# PepperPlus-RI

The robot interface is a high-level API for controlling the robot. It implements the API as designed: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication.

This is an implementation for the Pepper robot, using the Pepper SDK and Python 2.7 as required by the SDK.



## Installation

### Linux (or WSL)

Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:

```bash
pyenv install 2.7
pyenv shell 2.7
```

You can check that this worked by typing

```bash
python -V
```

Which should return `Python 2.7.18`.

Next, `cd` into this repository and create (and activate) a virtual environment:

```bash
cd <path to project>/
python -m pip install virtualenv
python -m virtualenv .venv
source .venv/bin/activate
```

We depend on PortAudio for the `pyaudio` package, so install it with:

```bash
sudo apt install -y portaudio19-dev
```

Install the required packages with

```bash
pip install -r requirements.txt
```

Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:

```bash
wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```

Next, move into the `site-packages` directory and extract the file you just downloaded:

```bash
cd .venv/lib/python2.7/site-packages/
tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```

Lastly, we need to inform our virtual environment where to find our newly installed package:

```bash
echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
```

That's it! Verify that it works with

```bash
python -c "import qi; print(qi)"
```

You should now be able to run this project.

### macOS

Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).

Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:

```shell
curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
```

Then resume the steps from above.



## Usage

On Linux and macOS:

```shell
PYTHONPATH=src python -m robot_interface.main
```

On Windows:

```shell
$env:PYTHONPATH="src"; python -m robot_interface.main
```

With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.



## Testing

To run the unit tests, on Linux and macOS:

```shell
PYTHONPATH=src pytest test/
```

On Windows:

```shell
$env:PYTHONPATH="src"; pytest test/
```

### Coverage

For coverage, add `--cov=robot_interface` as an argument to `pytest`. 



## GitHooks

To activate automatic commits/branch name checks run:

```shell
git config --local core.hooksPath .githooks
```

If your commit fails its either:
branch name != <type>/description-of-branch , 
commit name !=  <type>: description of the commit.
                <ref>: N25B-Num's