= [[https://is.muni.cz/auth/predmet/fi/pv277|PV277 Programming Applications for Social Robots]] (autumn 2019) =

== Pepper API

* http://doc.aldebaran.com/2-5/index_dev_guide.html
* programming in Choregraphe via Python:
  * enter only one box `Python Script`
  * edit its contents via double click:
    * to `__init__` add:
      {{{#!python
self.tts = ALProxy('ALTextToSpeech')
self.tts.setLanguage('Czech')
}}}
    * to `onInput_onStart` add:
      {{{#!python
self.tts.say("Ahoj, jak se máš?")
self.onStopped()
}}}
   * add `Czech` into Project Properties [[br]]
     [[Image(pepper_project_cz.png)]]
   * save the project and run in on a virtual robot
* speech input via Python:
  * in `__init__` add:
    {{{#!python
        try:
            self.speech = ALProxy("ALSpeechRecognition")
            self.speech.setLanguage('Czech')
        except:
            self.logger.info('Running on virtual robot')
            self.speech = None
}}}
  * process speech accordingly
    {{{#!python
    def get_answer(self, reactions):
        if self.speech is None:
            return (random.choice(reactions.keys()))
        else:
            self.speech.setVocabulary(reactions.keys(), False)
            self.speech.subscribe("Test_ASR")
            self.logger.info('Speech recognition engine started')
            time.sleep(20)
            self.speech.unsubscribe("Test_ASR")

    def onInput_onStart(self):
        self.tts.say("Ahoj, jak se máš?")
        reactions = {
            'dobře':  'to je super!',
            'špatně': 'doufám, že to brzo bude lepší',
            'nevím': 'tak to určitě nebude tak zlé',
        }
        answer = self.get_answer(reactions)
        react = reactions.get(answer)
        self.logger.info('answer={}, react={}'.format(answer, react))
        self.tts.say(react)
        self.onStopped()
}}}