From 84c8c8c09c8a456e3c677ecbe44ab448746117b3 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Thu, 10 Nov 2022 17:36:25 +0900 Subject: [PATCH] [naoqi_apps] add naoqi_tablet.launch --- naoqi_apps/launch/tablet.launch | 12 ++ naoqi_apps/nodes/naoqi_tablet.py | 268 +++++++++++++++++++++++++++++++ 2 files changed, 280 insertions(+) create mode 100644 naoqi_apps/launch/tablet.launch create mode 100755 naoqi_apps/nodes/naoqi_tablet.py diff --git a/naoqi_apps/launch/tablet.launch b/naoqi_apps/launch/tablet.launch new file mode 100644 index 0000000..c8bf989 --- /dev/null +++ b/naoqi_apps/launch/tablet.launch @@ -0,0 +1,12 @@ + + + + + + + + + diff --git a/naoqi_apps/nodes/naoqi_tablet.py b/naoqi_apps/nodes/naoqi_tablet.py new file mode 100755 index 0000000..e2687a9 --- /dev/null +++ b/naoqi_apps/nodes/naoqi_tablet.py @@ -0,0 +1,268 @@ +#!/usr/bin/env python + +import rospy +import qi +import sys +import time +from naoqi_driver.naoqi_node import NaoqiNode +from std_srvs.srv import ( + EmptyResponse, + Empty, + TriggerResponse, + Trigger) +from naoqi_bridge_msgs.srv import ( + SetStringResponse, + SetString, + GetStringResponse, + GetString, + ConfigureWifiResponse, + ConfigureWifi) + +class NaoqiTablet(NaoqiNode): + def __init__(self): + NaoqiNode.__init__(self, 'naoqi_tablet') + self.connectNaoQi() + self.image_folder = "img/" + self.showImageSrv = rospy.Service("show_image", SetString, self.handleShowImageSrv) + self.showImageNoCacheSrv = rospy.Service("show_image_no_cache", SetString, self.handleShowImageNoCacheSrv) + self.hideImageSrv = rospy.Service("hide_image", Empty, self.handleHideImageSrv) + self.showAppSrv = rospy.Service("show_app", SetString, self.handleShowAppSrv) + self.showWebViewSrv = rospy.Service("show_webview", SetString, self.handleShowWebviewSrv) + self.executeJSSrv = rospy.Service("execute_js", SetString, self.handleExecuteJSSrv) + self.setImagePathSrv = rospy.Service("set_show_image_folder_path", SetString, self.handleSetFolderPathSrv) + self.getImagePathSrv = rospy.Service("get_show_image_folder_path", GetString, self.handleGetFolderPathSrv) + self.configureWifiSrv = rospy.Service("configure_wifi", ConfigureWifi, self.handleConfigureWifiSrv) + self.connectWifiSrv = rospy.Service("connect_wifi", SetString, self.handleConnectWifiSrv) + self.disconnectWifiSrv = rospy.Service("disconnect_wifi", Trigger, self.handleDisconnectWifiSrv) + self.enableWifiSrv = rospy.Service("enable_wifi", Empty, self.handleEnableWifiSrv) + self.disableWifiSrv = rospy.Service("disable_wifi", Empty, self.handleDisableWifiSrv) + self.forgetWifiSrv = rospy.Service("forget_wifi", SetString, self.handleForgetWifiSrv) + self.getWifiStatusSrv = rospy.Service("get_wifi_status", GetString, self.handleGetWifiStatusSrv) + rospy.loginfo("naoqi_tablet initialized") + + def connectNaoQi(self): + rospy.loginfo("Connecting to NaoQi at %s:%d", self.pip, self.pport) + self.session = qi.Session() + self.session.connect("tcp://%s:%s" % (self.pip, self.pport)) + self.tabletProxy = self.session.service("ALTabletService") + if self.tabletProxy is None: + rospy.logerr("Could not get a proxy to ALTabletService") + rospy.logerr("Please make sure that your robot has a tablet.") + exit(1) + + def handleShowImageSrv(self, req): + try: + image_path = "http://198.18.0.1/apps/"+ self.image_folder + str(req.data) + res = SetStringResponse() + if self.tabletProxy.showImage(image_path) == True: + rospy.loginfo("Showing image: " + str(req.data)) + res.success = True + + else: + rospy.loginfo("Please confirm the file name and " + str(req.data) + " really exists under /home/nao/.local/share/PackageManager/apps/" + self.image_folder + "html.") + res.success = False + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleShowImageNoCacheSrv(self, req): + try: + image_path = "http://198.18.0.1/apps/"+ self.image_folder + str(req.data) + res = SetStringResponse() + if self.tabletProxy.showImageNoCache(image_path) == True: + rospy.loginfo("Showing image: " + str(req.data)) + res.success = True + + else: + rospy.loginfo("Please confirm the file name and " + str(req.data) + " really exists under /home/nao/.local/share/PackageManager/apps/" + self.image_folder + "html.") + res.success = False + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleHideImageSrv(self, req): + try: + self.tabletProxy.hideImage() + rospy.loginfo("Reset image on the tablet") + return EmptyResponse() + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleShowAppSrv(self, req): + try: + res = SetStringResponse() + res.success = False + if self.tabletProxy.loadApplication(req.data): + if self.tabletProxy.showWebview(): + rospy.loginfo("Showing app: " + str(req.data)) + res.success = True + else: + rospy.loginfo("Showing webview failed") + else: + rospy.loginfo("Please confirm your app name: " + req.data + "really exists.") + rospy.loginfo("In addtion, be sure that an index.html should be in a html folder in an app folder. (ex: /home/nao/.local/share/PackageManager/apps//html/index.html)") + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleShowWebviewSrv(self, req): + try: + res = SetStringResponse() + res.success = False + if self.tabletProxy.showWebview(req.data): + rospy.loginfo("Trying to show web page: " + str(req.data)) + rospy.loginfo("If there is nothing appeared, please confirm the url '" + str(req.data) + "' really exists.") + res.success = True + else: + rospy.loginfo("Showing webview failed") + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleExecuteJSSrv(self, req): + res = SetStringResponse() + res.success = False + try: + # reference: http://doc.aldebaran.com/2-5/naoqi/core/altabletservice-api.html#ALTabletService::executeJS__ssCR + # Display a local web page located in boot-config/html folder + # The ip of the robot from the tablet is 198.18.0.1 + self.tabletProxy.showWebview("http://198.18.0.1/apps/boot-config/preloading_dialog.html") + + time.sleep(3) + + # Javascript script for displaying a prompt + # ALTabletBinding is a javascript binding inject in the web page displayed on the tablet + # script = """ + # var name = prompt("Please enter your name", "Harry Pepper"); + # ALTabletBinding.raiseEvent(name) + # """ + script = req.data + + # Don't forget to disconnect the signal at the end + signalID = 0 + + # function called when the signal onJSEvent is triggered + # by the javascript function ALTabletBinding.raiseEvent(name) + def callback(event): + print "input data:", event + promise.setValue(True) + + promise = qi.Promise() + + # attach the callback function to onJSEvent signal + signalID = self.tabletProxy.onJSEvent.connect(callback) + + # inject and execute the javascript in the current web page displayed + self.tabletProxy.executeJS(script) + + try: + promise.future().hasValue(30000) + res.success = True + except RuntimeError: + raise RuntimeError('Timeout: no signal triggered') + + except Exception, e: + print "Error was:", e + + # Hide the web view + self.tabletProxy.hideWebview() + # disconnect the signal + self.tabletProxy.onJSEvent.disconnect(signalID) + return res + + def handleSetFolderPathSrv(self, req): + res = SetStringResponse() + try: + self.image_folder = req.data + if self.image_folder[0]=="/": + self.image_folder = self.image_folder.strip("/") + if self.image_folder[len(self.image_folder)-1] != "/": + self.image_folder += "/" + res.success = True + rospy.loginfo("ALTabletService: ShowImage will show pictures under /home/nao/.local/share/PackageManager/apps/" + self.image_folder + "html/." ) + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleGetFolderPathSrv(self, req): + try: + res = GetStringResponse() + res.data = "/home/nao/.local/share/PackageManager/apps/" + str(self.image_folder) + "html/" + rospy.loginfo("ALTabletService: ShowImage will show pictures under /home/nao/.local/share/PackageManager/apps/" + self.image_folder + "html.") + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleConfigureWifiSrv(self, req): + try: + res = ConfigureWifiResponse() + res.success = self.tabletProxy.configureWifi(req.security, req.ssid, req.key) + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleConnectWifiSrv(self, req): + try: + res = SetStringResponse() + res.success = self.tabletProxy.connectWifi(req.data) + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleDisconnectWifiSrv(self, req): + try: + res = TriggerResponse() + res.success = self.tabletProxy.disconnectWifi() + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleEnableWifiSrv(self, req): + try: + res = EmptyResponse() + self.tabletProxy.enableWifi() + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleDisableWifiSrv(self, req): + try: + res = EmptyResponse() + self.tabletProxy.disableWifi() + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleForgetWifiSrv(self, req): + try: + res = SetStringResponse() + res.success = self.tabletProxy.forgetWifi(req.data) + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + + def handleGetWifiStatusSrv(self, req): + try: + res = GetStringResponse() + res.data = self.tabletProxy.getWifiStatus() + return res + except RuntimeError, e: + rospy.logerr("Exception caught:\n%s", e) + return None + +if __name__ == '__main__': + tablet = NaoqiTablet() + rospy.spin()