Python2.x

udp_pepper_controller.py

# -*- coding: utf-8 -*-
import sys
import signal
import socket as skt
import math

from naoqi import ALProxy


class UDPServer():
    PORT = 7000
    RECV_TIMEOUT_MSEC = 300

    @classmethod
    def responder(self, MotionSender):
        inst = skt.socket(skt.AF_INET, skt.SOCK_DGRAM)
        inst.bind(('', UDPServer.PORT))
        inst.setblocking(0)
        while True:
            try:
                data, adr = inst.recvfrom(UDPServer.RECV_TIMEOUT_MSEC)
            except skt.error:
                pass
            else:
                data = data.rstrip('\n')
                data = data.rstrip('\r')
                data = data.rstrip('\n')
                #
                rep = data
                if rep is None:
                    continue
                print("ret:", rep)
                MotionSender.msg = rep.encode('utf8')
                MotionSender.say()
                MotionSender.forword()
                MotionSender.right_turn()

class MotionSender():
    #IP = "localhost"
    IP = "192.168.11.11"
    #PORT = 58966
    PORT = 9559
    MOVE = 0.1
    TURN = math.radians(45)
    print(TURN)

    def __init__(self):
        print("IP:", MotionSender.IP, " PORT:", MotionSender.PORT)
        self.tts = ALProxy("ALTextToSpeech",MotionSender.IP, MotionSender.PORT)
        self.motion = ALProxy("ALMotion", MotionSender.IP, MotionSender.PORT)

        signal.signal(signal.SIGINT, self.gracefully_close)

        UDPServer.responder(self)
        
    def say(self):
        self.tts.say(self.msg)
   
    def forword(self):
        self.motion.moveTo(MotionSender.MOVE, 0.0, 0.0)

    def behind(self):
        self.motion.moveTo(-MotionSender.MOVE, 0.0, 0.0)

    def left(self):
        self.motion.moveTo(0.0, MotionSender.MOVE, 0.0)

    def right(self):
        self.motion.moveTo(0.0, -MotionSender.MOVE, 0.0)

    def right_turn(self):
        self.motion.moveTo(0.0, 0.0, -MotionSender.TURN)

    def left_turn(self):
        self.motion.moveTo(0.0, 0.0, MotionSender.TURN)

    def look_back(self):
        self.motion.moveTo(0.0, 0.0, math.radians(180))

    def gracefully_close(self, signal, frame):
        sys.exit(0)

MotionSender()