main.py

# Libraries
from naoqi import ALBroker, ALProxy
import time
import sys
import zmq

# external Python files
import speak
import move
import speechReco
import soundDetect
import faceDetect
import googleSpeechReco
import dialog

# Naoqi modules
speakModule = None
moveModule = None
speechRecoModule = None
#vocabulary = "yes;no;okay"     # key words for NAOQi speech recognition
soundDetectModule = None
faceDetectModule = None

# Network settings of the robot
NAO_IP = ""         # the current IP address of the NAO
NAO_port = 9559

# This is the robot control. It also interacts with the user interface GUI (userInterface.py)
def main():

    myBroker = ALBroker("myBroker",
       "0.0.0.0",   # listen to anyone
       0,           # find a free port and use it
       NAO_IP,          # parent broker IP
       NAO_port)        # parent broker port
       
    # here we comment some modules. E.g., we use Google speech-to-text API rather than internal NAOQi speech recognition (speechRecoModule)
    global speakModule
    speakModule = speak.SpeakModule("speakModule", NAO_IP, NAO_port)
    global moveModule
    moveModule = move.MoveModule("moveModule", NAO_IP, NAO_port)
    #global speechRecoModule
    #speechRecoModule = speechReco.SpeechRecoModule("speechRecoModule", vocabulary)
    #global soundDetectModule					
    #soundDetectModule = soundDetect.SoundDetectModule("soundDetectModule")
    #global faceDetectModule					
    #faceDetectModule = faceDetect.FaceDetectModule("faceDetectModule")
    global speechRecogniser
    speechRecogniser = googleSpeechReco.SpeechRecogniser()
    global dialog
    dialog = dialog.Dialog(moveModule)
    
    # communication with GUI
    context = zmq.Context()
    socket = context.socket(zmq.REQ)
    socket.connect("tcp://localhost:5555")
    
    # set face tracking (only work when NAO Auto-life enabled)
    faceProxy = ALProxy("ALFaceDetection")
    faceProxy.enableTracking(True)
    
    
    # LOOP
    try:

        while True:
            transcript = speechRecogniser.run()         # reveive transcript that contains keyword
                       
            socket.send(transcript)                     # send msg to GUI
            message = socket.recv()
            
            speakModule.say(dialog.answer(transcript))  # react to the transcript                  
 	    
    except KeyboardInterrupt:
    	print
    	print "Interrupted by user, shutting down"
    	myBroker.shutdown()
    	sys.exit(0)


if __name__ == "__main__":
    main()