# 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
```

On WSL, also install:

```bash
sudo apt install -y libasound2-plugins
```

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.

There's also a `--microphone` argument that can be used to choose a microphone to use. If not given, the program will try the default microphone. If you don't know the name of the microphone, pass the argument with any value, and it will list the names of available microphones.



## 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

## Documentation
Generate documentation web pages using:

### Linux & macOS
```bash
PYTHONPATH=src sphinx-apidoc -F -o docs src/robot_interface
```

### Windows
```bash
$env:PYTHONPATH="src"; sphinx-apidoc -F -o docs src/control_backend
```

Optionally, in the `conf.py` file in the new `docs` folder, change preferences. 

In the `docs` folder:

### Linux & macOS
```bash
make html
```

### Windows
```bash
.\make.bat html
```