[naoqi_apps] add naoqi_tablet.launch

naoqi_apps/launch/tablet.launch

@@ -0,0 +1,12 @@
+<launch>
+  <!--
+      This pushes the local PYTHONPATH into the launch file, so that the NaoQI API is found.
+      You need to add the Nao's API dir to your PYTHONPATH so that the modules are found.
+  -->
+  <env name="PYTHONPATH" value="$(env PYTHONPATH)" />
+
+  <arg name="nao_ip" default="$(optenv NAO_IP 127.0.0.1)" />
+  <arg name="nao_port" default="$(optenv NAO_PORT 9559)" />
+
+  <node pkg="naoqi_apps" type="naoqi_tablet.py" name="naoqi_tablet" required="false" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen" />
+</launch>

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/<app>/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()