PepperのBasicAwarenessをオン、オフするスクリプトサンプル

basic_awareness.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import argparse
import sys
from naoqi import ALProxy

def on(args, bap):
  bap.startAwareness()
  bap.setEngagementMode("Unengaged")
  bap.setStimulusDetectionEnabled("Sound", True)
  bap.setStimulusDetectionEnabled("Movement", True)
  bap.setStimulusDetectionEnabled("People", True)
  bap.setStimulusDetectionEnabled("Touch", True)
  bap.setTrackingMode("Head")
  show(args, bap)

def off(args, bap):
  bap.stopAwareness()
  show(args, bap)

def show(args, bap):
  print("Running:" + str(bap.isAwarenessRunning()))
  print("Engagement Mode:" + str(bap.getEngagementMode()))
  print("Sound Stimulus:" + str(bap.isStimulusDetectionEnabled("Sound")))
  print("Movement Stimulus:" + str(bap.isStimulusDetectionEnabled("Movement")))
  print("People Stimulus:" + str(bap.isStimulusDetectionEnabled("People")))
  print("Touch Stimulus:" + str(bap.isStimulusDetectionEnabled("Touch")))
  print("TrackingMode:" + str(bap.getTrackingMode()))

parser = argparse.ArgumentParser()

subparsers = parser.add_subparsers(help='sub-command help')

parser_on = subparsers.add_parser('on')
parser_on.set_defaults(func=on)

parser_off = subparsers.add_parser('off')
parser_off.set_defaults(func=off)

parser_off = subparsers.add_parser('show')
parser_off.set_defaults(func=show)

args = parser.parse_args()

bap = ALProxy('ALBasicAwareness', 'XXX.XXX.XXX.XXX', 9559)
args.func(args, bap)