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Tutorial

Introduction

This tutorial explains how to use the ALAudioSourceLocalization module.

Note:	The tutorial is written in Python.

Subscribe to ALAudioSourceLocalization/SoundLocated event

Because ALAudioSourceLocalization/SoundLocated is an event, you can use a callback to process your algorithm

                        from naoqi import ALModule, ALProxy
                        import time
                        # define python module
                        class MyModule(ALModule):
                          """ this python module test ALAudioSourceLocalization module """
                          def __init__( self, strName ):
                            ALModule.__init__( self, strName );

                          def myCallBack(self, strVarName, angle, strMessage) :
                            """ just print value of event """
                            print "sound location : " + str(angle[1][0]) + str(angle[1][1])
                            print "confidence : " + str(angle[1][2])

                        if __name__ == "__main__":
                          # Replace IP with your robot's IP address
                          broker = ALBroker("pythonBroker", "0.0.0.0", 9600,IP, 9559)
                          pythonModule = MyModule("MypythonModule")
                          ALMemoryProxy = ALProxy("ALMemory")
                          #subscribe to ALAudioSourceLocalization/SoundLocated event
                          ALMemoryProxy.subscribeToEvent("ALAudioSourceLocalization/SoundLocated","MypythonModule", "myCallBack")
                          time.sleep(9)
                          ALMemoryProxy.unsubscribeToEvent("ALAudioSourceLocalization/SoundLocated","MypythonModule")
                    

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