davesnowdon / naoutil Goto Github PK

It would be useful for NAO to be able to recognise locations. One mechanism for doing this could be the use of wifi access points and signal strength. If a GPS sensor is attached then that could be used too.

naoutil should provide an interface to name & recognise locations that abstracts the technology used.

Document usage of avahi.find_all_naos()

I am using the env from naoutil and everything works nicely except when I try to use the audio player. I get this error:

type object 'ALProxy' has no attribute 'audioPlayer'

Get access to the logging attributes in choreographe boxes so allow debug, warn etc logging calls

NAO now supports more than the original 8 languages so need to update the LANGUAGE_MAP in i18n.py

Looks like missing dependences for avahi

Traceback (most recent call last):
File "src\main\python\recorder\main.py", line 30, in
from core import Robot, get_joints_for_chain, is_joint, get_sub_chains
File "C:\Users\dns\dev\nao\nao-recorder\src\main\python\recorder\core.py", li
ne 12, in
from naoutil import broker
File "C:\Users\dns\dev\nao\nao-recorder\src\main\python\naoutil\broker.py", l
ine 14, in
from naoutil import avahi
File "C:\Users\dns\dev\nao\nao-recorder\src\main\python\naoutil\avahi.py", li
ne 11, in
import dbus, gobject
ImportError: No module named dbus

NaoEnvironment makes it easier to use the i18n to localize text but it does not help with reading non-localized files. jprops & i18n provide all the necessary code to read JSON and properties files but a convenient method to read non-localized properties is required.

broker._resolve_ip_port should be made public and documented.

I was trying to use the memory callbacks and even with the README.md example you have:

 def myEventCallback(dataName, value, message):
      nao.naoscript.get(32)
 memory.subscribeToEvent('RightBumperPressed', myEventCallback)
 raw_input("Press ENTER to stop subscribing to RightBumperPressed\n")
 memory.unsubscribeToEvent('RightBumperPressed')

I get this error:

memory.subscribeToEvent('RightBumperPressed', myEventCallback)
Exception TypeError: "in method 'module_getName', argument 1 of type 'AL::module _'" in <bound method _SubscriberModule.del of <naoutil.memory._SubscriberModule; >> ignored
Traceback (most recent call last):
File "", line 1, in
File "/home/dnajd/development/personal/FluentNao/src/main/python/naoutil/memory.py", line 58, in subscribeToEvent
_SubscriberModule().subscribeToEvent(dataName, callback)
File "/home/dnajd/development/personal/FluentNao/src/main/python/naoutil/memory.py", line 20, in getinstance
instance = cls() # Keep a strong ref until it is returned
File "/home/dnajd/development/personal/FluentNao/src/main/python/naoutil/memory.py", line 28, in init
ALModule.init(self)
File "/home/dnajd/development/personal/FluentNao/src/main/python/naoutil/init.py", line 31, in init
_ALModule.init(self, self.moduleName)
File "/home/dnajd/development/opensource/pynaoqi-python-2.7-naoqi-1.14-linux64/naoqi.py", line 133, in init
inaoqi.module.init(self, param)
File "/home/dnajd/development/opensource/pynaoqi-python-2.7-naoqi-1.14-linux64/inaoqi.py", line 217, in init
this = _inaoqi.new_module(_args)
RuntimeError: module::module
Could not create a module, as there is no current broker in Python's world.

Following PEP-8 compliant renaming, following argument names of broker.Broker() and broker.create() are not available anymore:
brokerIp => broker_ip
brokerPort => broker_port
naoIp => nao_id
naoPort => nao_port

They should be made backward compatible. A deprecation warning should also be raised.

Choreographe will delete "unknown" directories inside the behaviour, so the default data dir location should be outside to protect it from choreographe.

NaoEnvironment should choose a default name and allow clients to override it.

Or better add script to allow run of pylint to report on any code problems

When finding a NAO (broker creation and (future) functions to find a nao around), support the use of an environment variable to suggest a preferred robot.

When no nao_id argument is given when calling the function resolving nao ip/port, the environment variable will be looked up before suggesting any default (local robot, first in list, nao.local).

Need to update choreographe boxes to use naoutil as a package name

Make string lookup more efficient by implementing caching of files so that each property file is not loaded more than once

In the current JSON deserialisation code we rely on the constructor accepting all the state required by super-classes, there is probably a better we can do this.

Work on a test infrastructure allowing to do unit testing with fake ALModules, or using modules from a local naoqi, or from virtual machine naoqi, or from a simulation naoqi.

At least this seems to be the case on Fedora18 when the broker is started using an IP address (if I don't use an IP address my robot is not located).

I can reproduce this in the python shell (which previously worked)

from naoutil import broker
myBroker = broker.Broker("testy", nao_id="192.168.0.71", nao_port=9559)
def my_event_callback(data_name, value, message):
print 'Event', data_name, value, message
memory.subscribe_to_event('RightBumperPressed', my_event_callback)

See http://www.pygtk.org/pygtk2reference/gobject-functions.html#function-gobject--timeout-add and http://www.daa.com.au/pipermail/pygtk/2004-April/007485.html