pyzenbo.modules.utility module

class pyzenbo.modules.utility.PlayAction

Bases: object

BODY_TWIST_1 = 22

BODY_TWIST_2 = 23

DANCE_2_LOOP = 24

DANCE_3_LOOP = 27

DANCE_B_1_LOOP = 15

DANCE_S_1_LOOP = 21

DEFAULT_1 = 0

DEFAULT_2 = 1

HEAD_DOWN_1 = 8

HEAD_DOWN_2 = 9

HEAD_DOWN_3 = 10

HEAD_DOWN_4 = 12

HEAD_DOWN_5 = 14

HEAD_DOWN_7 = 43

HEAD_TWIST_1_LOOP = 26

HEAD_UP_1 = 3

HEAD_UP_2 = 4

HEAD_UP_3 = 6

HEAD_UP_4 = 7

HEAD_UP_5 = 13

HEAD_UP_6 = 54

HEAD_UP_7 = 16

MUSIC_1_LOOP = 17

NOD_1 = 2

SHAKE_HEAD_1 = 5

SHAKE_HEAD_2 = 11

SHAKE_HEAD_3 = 20

SHAKE_HEAD_4_LOOP = 25

SHAKE_HEAD_5 = 28

SHAKE_HEAD_6 = 42

TURN_LEFT_1 = 18

TURN_LEFT_2 = 19

TURN_LEFT_REVERSE_1 = 46

TURN_LEFT_REVERSE_2 = 48

TURN_RIGHT_1 = 44

TURN_RIGHT_2 = 45

TURN_RIGHT_REVERSE_1 = 47

TURN_RIGHT_REVERSE_2 = 49

class pyzenbo.modules.utility.Utility(inter_comm)

Bases: object

find_person_nearby(sync=True, timeout=None)

Ask robot to find person nearby

Parameters

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

follow_face(enable_preview, large_preview, sync=False, timeout=None)

Ask robot follow the face. There are two “onResult” callback during followFace processing: 1. “FOLLOW_FACE_START_FIND_USER”: plugin start to find user 2. “FOLLOW_FACE_FOUND_USER”: plugin has found user, will start to follow

Parameters

• enable_preview – set True to enable camera preview window for debug

• large_preview – set True to enable full screen preview,

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

follow_object(sync=False, timeout=None)

Ask robot to follow object

Parameters

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

look_at_user(doa, sync=True, timeout=None)

Ask robot to look at user in robot front

Parameters

• doa – direction of arrival

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

play_action(number, sync=True, timeout=None)

Perform predefined actions by turning neck and wheels. Use PlayAction to set action number, naming with loop will be incessant replay. Use cancelCommandBySerial() or cancelCommandAll() to cancel action.

Parameters

• number – number of predefined action

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

play_emotional_action(face, play_action, sync=True, timeout=None)

Perform robot expression and predefined action. Use PlayAction to set action number, naming with loop will be incessant replay. Use cancelCommandBySerial() or cancelCommandAll() to cancel action.

Parameters

• face – face expression ID

• play_action – action ID

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

track_face(enable_preview, large_preview, sync=False, timeout=None)

Ask robot track the face. There are two “onResult” callback during trackFace processing: 1. “TRACK_FACE_START_FIND_USER” : plugin start to find user 2. “TRACK_FACE_FOUND_USER”: plugin has found user, will start to follow

Parameters

• enable_preview – set True to enable camera preview window for debug

• large_preview – set True to enable full screen preview, it works only when enablePreview is true

• sync – True if this command is blocking

• timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code