/Waiting/BreathLoop_3', 'animations/Stand/Waiting/CallSomeone_1', 'animations/Stand/Waiting/Drink_1', 'animations/Stand/Waiting/DriveCar_1', 'animations/Stand/Waiting/Fitness_1', 'animations/Stand/Waiting/Fitness_2', 'animations/Stand/Waiting/Fitness_3', 'animations/Stand/Waiting/FunnyDancer_1', 'animations/Stand/Waiting/HappyBirthday_1', 'animations/Stand/Waiting/Helicopter_1', 'animations/Stand/Waiting/HideEyes_1', 'animations/Stand/Waiting/HideHands_1', 'animations/Stand/Waiting/Innocent_1', 'animations/Stand/Waiting/Knight_1', 'animations/Stand/Waiting/KnockEye_1', 'animations/Stand/Waiting/KungFu_1', 'animations/Stand/Waiting/LookHand_1', 'animations/Stand/Waiting/LookHand_2', 'animations/Stand/Waiting/LoveYou_1', 'animations/Stand/Waiting/Monster_1', 'animations/Stand/Waiting/MysticalPower_1', 'animations/Stand/Waiting/PlayHands_1', 'animations/Stand/Waiting/PlayHands_2', 'animations/Stand/Waiting/PlayHands_3', 'animations/Stand/Waiting/Relaxation_1', 'animations/Stand/Waiting/Relaxation_2', 'animations/Stand/Waiting/Relaxation_3', 'animations/Stand/Waiting/Relaxation_4', 'animations/Stand/Waiting/Rest_1', 'animations/Stand/Waiting/Robot_1', 'animations/Stand/Waiting/ScratchBack_1', 'animations/Stand/Waiting/ScratchBottom_1', 'animations/Stand/Waiting/ScratchEye_1', 'animations/Stand/Waiting/ScratchHand_1', 'animations/Stand/Waiting/ScratchHead_1', 'animations/Stand/Waiting/ScratchLeg_1', 'animations/Stand/Waiting/ScratchTorso_1', 'animations/Stand/Waiting/ShowMuscles_1', 'animations/Stand/Waiting/ShowMuscles_2', 'animations/Stand/Waiting/ShowMuscles_3', 'animations/Stand/Waiting/ShowMuscles_4', 'animations/Stand/Waiting/ShowMuscles_5', 'animations/Stand/Waiting/ShowSky_1', 'animations/Stand/Waiting/ShowSky_2', 'animations/Stand/Waiting/SpaceShuttle_1', 'animations/Stand/Waiting/Stretch_1', 'animations/Stand/Waiting/Stretch_2', 'animations/Stand/Waiting/TakePicture_1', 'animations/Stand/Waiting/Taxi_1', 'animations/Stand/Waiting/Think_1', 'animations/Stand/Waiting/Think_2', 'animations/Stand/Waiting/Think_3', 'animations/Stand/Waiting/Think_4', 'animations/Stand/Waiting/Waddle_1', 'animations/Stand/Waiting/Waddle_2', 'animations/Stand/Waiting/WakeUp_1', 'animations/Stand/Waiting/Zombie_1', 'asleep-update/animations/nok', 'asleep-update/interactive', 'boot-config', 'boot-config/animations/onNextPage', 'boot-config/animations/onPrevPage', 'boot-config/animations/poseInit', 'boot-config/animations/ok', 'boot-config/animations/success', 'boot-config/animations/poseInitUp', 'boot-config/animations/turnTabletOn_end', 'boot-config/animations/turnTabletOn_start', 'boot-config/animations/warning', 'boot-config/animations/warningValidate', 'boot-config/animations/nok', 'boot-config/animations/updateLoop', 'boot-config/animations/updateOut', 'boot-config/animations/networkLoop', 'boot-config/animations/networkOut', 'boot-config/animations/inviteTablet', 'boot-config/animations/hello', 'boot-config/animations/updateFailed', 'boot-config/animations/finishWizard', 'boot-config/animations/onPlugged', 'boot-config/animations/onUnPlugged', 'boot-config/animations/shutdown', 'boot-config/animations/bipGentle', 'boot-config/animations/endReco', 'dialog_applauncher', 'dialog_lexicon', 'dialog_lexicon/behavior_1', 'ft_seeandlisten_cctv/behavior_1', 'ipepperserver-qishanshi/iPepperServer', 'j-tablet-browser', 'naospyserver/NAOSpyServer', 'push-recovered/animations/pushed_0', 'push-recovered/animations/pushed_1', 'push-recovered/animations/pushed_2', 'push-recovered/solitary', 'push-recovered/animations/searchHumans_1', 'run_dialog_dev', 'run_dialog_dev/init', 'sbr_8641813c-6336-41ef-b317-140d85039314_ets/resident', 'sleep-reactions/Animations/Start_ShakeHead', 'sleep-reactions/Animations/End_ShakeHead', 'sleep-reactions/TouchHand', 'sleep-reactions/RandomHand', 'three_musketeers_story-ad31f7', 'three_musketeers_story-ad31f7/animations/acclaimed', 'three_musketeers_story-ad31f7/animations/cardinal', 'three_musketeers_story-ad31f7/animations/brass-band', 'three_musketeers_story-ad31f7/animations/fierce-duel', 'three_musketeers_story-ad31f7/animations/horse-riding', 'three_musketeers_story-ad31f7/animations/adventure', 'three_musketeers_story-ad31f7/animations/bravest', 'three_musketeers_story-ad31f7/animations/defeated', 'three_musketeers_story-ad31f7/animations/louis', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/behavior_1', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/resident', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/editmode', '.lastUploadedChoregrapheBehavior/behavior_1']
Running behaviors:
['.lastUploadedChoregrapheBehavior/behavior_1', 'dialog_applauncher/.', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/behavior_1', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/editmode']
Default behaviors:
['zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/behavior_1', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/editmode', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/resident']
Default behaviors:
['run_dialog_dev/.', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/behavior_1', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/editmode', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/resident']
Default behaviors:
['zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/behavior_1', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/editmode', 'zzzzzz_c9da7da9-3524-4dc3-867b-7505bf884f55_b2bral/resident']

NAOqi Core之ALConnectionManager

ALConnectionManager提供了管理網(wǎng)絡(luò)連接的方法：它包含了允許您配置或連接網(wǎng)絡(luò)的命令，也包含了獲取網(wǎng)絡(luò)屬性或創(chuàng)建網(wǎng)絡(luò)的命令。 ALConnectionManager支持以太網(wǎng)，WiFi和藍(lán)牙等多種技術(shù)。

主要功能有：
列出可用的網(wǎng)絡(luò)服務(wù)。
連接到網(wǎng)絡(luò)服務(wù)。
創(chuàng)建網(wǎng)絡(luò)服務(wù)（支持WiFi接入點(diǎn)和藍(lán)牙PAN）。
列出可用的網(wǎng)絡(luò)技術(shù)。
配置網(wǎng)絡(luò)服務(wù)。

此模塊可以訪問不同網(wǎng)絡(luò)服務(wù)的有用信息，例如WiFi服務(wù)的強(qiáng)度，其當(dāng)前狀態(tài)或其安全性要求。
此模塊通過事件通知有關(guān)網(wǎng)絡(luò)連接的更改。

ALConnectionManager基于開源軟件ConnMan獲取有關(guān)所有網(wǎng)絡(luò)服務(wù)的信息并與之連接。
SoftBank Robotics是ConnMan項(xiàng)目的貢獻(xiàn)者，我們的ConnMan源代碼位于github http://github.com/aldebaran上，只有幾個(gè)補(bǔ)丁與官方ConnMan版本不同。
WiFi服務(wù)由WPA Supplicant提供。藍(lán)牙服務(wù)由BlueZ提供。

局限性：
ALConnectionManager僅在機(jī)器人上可用。
ALConnectionManager目前不支持WPA企業(yè)安全。
啟用網(wǎng)絡(luò)共享模式（tethering mode）時(shí)，WiFi服務(wù)列表不可用。
ALConnectionManager不處理藍(lán)牙設(shè)備配對(duì)。

示例：獲取網(wǎng)絡(luò)連接的全局狀態(tài)

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

"""Example: Use state Method"""

import qi
import argparse
import sys


def main(session):
    """
        This example uses the state method.
        """
    # Get the service ALConnectionManager.
    
    con_mng_service = session.service("ALConnectionManager")
    
    # Get network state.
    print "Network state: " + con_mng_service.state()


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()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.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)

運(yùn)行結(jié)果：Network state: online

示例：獲取網(wǎng)絡(luò)服務(wù)列表


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

"""Example: Use scan and services Methods"""

import qi
import argparse
import sys


def main(session):
    """
        This example uses the scan and services method.
        """
    # Get the service ALConnectionManager.
    
    con_mng_service = session.service("ALConnectionManager")
    
    #Scanning is required to update the services list
    con_mng_service.scan()
    services = con_mng_service.services()
    
    for service in services:
        network = dict(service)
        if network["Name"] == "":
            print "{hidden} " + network["ServiceId"]
        else:
            print network["Name"] + " " + network["ServiceId"]


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()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.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)

運(yùn)行結(jié)果：

ARC-5G wifi_48a9d2969a99_4152432d3547_managed_psk
alibaba-inc wifi_48a9d2969a99_616c69626162612d696e63_managed_ieee8021x
alibaba-guest wifi_48a9d2969a99_616c69626162612d6775657374_managed_none
ARC24G wifi_48a9d2969a99_415243323447_managed_psk
360免費(fèi)WiFi-C3 wifi_48a9d2969a99_333630e5858de8b4b9576946692d4333_managed_psk
U+Net869B wifi_48a9d2969a99_552b4e657438363942_managed_psk

NAOqi Core之Extractors

Extractors模塊作為視覺和感知模塊的基類。

從ALExtractor繼承的模塊列表：

?   ALCloseObjectDetection
?   ALEngagementZones
?   ALFaceDetection
?   ALGazeAnalysis
?   ALLandMarkDetection
?   ALPeoplePerception
?   ALRedBallDetection
?   ALSittingPeopleDetection
?   ALSonar
?   ALVisualSpaceHistory
?   ALWavingDetection
?   ALVisionRecognition

從ALExtractor和ALVisionExtractor繼承的模塊列表：

?   ALBacklightingDetection
?   ALBarcodeReader
?   ALDarknessDetection
?   ALMovementDetection
?   ALSegmentation3D
?   ALVisualCompass

任何ALExtractor從ALModule API繼承方法，它還具有以下自己特有的方法：

參數(shù)更新

?   ALExtractor::subscribe
?   ALExtractor::unsubscribe
?   ALExtractor::updatePeriod
?   ALExtractor::updatePrecision

自我檢查

?   ALExtractor::getCurrentPeriod
?   ALExtractor::getCurrentPrecision
?   ALExtractor::getEventList
?   ALExtractor::getMemoryKeyList
?   ALExtractor::getMyPeriod
?   ALExtractor::getMyPrecision
?   ALExtractor::getOutputNames
?   ALExtractor::getSubscribersInfo

任何ALVisionExtractor繼承自ALExtractor API和ALModule API的方法。它還具有自己特有的方法：

參數(shù)更新

?   ALVisionExtractor::setFrameRate
?   ALVisionExtractor::setResolution
?   ALVisionExtractor::setActiveCamera
?   ALVisionExtractor::pause

自我檢查

?   ALVisionExtractor::getFrameRate
?   ALVisionExtractor::getResolution
?   ALVisionExtractor::getActiveCamera
?   ALVisionExtractor::isPaused
?   ALVisionExtractor::isProcessing

NAOqi Core之ALMemory

ALMemory模塊用于存儲(chǔ)與機(jī)器人的硬件配置相關(guān)的所有關(guān)鍵信息。
更具體地說，ALMemory提供有關(guān)執(zhí)行器和傳感器的當(dāng)前狀態(tài)的信息。

ALMemory是一個(gè)互斥和無序的升級(jí)map。map包含變體（ALValue）。
Mutex是讀/寫互斥體，從性能上，可以保護(hù)：
? The map
? A value
? The value history (only for events)
例如：
? Remove a data blocks all readers/writers.
? Insert an existing data only blocks the modified data.
? Read data blocks only writers of read data.

notifications由線程池（本地）或唯單獨(dú)的通知線程（遠(yuǎn)程）管理。

事件與微型事件

事件是將他的歷史存儲(chǔ)到ALMemory中的MicroEvent。它們基本相同，但MicroEvent更快。
可以使用ALMemoryProxy :: getEventHistory訪問事件歷史記錄。
此外，當(dāng)某人訂閱一個(gè)活動(dòng)時(shí)，模塊可以自動(dòng)啟動(dòng)。此功能可以使用ALMemoryProxy :: declareEvent訪問，其中包含兩個(gè)參數(shù)。

插入和獲取數(shù)據(jù)示例：

from naoqi import ALProxy

try:
  # create proxy on ALMemory
  memProxy = ALProxy("ALMemory","localhost",9559)

  #insertData. Value can be int, float, list, string
  memProxy.insertData("myValueName1", "myValue1")

  #getData
  print "The value of myValueName1 is", memProxy.getData("myValueName1")

except RuntimeError,e:
  # catch exception
  print "error insert data", e

訂閱一個(gè)事件示例：

"""
with sample of python documentation
"""

from naoqi import *
import time
check = 0


# create python module
class myModule(ALModule):
  """python class myModule test auto documentation: comment needed to create a new python module"""


  def pythondatachanged(self, strVarName, value):
    """callback when data change"""
    print "datachanged", strVarName, " ", value, " ", strMessage
    global check
    check = 1

  def _pythonPrivateMethod(self, param1, param2, param3):
    global check


broker = ALBroker("pythonBroker","10.0.252.184",9999,"naoverdose.local",9559)


# call method
try:

  pythonModule = myModule("pythonModule")
  prox = ALProxy("ALMemory")
  #prox.insertData("val",1) # forbidden, data is optimized and doesn't manage callback
  prox.subscribeToEvent("FaceDetected","pythonModule", "pythondatachanged") #  event is case sensitive !

except Exception,e:
  print "error"
  print e
  exit(1)

while (1):
  time.sleep(2)

NAOqi Core之ALModule

ALModule可以用作用戶模塊的基類，以幫助他們提供和宣傳他們的方法。
每個(gè)模塊都會(huì)將其希望向參與網(wǎng)絡(luò)的客戶端提供的方法通告給同一進(jìn)程中的broker。
然后，broker透明地處理目錄服務(wù)，以便客戶端不需要知道提供服務(wù)的模塊是否處于同一進(jìn)程，同一臺(tái)機(jī)器上或同一tcp網(wǎng)絡(luò)上。
在同一的進(jìn)程中，直接方法調(diào)用用于提供最佳速度，而無需更改方法簽名。
任務(wù)管理
? ALModule::isRunning
? ALModule::wait
? ALModule::stop
? ALModule::exit
自我檢查
? ALModule::getBrokerName
? ALModule::getMethodList
? ALModule::getMethodHelp
? ALModule::getModuleHelp
? ALModule::getUsage
? ALModule::ping
? ALModule::version
事件列表
? ClientConnected()
? ClientDisconnected()

NAOqi Core之ALNotificationManager

ALNotificationManager模塊提供了管理機(jī)器人通知的方法。

當(dāng)應(yīng)用程序發(fā)送通知時(shí)：
- 它被附加到待處理通知的列表中。
- 通知最終用戶有待處理的通知，并可以要求機(jī)器人讀取它。

在以下情況下，通知將從待處理通知列表中刪除：
- 它已被讀取
- 它被應(yīng)用程序刪除，例如，它不再有效。

ALValue NotificationInfo
ALValue NotificationInfo是n對(duì)（key，value）的數(shù)組。
為了與其他模塊交換此對(duì)象，Notification對(duì)象可以用以下結(jié)構(gòu)表示為ALValue：

key value type default value
"id" int -1
"message" string ""
"severity" string "info"
"removeOnRead" bool true

添加一個(gè)通知示例：

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

"""Example: Use add Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the add method.
    """
    # Get the service ALNotificationManager.

    notif_mng_service = session.service("ALNotificationManager")

    # Add a notification.
    notificationId = notif_mng_service.add({"message": "Hello World!", "severity": "info", "removeOnRead": True})
    print "Notification ID: " + str(notificationId)


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()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.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)

打印所有通知消息的示例：

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

"""Example: Use notifications Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the notifications method.
    """
    # Get the service ALNotificationManager.

    notif_mng_service = session.service("ALNotificationManager")

    # Get the notifications.
    notifications = notif_mng_service.notifications()
    for notification in notifications:
        notifDict = dict(notification)
        print "Notification ID: " + str(notifDict["id"])
        print "\tMessage: " + notifDict["message"]
        print "\tSeverity: " + notifDict["severity"]
        print "\tRemove On Read: " + str(notifDict["removeOnRead"])
        print "-----------\n"


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()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.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)

NAOqi Core之ALPreferenceManager

ALPreferenceManager允許管理機(jī)器人的首選項(xiàng)。 機(jī)器人首選項(xiàng)用于存儲(chǔ)機(jī)器人上運(yùn)行的應(yīng)用程序的所有設(shè)置。

存儲(chǔ)
機(jī)器人首選項(xiàng)存儲(chǔ)在機(jī)器人和Aldebaran Cloud上的數(shù)據(jù)庫(kù)中; ALPreferenceManager確保不同副本之間的一致性。

格式化
一個(gè)首選項(xiàng)如下定義：

- 域：它可以是使用首選項(xiàng)設(shè)置的應(yīng)用程序的名稱。 
- 名稱：它是設(shè)置的名稱。 
- 值：目前僅支持字符串值。

例如，如果您正在開發(fā)國(guó)際象棋應(yīng)用程序，則可以具有以下首選項(xiàng):

?   Domain: “com.aldebaran.apps.chess”
?   Name: “/game/level/default”
?   Value: “medium”

性能與限制

存儲(chǔ)
在機(jī)器人上，首選項(xiàng)存儲(chǔ)在SQLite數(shù)據(jù)庫(kù)的路徑下：
/home/nao/.local/share/PreferenceManager/prefs.db

只有當(dāng)機(jī)器人與Aldebaran用戶帳戶相關(guān)聯(lián)時(shí)，首選項(xiàng)才能同步并保存在Aldebaran Cloud中。如果沒有，首選項(xiàng)只會(huì)在本地存儲(chǔ)。

字符限制：

- 僅使用字母數(shù)字字符
- 禁止使用'\'

NAOqi Core之ALResourceManager

ALResourceManager提供了一種管理資源的方法。資源可以是：電機(jī)，麥克風(fēng)，LED，CPU，剛度參數(shù)，相機(jī)設(shè)置，球體...

ALResourceManager允許你：

?   避免另一種行為使用您需要的資源
?   同步運(yùn)動(dòng)，LED，聲音...
?   當(dāng)另一個(gè)行為想要你的資源時(shí)，運(yùn)行特定的操作。例如，在其他行為操作行走行為之前，停止現(xiàn)在的行走行為。

資源遵循資源層次結(jié)構(gòu)。
資源管理器使用對(duì)象行為層次結(jié)構(gòu)：假設(shè)你創(chuàng)造一種踢足球的行為。首先，機(jī)器人應(yīng)該在沒有移動(dòng)的情況下搜索球。如果機(jī)器人發(fā)現(xiàn)球并需要走路，您需要確保在行走前有足夠的資源。 資源管理器允許在根對(duì)象或根行為中獲取資源，所有子對(duì)象將自動(dòng)將資源轉(zhuǎn)移到父級(jí)，但是子對(duì)象之間可以彼此沖突。

資源管理器允許同步一組資源
您可以預(yù)留頭部電機(jī)，文字，語音和LED，以確保同步運(yùn)動(dòng)，語音和LED。
這組資源的管理與一個(gè)資源完全一樣：

?   在請(qǐng)求期間，丟失一個(gè)資源會(huì)釋放所有資源。
?   所有的資源等待都有超時(shí)機(jī)制。
?   請(qǐng)求組不能死鎖。

創(chuàng)建一個(gè)資源示例：

# create proxy on resource manager
proxy = ALProxy("ALResourceManager","localhost",9559)

#createResource in root (parent resource is "")
proxy.createResource("newResource","")

檢查資源是否可用：

#check resource is free
free = proxy.areResourcesFree(["newResource"])

等待資源變?yōu)榭捎茫ㄗ枞{(diào)用）

# take resource
# acquireResource(resource name, owner name, callback to notify you that someone want the resource, timeout)
proxy.acquireResource("newResource", "myFooModule", "", 1)

回調(diào)沖突

class MyFooModule:
  def myFooCallback(self, resource, currentOwner):
    #decide what to do with the ressource.
    #either call releaseResource or pass
    if iwanttoreleasetheresource:
      releaseResource(resource, currentOwner)

# alternatively, you can specify a callback on myFooModule as third parameter that will be called in case of conflict.
proxy.acquireResource("newResource", "MyFooModule", "myFooCallback", 1)

釋放waitForResource占用的資源

#release resource
proxy.releaseResource("newResource", "myFooModule")

NAOqi Core之ALSystem

ALSystem提供可用于配置系統(tǒng)并執(zhí)行關(guān)閉或重新啟動(dòng)等操作的原語。

ALSystem從ALModule API繼承方法。它還具有自己特有的方法：
class ALSystemProxy

?   ALSystemProxy::robotName
?   ALSystemProxy::robotIcon
?   ALSystemProxy::setRobotName
?   ALSystemProxy::shutdown
?   ALSystemProxy::reboot
?   ALSystemProxy::systemVersion
?   ALSystemProxy::timezone
?   ALSystemProxy::setTimezone
?   ALSystemProxy::freeMemory
?   ALSystemProxy::totalMemory
?   ALSystemProxy::diskFree
?   ALSystemProxy::previousSystemVersion
?   ALSystemProxy::changePassword
?   ALSystemProxy::upgrade
?   ALSystemProxy::factoryReset

Event list

?   ALSystem/RobotNameChanged()

NAOQI VISION

視頻與圖片管理：

USE To ...
ALPhotoCapture 拍照并將其保存在磁盤
ALVideoDevice 管理視頻輸入
ALVideoRecorder 記錄視頻

視頻檢測(cè)：

USE To ...
ALBacklightingDetection 檢查相機(jī)的圖像是否背光
ALBarcodeReader 檢測(cè)并讀取圖像中的條形碼
ALColorBlobDetection 檢測(cè)給定顏色的斑點(diǎn)（圓形或非圓形）
ALDarknessDetection 檢查環(huán)境是否黑暗
ALLandMarkDetection 檢測(cè)具體的視覺地標(biāo)
ALMovementDetection 檢測(cè)一些運(yùn)動(dòng)，并告知它來自哪里
ALRedBallDetection 檢測(cè)紅色和圓形物體

視覺記憶工具：

USE To ...
ALVisionRecognition 使機(jī)器人學(xué)習(xí)和識(shí)別視覺模式：對(duì)象，圖片...
ALVisualSpaceHistory 構(gòu)建頭部位置的帶有時(shí)間戳的地圖

視覺作為導(dǎo)航工具：

USE To ...
ALLocalization 給機(jī)器人回到一個(gè)家的能力（家：已學(xué)習(xí)）
ALVisualCompass 使用圖像作為指南針

3D傳感器相關(guān)：

USE To ...
ALCloseObjectDetection 檢測(cè)要被3D傳感器直接感知的物體
ALSegmentation3D 分割由3D傳感器返回的深度圖像

NAOQI VISION之ALBacklightingDetection

ALBacklightingDetection提取器檢查相機(jī)返回的圖像是否背光。當(dāng)光源（例如窗口）和觀察到的場(chǎng)景之間存在高對(duì)比度時(shí)，背光打開。

為每個(gè)幀計(jì)算以下背光值：

?   0: no backlight
?   1: possible backlight
?   2: backlight identified

該值存儲(chǔ)在ALMemory中。當(dāng)?shù)谝淮螜z測(cè)到背光狀況（即背光值剛剛變?yōu)?）時(shí)，會(huì)觸發(fā)事件。

為了計(jì)算背光值，提取器：
分析當(dāng)前幀是否超過2％的像素被裁剪（當(dāng)像素傳感器接收到更多的光可以“存儲(chǔ)”時(shí)發(fā)生的現(xiàn)象，導(dǎo)致該像素的數(shù)字轉(zhuǎn)換之后的值為“255”）；
檢查超過60％的像素的亮度是否低于70；
最終結(jié)果是“255”處的像素百分比和低于“70”的像素百分比的加權(quán)組合。

NAOQI VISION之ALBarcodeReader

ALBarcodeReader掃描相機(jī)中的圖像并查找條形碼。如果在圖像中找到條形碼，模塊將嘗試解密它。

每當(dāng)讀取QR代碼時(shí)都會(huì)觸發(fā)事件。此事件還包含代碼數(shù)據(jù)和角位置，如圖所示。請(qǐng)注意，第一個(gè)角落（標(biāo)有“0”）總是與沒有黑色方塊的角落相對(duì)。剩下的角落被逆時(shí)針標(biāo)記。

image.png

ALBarcodeReader目前僅適用于QR碼?？梢栽趩蝹€(gè)圖像中處理多條QR代碼。 由于條形碼由小元素（條形，正方形）構(gòu)成，所以圖像分辨率必須根據(jù)相機(jī)與代碼本身之間的距離進(jìn)行設(shè)置。檢測(cè)率也取決于打印的代碼質(zhì)量和尺寸。

NAOQI VISION之ALCloseObjectDetection

ALCloseObjectDetection允許您檢測(cè)到距機(jī)器人太近的對(duì)象，以便3D傳感器直接檢測(cè)到。

為了出現(xiàn)在由3D傳感器返回的深度圖像中，物體必須距離傳感器的距離最小。使用紅外圖像（也由3D傳感器返回），可以檢測(cè)物體何時(shí)太近并計(jì)算其位置，因?yàn)檫@些對(duì)象將對(duì)應(yīng)于紅外圖像中的飽和像素。

每次通過模塊ALCloseObjectDetection在3D傳感器的“近距離”范圍內(nèi)檢測(cè)到一個(gè)對(duì)象時(shí)，將更新ALMemory鍵CloseObjectDetection / ObjectInfo，并觸發(fā)ALMemory事件CloseObjectDetection / ObjectDetected（）。

存儲(chǔ)鍵包含有關(guān)最近對(duì)象檢測(cè)的信息。組織如下：

ObjectInfo =
[
  TimeStamp,
  CloseObjectInfo,
  CameraPose_InTorsoFrame,
  CameraPose_InRobotFrame,
  Camera_Id
]

TimeStamp: 該字段是用于執(zhí)行檢測(cè)的圖像的時(shí)間戳
TimeStamp [
  TimeStamp_Seconds,
  Timestamp_Microseconds
]
CloseObjectInfo: 這些字段中的每一個(gè)都包含檢測(cè)到的接近對(duì)象的描述
CloseObjectInfo =
[
  PositionOfCog,
  AngularRoi,
  PixelsProportion,
]

PositionOfCog = [x，y]包含對(duì)象重心的角坐標(biāo)（弧度）。
AngularRoi = [x，y，width，height]包含關(guān)于包含對(duì)象的最小矩形（ROI）的信息。 [x，y]對(duì)應(yīng)于當(dāng)前深度圖像中ROI的左上角的角坐標(biāo)（弧度）。 [寬度，高度]對(duì)應(yīng)于ROI的角度大?。ɑ《龋?。
PixelsProportion = [In_Frame，In_Roi]對(duì)應(yīng)于屬于接近對(duì)象的像素的比例。 In_Frame是相對(duì)于幀中像素總數(shù)的比例，In_Roi是相對(duì)于對(duì)象ROI的像素?cái)?shù)的比例。

CameraPose_InTorsoFrame：在FRAME_TORSO中描述拍攝圖像時(shí)深度相機(jī)的Position6D。
CameraPose_InRobotFrame：在FRAME_ROBOT中描述拍攝圖像時(shí)深度相機(jī)的Position6D。
Camera_Id：給出用于檢測(cè)的相機(jī)的ID，即深度相機(jī)。

注釋：
ROI（region of interest），感興趣區(qū)域。機(jī)器視覺、圖像處理中，從被處理的圖像以方框、圓、橢圓、不規(guī)則多邊形等方式勾勒出需要處理的區(qū)域，稱為感興趣區(qū)域。

NAOQI VISION之ALColorBlobDetection

ALColorBlobDetection是一個(gè)提供快速2D視覺彩色斑點(diǎn)檢測(cè)器的模塊。
ALColorBlobDetection基于快速搜索給定顏色的一組像素（在一定閾值內(nèi)）?？梢赃x擇顏色和它的threhsold，也可以定義對(duì)象跨度及其最小尺寸。

NAOQI VISION之ALDarknessDetection

ALDarknessDetection可以檢查機(jī)器人是否處于黑暗環(huán)境中。 為相機(jī)返回的每個(gè)幀計(jì)算一個(gè)暗度值。該值存儲(chǔ)在ALMemory中。當(dāng)機(jī)器人首次檢測(cè)到其周圍的環(huán)境較暗（即，暗度值大于閾值）時(shí)，會(huì)觸發(fā)事件。

該功能首先計(jì)算對(duì)應(yīng)于機(jī)器人周圍環(huán)境的照明條件的0到100之間的值：
0：亮環(huán)境
100：暗環(huán)境

然后將該值與黑暗閾值進(jìn)行比較：
如果它小于閾值，周圍環(huán)境不被認(rèn)為是黑暗的。
如果它大于閾值，則周圍環(huán)境被認(rèn)為是黑暗的。

黑暗閾值可以使用ALDarknessDetectionProxy :: getDarknessThreshold函數(shù)訪問。它的默認(rèn)值為60，但可以使用ALDarknessDetectionProxy :: setDarknessThreshold函數(shù)進(jìn)行更改。

性能與限制
必須激活相機(jī)的相機(jī)AutoExposition參數(shù)才能正常工作。

NAOQI VISION之ALLandMarkDetection

ALLandMarkDetection是一個(gè)視覺模塊，其中機(jī)器人識(shí)別具有特定模式的特殊地標(biāo)。我們把這些地標(biāo)稱為Naomarks。

image.png

您可以使用ALLandMarkDetection模塊進(jìn)行各種應(yīng)用。例如，您可以將這些地標(biāo)放置在機(jī)器人操作區(qū)域的不同位置。根據(jù)機(jī)器人檢測(cè)到哪個(gè)地標(biāo)，您可以獲取有關(guān)機(jī)器人位置的一些信息。與其他傳感器信息相結(jié)合，可以幫助您構(gòu)建更強(qiáng)大的本地化模塊。

NaoMarks包括以圓圈為中心的白色三角形粉絲的黑色圓圈。不同三角形風(fēng)扇的具體位置用于區(qū)分不同的Naomark。

性能與限制
光照：地標(biāo)檢測(cè)已經(jīng)在辦公室照明條件下測(cè)試通過，即低于100到500 lux。由于檢測(cè)本身依賴于對(duì)比度差異，所以只要輸入圖像中的標(biāo)記對(duì)比度高一些，實(shí)際表現(xiàn)會(huì)好一些。
檢測(cè)到的標(biāo)記的尺寸范圍：
最小值：?0.035 rad = 2 deg它對(duì)應(yīng)于QVGA圖像中的?14像素
最大值：?0.40 rad = 23度它對(duì)應(yīng)于QVGA圖像中?160個(gè)像素
傾斜：+/- 60度（0度對(duì)應(yīng)于面向相機(jī)的標(biāo)記）
圖像平面中的旋轉(zhuǎn)：不變。

使用監(jiān)視器查看檢測(cè)結(jié)果：
了解ALLandMarkDetection可以做什么，您可以使用Monitor并啟動(dòng)視覺插件。激活LandMarkDetection復(fù)選框并開始攝像。然后，如果您將Naomark放置在攝像機(jī)的視野中，Monitor應(yīng)通過在視頻輸出窗格中盤點(diǎn)來報(bào)告檢測(cè)到的Naomarks。此外，Naomark標(biāo)識(shí)符顯示在圓圈旁邊，應(yīng)該與真實(shí)的Naomark標(biāo)識(shí)符相對(duì)應(yīng)。

image.png

開始檢測(cè)：

要啟動(dòng)Naomark檢測(cè)功能，請(qǐng)使用ALLandMarkDetection代理訂閱ALLandMarkDetection。在Python中，此訂閱的代碼是：

from naoqi import ALProxy
IP = "your_robot_ip"
PORT = 9559
# Create a proxy to ALLandMarkDetection
markProxy = ALproxy("ALLandMarkDetection", IP, PORT)
# Subscribe to the ALLandMarkDetection extractor
period = 500
markProxy.subscribe("Test_Mark", period, 0.0 )

period參數(shù)指定（以毫秒為單位）ALLandMarkDetection嘗試運(yùn)行其檢測(cè)方法的頻率，并將結(jié)果輸出到名為L(zhǎng)andmarkDetected的ALMemory輸出變量中。

至少對(duì)ALLandMarkDetection模塊訂閱一次，ALLandMarkDetection才能開始運(yùn)行。

獲取結(jié)果：

ALLandMarkDetection模塊將其結(jié)果寫入ALMemory（LandmarkDetected）中的變量。 您確定要直接在代碼中使用檢測(cè)結(jié)果，您可以定期檢查ALMemory的變量。
為此，只需創(chuàng)建一個(gè)代理到ALMemory，并從ALMemory代理中使用getData（“LandmarkDetected”）檢索Landmark變量。

變量結(jié)果解析：

如果沒有檢測(cè)到Naomarks，變量為空。它是一個(gè)零元素的陣列（即在python中打印為[]）。
如果檢測(cè)到N Naomarks，則可變結(jié)構(gòu)由兩個(gè)字段組成： [[TimeStampField] [Mark_info_0，Mark_info_1，。 。 。 ，Mark_info_N-1]]

TimeStampField = [TimeStamp_seconds，Timestamp_microseconds]。該字段是用于執(zhí)行檢測(cè)的圖像的時(shí)間戳。
Mark_info = [ShapeInfo，ExtraInfo]。對(duì)于每個(gè)檢測(cè)到的標(biāo)記，我們有一個(gè)Mark_info字段。 ShapeInfo = [1，alpha，beta，sizeX，sizeY，heading]。 alpha和beta表示Naomark在相機(jī)角度方面的位置；sizeX和sizeY是相機(jī)角度的標(biāo)記尺寸；heading角度描述了關(guān)于機(jī)器人頭部的Naomark是如何面向垂直軸的。
ExtraInfo = [MarkID]。標(biāo)記ID是寫在Naomark上的數(shù)字，對(duì)應(yīng)于其圖案。

NAOQI VISION之ALMovementDetection

ALMovementDetection允許您檢測(cè)Aldebaran機(jī)器人的視野中的移動(dòng)。
Aldebaran機(jī)器人使用3D相機(jī)（如果有的話），否則它們使用RGB相機(jī)。

以定期的間隔收集幀，并將每個(gè)新幀與前一幀進(jìn)行比較。差異高于閾值的像素被標(biāo)識(shí)為“移動(dòng)像素”。然后所有的“移動(dòng)像素”都使用它們的物理接近度和它們的值差異進(jìn)行聚類。

對(duì)于沒有3d相機(jī)的Aldebaran機(jī)器人，可以使用以下方式更改閾值： - ALMovementDetectionProxy :: setColorSensitivity
對(duì)于具有3d相機(jī)的Aldebaran機(jī)器人，可以使用以下方式更改閾值： - ALMovementDetectionProxy :: setDepthSensitivity

ALMemory KEY
每次檢測(cè)到一些移動(dòng)時(shí)，ALMemory鍵的MoveDetection / MovementInfo被更新，并且觸發(fā)了一個(gè)ALMemory事件MoveDetection / MovementDetected。

存儲(chǔ)鍵包含有關(guān)“移動(dòng)”像素的不同簇的信息。它的組織如下：

MovementInfo =
[
  TimeStamp,
  [ClusterInfo_1, ClusterInfo_2, ... ClusterInfo_n],
  CameraPose_InTorsoFrame,
  CameraPose_InRobotFrame,
  Camera_Id
]

Timestamp：該字段是用于執(zhí)行檢測(cè)的圖像的時(shí)間戳。

TimeStamp [
  TimeStamp_Seconds,
  Timestamp_Microseconds
]

這些字段中的每一個(gè)都包含“移動(dòng)”集群的描述。它具有以下結(jié)構(gòu)，具體取決于相機(jī)的類型：
RGB Camera

ClusterInfo_i(RGB) =
[
  PositionOfCog,
  AngularRoi,
  ProportionMovingPixels,
]

Depth Camera

ClusterInfo_i(Depth) =
[
  PositionOfCog,
  AngularRoi,
  ProportionMovingPixels,
  MeanDistance,
  RealSizeRoi,
  PositionOfAssociatedPoint
]

All cameras:

?   PositionOfCog = [x,y] 包含相對(duì)于相機(jī)中心的集群重心的角坐標(biāo)（弧度）。
?   AngularRoi = [x,y,width, height] 包含關(guān)于包含集群的最小矩形（ROI）的信息。 [x，y]對(duì)應(yīng)于當(dāng)前深度圖像中ROI的左上角的角坐標(biāo)（弧度）。 [寬度，高度]對(duì)應(yīng)于ROI的角度大小（弧度）。
?   ProportionMovingPixels = [In_Frame, In_Roi] 對(duì)應(yīng)于“移動(dòng)”像素的比例。 In_Frame是相對(duì)于幀中像素總數(shù)的比例，In_Roi是相對(duì)于群集ROI的像素?cái)?shù)的比例。

Depth camera only:

?   MeanDistance 是相對(duì)于深度相機(jī)（僅用于3D檢測(cè)）的聚類點(diǎn)的平均距離。
?   RealSizeRoi = [realwidth，realheight]給出了集群ROI的實(shí)際大?。ㄒ悦子?jì)）（僅用于3D檢測(cè)）。
?   [X，Y]。使用初始深度圖像的分割（參見模塊ALSegmentation3D的描述），可以提取移動(dòng)的斑點(diǎn)。然后可以通過從其重心向上移動(dòng)來找到該斑點(diǎn)的頂點(diǎn)像素。 [x，y]是該像素的角坐標(biāo)（弧度）。例如，這些坐標(biāo)可以非常有用地觀察剛剛移動(dòng)的人的頭部，而不是觀察運(yùn)動(dòng)的重心（僅用于3D檢測(cè)）。

CameraPose_InTorsoFrame: 在FRAME_TORSO中描述拍攝圖像時(shí)相機(jī)的Position6D。
CameraPose_InRobotFrame: 在FRAME_ROBOT中描述拍攝圖像時(shí)相機(jī)的Position6D。
Camera_Id: 給出用于檢測(cè)的相機(jī)的ID。

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