getup.py

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

import time
import RobotApi as api

api.ubtRobotInitialize()
#------------------------------Connect----------------------------------------
ret = api.ubtRobotConnect("SDK", "1", "127.0.0.1")
if (0 != ret):
    print ("Can not connect to robot %s" % robotinfo.acName)
    exit(1)
#---------------------------Read Sensor Value-------------------------------
isInterrputed = 1
gyro_size = 96
gyro_sensor = api.UBTEDU_ROBOTGYRO_SENSOR_T()

while True:
    time.sleep(2)
    ret = api.ubtReadSensorValue("gyro",gyro_sensor,gyro_size)
    if ret != 0:
        print("Can not read Sensor value. Error code: %d" % (ret))
        continue
    else:
        print("Read dEulerxValue : %f" % (gyro_sensor.dEulerxValue))
        print("Read dEuleryValue : %f" % (gyro_sensor.dEuleryValue))
        print("Read dEulerzValue : %f" % (gyro_sensor.dEulerzValue))

    if gyro_sensor.dEulerxValue > 160 or gyro_sensor.dEulerxValue < -160:
        print ('Detected fall backward, I am going to get up')
        ret = api.ubtVoiceTTS(isInterrputed, 'Detected fall backward, I am going to get up')
        if ret != 0:
            print("Can not play TTS voice. Error code: %d" % ret)
            exit(3)
        print("Play TTS voice successfully!")
        api.ubtStartRobotAction("reset", 1)
        api.ubtStartRobotAction("getup_in_back", 1)
    elif gyro_sensor.dEulerxValue > -20 and gyro_sensor.dEulerxValue < 20:
        print ('Detected fall forward, I am going to get up')
        ret = api.ubtVoiceTTS(isInterrputed,'Detected fall forward, I am going to get up')
        if ret != 0:
            print("Can not play TTS voice. Error code: %d" % ret)
            exit(3)
        api.ubtStartRobotAction("reset", 1)
        api.ubtStartRobotAction("getup_in_front", 1)

#---------------------------Disconnect--------------------------------------
api.ubtRobotDisconnect("SDK","1","127.0.0.1")
api.ubtRobotDeinitialize()