c634e4b516
All print statements in the main program, and components used by the main program, have been replaced with appropriate logging statements. The connection to the robot now only gets made when it's possible, otherwise only the microphone will be run. ref: N25B-119
70 lines
1.6 KiB
Python
70 lines
1.6 KiB
Python
import sys
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import logging
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logging.
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import zmq
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from src.audio_streaming import AudioStreaming
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from state import state
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def say(session, message):
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tts = session.service("ALTextToSpeech")
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tts.say(message)
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def listen_for_messages(session):
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context = zmq.Context()
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socket = context.socket(zmq.SUB)
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socket.connect("tcp://localhost:5556")
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socket.setsockopt_string(zmq.SUBSCRIBE, u"") # u because Python 2 shenanigans
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poller = zmq.Poller()
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poller.register(socket, zmq.POLLIN)
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logging.info("Listening for messages")
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while not state.exit_event.is_set():
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if not poller.poll(200): continue # At most 200 ms delay after CTRL+C
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# We now know there's a message waiting for us
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message = socket.recv_string()
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logging.debug("Received message: {}".format(message))
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if session: say(session, message)
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def get_session():
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if "--qi-url" not in sys.argv:
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logging.info("No Qi URL argument given. Running in stand-alone mode.")
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return None
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try:
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import qi
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except ImportError:
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logging.info("Unable to import qi. Running in stand-alone mode.")
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return None
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try:
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app = qi.Application()
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app.start()
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return app.session
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except RuntimeError:
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logging.info("Unable to connect to the robot. Running in stand-alone mode.")
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return None
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def main():
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session = get_session()
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audio_streamer = AudioStreaming()
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audio_streamer.run()
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listen_for_messages(session) # Runs indefinitely, until CTRL+C
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if __name__ == "__main__":
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try:
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state.initialize()
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main()
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finally:
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state.deinitialize()
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