navel submodule

This module contains the classes implementing communication with the motion, speech, and perception sockets. Each class handles a connection to its respective socket and all its revelent messages.

Motion class

class navel.navel.Motion(socket_name='/run/bodyd/motion.sock')

Bases: navel._messages.PayloadMessages

Send and receive messages via motion socket

This class is able to transceive protobuf messages via a unix domain socket (UDS). As soon as object is created will attempt to connect to socket. If socket connection is successful class methods can be used to send messages. Each message is converted into a protobuf format and is then sent to motion socket.

Parameters: socket_name (str) – Name of motion socket to connect too.

arms_rotate(angle_l, angle_r)

Sends rotate arms command to robot.

Parameters

angle_l (int) – Rotation of left arm.
angle_r (int) – Rotation of right arm.

Raises

SocketError – In cases where message cannot be sent via socket.

base_move(x, r)

Sends a move command to robot.

Command sets the robot speed to desired value, if after 10ms no new base_move has been sent then robot will start to decrease velocity. To keep robot at same velocity issue this command with the desired speed every 10ms.

Parameters

x (int) – Forward motion magnitude.
r (int) – Anticlockwise rotation.

Raises

SocketError – In cases where message cannot be sent via socket.

base_tilt(x, y)

Sends tilt body command to robot.

Parameters

x (int) – Tilt in X axis.
y (int) – Tilt in Y axis.

Raises

SocketError – In cases where message cannot be sent via socket.

config_set(name, value, valType)

Sends a message to change the value of a config field.

Parameters

name (str) – Name of config field to set.
value (int or float) – Value to set.
valType (DataType) – DataType Enum describing value datatype.

Raises

SocketError – In cases where message cannot be sent via socket.

connect(attempts=1)

Connects object to its Unix domain socket.

Will to attempt to connect to UDS, named at object creation. If the attempts argument is passed and connection fails, this method will loop multiple times to reconnect.

Parameters: attempts (int, optional) – How many attempts should be made to connect. Defaults to 1.
Raises: OSError – If unable to connect.

disconnect(): Disconnects socket.

head_eyelids(openness_l, openness_r)

Sends a message setting how open the eyes should be.

Parameters

openness_l (float) – Scalar value of how open left eye should be, where 1 is open and 0 is closed.
openness_r (float) – Scalar value of how open right eye should be, where 1 is open and 0 is closed.

Raises

SocketError – In cases where message cannot be sent via socket.

head_facial_expression(neutral, happy, sad, surprise, anger)

Sends a message setting the facial expression of the robot.

This function sets the magnitude of each of the robots five expressions. Each argument contains a scalar value of how extreme the argument emotion is, where emotion max is 1 and emotion minimum is 0.

Parameters

neutral (float) – Sets magnitude of neutral expression.
happy (float) – Sets magnitude of happy expression.
sad (float) – Sets magnitude of sad expression.
surprise (float) – Sets magnitude of surprise expression.
anger (float) – Sets magnitude of anger expression.

Raises

SocketError – In cases where message cannot be sent via socket.

head_mouth(openness)

Sends a message setting how wide the mouth should be open.

Parameters: openness (float) – Scalar value which controls how wide mouth should be open, 1 = open, 0 = closed.
Raises: SocketError – In cases where message cannot be sent via socket.

head_overlay(overlay)

Sends a message rotating the head using tait-bryan angles.

Parameters: overlay (Bryan) – Tait-Bryan angles describing offset.
Raises: SocketError – In cases where message cannot be sent via socket.

head_path_limits(v_max, a_max, j_max)

Sends pathplanner limits for head motion to robot.

Parameters

v_max (float) – Maximum velocity.
v_max – Maximum acceleration.
v_max – Maximum jerk.

Raises

SocketError – In cases where message cannot be sent via socket.

look_at_cart(cart, head)

Sends a message for robot to look at a point in space.

Parameters

cart (CartSys3d) – 3d target point to look at.
head (float) – Magnitude of head movement towards point, where 0 is no movement and 1 is maximum movement.

Raises

SocketError – In cases where message cannot be sent via socket.

look_at_person(uuid, head)

Sends a message setting which person robot should look at.

Parameters

uuid (int) – Unique identifier of person.
head (float) – Magnitude of head movement towards point, where 0 is no movement and 1 is maximum movement.

Raises

SocketError – In cases where message cannot be sent via socket.

look_at_px(px, head)

Sends a message to robot to look at a pixel.

Parameters

px (Point2dS) – 2d point on the image plane.
head (float) – Magnitude of head movement towards point, where 0 is no movement and 1 is maximum movement.

Raises

SocketError – In cases where message cannot be sent via socket.

Perception class

class navel.navel.Perception(socket_name='/run/bodyd/vision.sock', keys=None, callbacks=None)

Bases: navel._messages.PerceptionMessages

Send and receive messages via perception socket

This class is able to transceive protobuf messages via a unix domain socket (UDS). As soon as object is created will attempt to connect to socket. If socket connection is successful class methods can be used to send messages. Each message is converted into a protobuf format and is then sent to motion socket.

This also contains a listening thread which detects messages send from bodyd. This is run asynchronously as messages could arrive at any point in time. Read messages are accessed using callback functions. If there are no relevent callback functions then messages will be thrown away to keep buffer clear. See valid keys to see what callbacks are supported.

If the object where data is stored by callback functions is to be accessed by any other threads, steps must be taken to make it threadsafe.

Parameters

socket_name (str, optional) – Name of the socket to connect to. Defaults to NAVEL_VISION_SOCKET
keys (str, optional) – List of names of callbacks. For list of valid values, cf. assign_callbacks(). Defaults to None.
callbacks (function, optional) – List of callback functions. Defaults to None.

assign_callbacks(keys, callbacks)

Adds key-value pairs to object callback dictionary.

Used to add callback functions after object has been created.

Parameters

keys (str) –
Valid keys are

”error”
Returns async errors. These errors will be OSerror errnos. It can also return ENOTRECOVERABLE if an unexpected exception occurs and async listener stops.

”perception_data”
Returns a PerceptionData object containing all infomation passed by perceptionMessages.
callbacks (functions) – List of callback functions.

close_socket()

Closes socket connection.

Attempts to shutdown listener thread and then closes socket. If listener thread cannot be shutdown within _SC_SHUTDOWN_CNT_MAX attempts then socket will be shutdown regardless. Between attempts method sleeps for _SC_ASYNC_SLEEP_DUR_SEC.

Raises: OSError – In case of errors in accessing or closing socket.

connect(attempts=1)

Connects object to its Unix domain socket.

Will to attempt to connect to UDS, named at object creation. If the attempts argument is passed and connection fails, this method will loop multiple times to reconnect.

Parameters: attempts (int, optional) – How many attempts should be made to connect. Defaults to 1.
Raises: OSError – If unable to connect.

disconnect(): Disconnects socket.

Speech class

class navel.navel.Speech(socket_name='/run/bodyd/speech.sock', keys=None, callbacks=None)

Bases: navel._messages.SpeechMessages

Connect to and send messages to speech socket

This class is able to transceive protobuf messages via a unix domain socket (UDS). As soon as object is created will attempt to connect to socket. If socket connection is successful class methods can be used to send messages. Each message is converted into a protobuf format and is then sent to motion socket.

This also contains a listening thread which detects messages send from bodyd. This is run asynchronously as messages could arrive at any point in time. Read messages are accessed using callback functions. If there are no relevent callback functions then messages will be thrown away to keep buffer clear. See valid keys to see what callbacks are supported.

If the object where data is stored by callback functions is to be accessed by any other threads, steps must be taken to make it threadsafe.

Parameters

socket_name (str, optional) – Name of the socket to connect to. Defaults to NAVEL_SPEECH_SOCKET
keys (str, optional) – List of names of callbacks. For list of valid values, cf. assign_callbacks(). Defaults to None.
callbacks (function, optional) – List of callback functions mapped to keys. Defaults to None.

assign_callbacks(keys, callbacks)

Adds key-value pairs to object callback dictionary.

Used to add callback functions after object has been created.

Parameters

keys (str) –
Valid keys are

”error”
returns async errors. These errors will be OSerror errnos. It can also return ENOTRECOVERABLE if an unexpected exception occurs and async listener stops.

”mic_state”
returns a duration integer in us for how long current sound will be played.

”bookmark”
returns an integer value containing an audio bookmark value.
callbacks (functions) – List of callback functions.

close_socket()

Closes socket connection.

Attempts to shutdown listener thread and then closes socket. If listener thread cannot be shutdown within _SC_SHUTDOWN_CNT_MAX attempts then socket will be shutdown regardless. Between attempts method sleeps for _SC_ASYNC_SLEEP_DUR_SEC.

Raises: OSError – In case of errors in accessing or closing socket.

connect(attempts=1)

Connects object to its Unix domain socket.

Will to attempt to connect to UDS, named at object creation. If the attempts argument is passed and connection fails, this method will loop multiple times to reconnect.

Parameters: attempts (int, optional) – How many attempts should be made to connect. Defaults to 1.
Raises: OSError – If unable to connect.

disconnect(): Disconnects socket.

speech_text(text)

Sends a speech text message to speech socket.

Parameters

text (str) – contents of message to be sent to speech socket.

Raises

TypeError – If text is not string
SocketError – If errors connecting to socket or sending message