static byte[] DownloadRawImage(QiSession session)
{
var vd = session.GetService("ALVideoDevice");
//忌々しいマジックナンバーを使っているが、パラメタについては
//ALVideoDevice::subscribeのドキュメンテーションに載っているので参照されたく。
//http://doc.aldebaran.com/2-1/naoqi/vision/alvideodevice-api.html?highlight=alvideodevice#ALVideoDeviceProxy::subscribeCamera__ssCR.iCR.iCR.iCR.iCR
string idName = (string)vd["subscribeCamera"].Call("mytestimage",
//カメラ種類 0:正面, 1:下方, 2:深度
0,
//解像度 1:320x240
1,
//色空間 11が24bit RGBなので基本コレでいいがYUVの方が速度速そうみたいな話もあるので注意
11,
//FPS: 1から30くらいまで
5
);
//画像がデータバッファに溜まるのを確実に待機
Task.Delay(500).Wait();
try
{
return vd["getImageRemote"].Call(idName)[6].ToBytes();
}
finally
{
vd["unsubscribe"].Call(idName);
}
}
public static void Execute(QiSession session)
{
var motion = session.GetService("ALMotion");
var posture = session.GetService("ALRobotPosture");
motion["wakeUp"].Call();
posture["goToPosture"].Call("StandInit", 0.5f);
motion["rest"].Call();
}
public static void Execute(QiSession session)
{
var motion = session.GetService("ALMotion");
motion["stiffnessInterpolation"].Call("Body", 1.0f, 1.0f);
Console.WriteLine((string)motion["getSummary"].Call());
//なぜか知らないが状態が落ち着くまで待つらしい?
Task.Delay(2000).Wait();
motion["rest"].Call();
}
public static void Execute(QiSession session)
{
var mem = session.GetService("ALMemory");
//人の会話
//var subscriberHumanSpeech = mem.CallObject("subscriber", new QiString("Dialog/LastInput"));
var subscriberHumanSpeech = mem["subscriber"].CallObject("Dialog/LastInput");
ulong idHumanSpeech = subscriberHumanSpeech.ConnectSignal("signal", qv =>
{
if (qv.Count > 0 && qv[0].ContentValueKind == QiValueKind.QiString)
{
Console.WriteLine($"Human: {qv[0].ToString()}");
}
else
{
Console.WriteLine("Human: Received unexpected data");
Console.WriteLine(qv.Dump());
}
});
//ロボットの発話
var subscriberRobotSpeech = mem["subscriber"].CallObject("ALTextToSpeech/CurrentSentence");
ulong idRobotSpeech = subscriberRobotSpeech.ConnectSignal("signal", qv =>
{
if (qv.Count > 0 && qv[0].ContentValueKind == QiValueKind.QiString)
{
string sentence = qv[0].ToString();
if(!string.IsNullOrWhiteSpace(sentence))
{
Console.WriteLine($"Robot: {sentence}");
}
}
else
{
Console.WriteLine("Robot: Received unexpected data");
Console.WriteLine(qv.Dump());
}
});
Console.WriteLine("Press ENTER to quit logging results.");
Console.ReadLine();
subscriberHumanSpeech.DisconnectSignal(idHumanSpeech).Wait();
subscriberRobotSpeech.DisconnectSignal(idRobotSpeech).Wait();
}
public static void Execute(QiSession session)
{
var recorder = session.GetService("ALVideoRecorder");
string savePath = "/home/nao/recordings/cameras";
//Motion JPEGのaviにするパターン
recorder["setResolution"].Call(1);
recorder["setFramerate"].Call(10);
recorder["setVideoFormat"].Call("MJPG");
recorder["startRecording"].Call(savePath, "myvideo");
Task.Delay(5000).Wait();
recorder["stopRecording"].Call();
Console.WriteLine($"If test succeeded, video was saved in {savePath} on the robot");
}
public static void Execute(QiSession session)
{
byte[] rawImageData = DownloadRawImage(session);
Console.WriteLine($"raw data length = {rawImageData.Length}");
try
{
int height = 240;
int width = 320;
int channel = 3;
var img = GetImageFromRawData(rawImageData, width, height, channel);
img.Save("result.png", ImageFormat.Png);
Console.WriteLine("Front camera's image was saved to working directory with name 'result.png'");
}
catch (InvalidOperationException ex)
{
Console.WriteLine("Failed to get image: " + ex.Message);
}
}
public static void Execute(QiSession session)
{
var mem = session.GetService("ALMemory");
var sonar = session.GetService("ALSonar");
//NOTE: PythonサンプルにはFSR(力センサ)の話題も載ってるがだいたい同じなので省略
Console.WriteLine("First: read IMU values\n");
var results = new Dictionary<string, string>()
{
{ "GyrX", "Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value" },
{ "GyrY", "Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value" },
{ "AccX", "Device/SubDeviceList/InertialSensor/AccX/Sensor/Value" },
{ "AccY", "Device/SubDeviceList/InertialSensor/AccY/Sensor/Value" },
{ "AccZ", "Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value" },
{ "TorsoAngleX", "Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value" },
{ "TorsoAngleY", "Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value" }
}.Select(p => $"key={p.Key}, value={mem["getData"].Call(p.Value).Dump()}");
foreach (var r in results)
{
//Dynamicのアンパックとかあると見た目的に見づらいのでそこを対策
Console.WriteLine(r.Replace("\n", ""));
}
Console.WriteLine("Second: read sonar values\n");
sonar["subscribe"].Call("MySampleApplication");
Console.WriteLine(
"Left: {0}",
mem["getData"].Call("Device/SubDeviceList/US/Left/Sensor/Value").Dump()
);
Console.WriteLine(
"Right: {0}",
mem["getData"].Call("Device/SubDeviceList/US/Right/Sensor/Value").Dump()
);
sonar["unsubscribe"].Call("MySampleApplication");
}
public static void Execute(QiSession session)
{
string serviceName = "CSharpSoundDownloaderSpare";
var audioDevice = session.GetService("ALAudioDevice");
var waveIn = new WaveInEvent();
#region 1/4: ロボットへ音を投げる方の仕込み
//出力サンプリングレートをデフォルト(48kHz)から16kHzに下げる
//16000, 22050, 44100, 48000のいずれかしか選択できない点に注意
audioDevice["setParameter"].Call("outputSampleRate", 16000);
//下のDataAvailableイベントが発生する頻度、バッファの長さに影響する。
//バッファ長は16384を超えてはいけない点に注意
//(詳細は公式ドキュメンテーション参照)
waveIn.BufferMilliseconds = 200;
//マイクの集音時フォーマット: 周波数を上で設定した値に合わせる
waveIn.WaveFormat = new WaveFormat(16000, 16, 2);
int count = 0;
waveIn.DataAvailable += (_, e) =>
{
if (e.BytesRecorded > 16384) return;
byte[] bufferToSend = new byte[e.BytesRecorded];
Array.Copy(e.Buffer, bufferToSend, e.BytesRecorded);
int p = audioDevice["sendRemoteBufferToOutput"].Post(bufferToSend.Length / 4, bufferToSend);
Console.WriteLine($"received data, {count}");
count++;
};
#endregion
#region 2/4 ロボットから音を拾う, 再生デバイス準備
var mmDevice = new MMDeviceEnumerator().GetDefaultAudioEndpoint(DataFlow.Render, Role.Multimedia);
var wavProvider = new BufferedWaveProvider(new WaveFormat(16000, 16, 1));
var wavPlayer = new WasapiOut(mmDevice, AudioClientShareMode.Shared, false, 200);
wavPlayer.Init(new VolumeWaveProvider16(wavProvider));
wavPlayer.Play();
#endregion
#region 3/4 ロボットから音を拾う, ロボットのマイク監視モードに入る
var objBuilder = QiObjectBuilder.Create();
//コールバックであるprocessRemote関数を登録することでALAudioDevice側の仕様に対応
objBuilder.AdvertiseMethod(
"processRemote::v(iimm)",
(sig, arg) =>
{
//ここで処理
//Console.WriteLine("Received Buffer!");
//Console.WriteLine(arg.Dump());
//データの内容については上記のダンプを行うことである程度確認可能
byte[] raw = arg[3].ToBytes();
wavProvider.AddSamples(raw, 0, raw.Length);
return QiValue.Void;
});
//上記のコールバック取得用サービスを登録
session.Listen("tcp://0.0.0.0:0").Wait();
ulong registeredId = session.RegisterService(serviceName, objBuilder.BuildObject()).GetUInt64(0UL);
#endregion
#region 4/4 設定を調整して実際に入出力を行う
//マジックナンバーあるけど詳細は右記参照 http://www.baku-dreameater.net/archives/2411
audioDevice["setClientPreferences"].Call(serviceName, 16000, 3, 0);
//開始
audioDevice["subscribe"].Call(serviceName);
waveIn.StartRecording();
#endregion
Console.WriteLine("Press ENTER to quit..");
Console.ReadLine();
audioDevice["unsubscribe"].Call(serviceName);
session.UnregisterService((uint)registeredId);
wavPlayer.Stop();
wavPlayer.Dispose();
waveIn.StopRecording();
waveIn.Dispose();
}
