Python Snippets
===============


.. _system_volume:

------------------
Set speaker volume
------------------

.. code-block:: python

    import navel
    
    with navel.Robot() as robot:
        print(f"Previous volume: {robot.volume}%")
        robot.volume += 3
        print(f"New volume: {robot.volume}%")


--------------------------
Stream audio to Google ASR
--------------------------

In your virtual environment, ``pip install pyaudio``.

Follow examples on `Github <https://github.com/GoogleCloudPlatform/python-docs-samples/blob/main/speech/microphone/transcribe_streaming_infinite.py>`_.

You can configure what microphone to use by adding an ``input_device_index`` in ``self._audio_interface.open()``.

To list the available devices with indices, use the following code.

.. code-block:: python

    import pyaudio
    p = pyaudio.PyAudio()
    for i in range(p.get_device_count()):
        print(p.get_device_info_by_index(i))


------------------------------------
Disable automatic facial expressions
------------------------------------

Facial expressions are in auto-mode by default, which weakens your manual
control. You can disable it until restart with the following code.

.. code-block:: python

    import navel

    with navel.Robot() as robot:
        robot.config_set("cns_fer_cont_t1", 0, navel.DataType.U32)
        robot.config_set("cns_fer_cont_t2", 0, navel.DataType.U32)
        robot.config_set("cns_fer_peak_t1", 0, navel.DataType.U32)
        robot.config_set("cns_fer_peak_t2", 0, navel.DataType.U32)
        robot.config_set("cns_fer_overlay_inc", 0, navel.DataType.F32)
        robot.config_set("cns_fer_overlay_max", 0, navel.DataType.F32)
        robot.config_set("cns_fer_overlay_peak_min", 0, navel.DataType.F32)
        robot.config_set("cns_fer_peak_max", 0, navel.DataType.F32)


----------------------
Read head camera frame
----------------------

Use ``HeadCamera`` to fetch a single RGB frame on demand. Frames are returned
as ``numpy.ndarray`` in HWC format (``height x width x 3``) with ``uint8``
values. The frame timestamp is in microseconds.

.. code-block:: python

    import os
    import time
    from datetime import datetime

    from navel import HeadCamera


    SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
    OUT_DIR = os.path.join(SCRIPT_DIR, "head_frames")

    def _write_ppm(path, data, width, height):
        header = f"P6\n{width} {height}\n255\n".encode("ascii")
        with open(path, "wb") as f:
            f.write(header)
            f.write(data.tobytes())


    if __name__ == "__main__":
        os.makedirs(OUT_DIR, exist_ok=True)
        try:
            with HeadCamera() as cam:
                while True:
                    frame = cam.get_frame(timeout_ms=500)
                    ts = datetime.fromtimestamp(
                        frame.timestamp_us / 1_000_000
                    )
                    stamp = ts.strftime("%Y%m%d_%H%M%S")
                    path = os.path.join(
                        OUT_DIR, f"head_{stamp}.ppm"
                    )
                    _write_ppm(path, frame.data, frame.width, frame.height)
                    print(f"wrote {path}")
                    time.sleep(1.0)
        except KeyboardInterrupt:
            pass