fixed RuntimeError('Cannot capture')

pykick/imagereaders.py

@@ -21,8 +21,9 @@ class NaoImageReader(object):
         self.res = self.RESOLUTIONS[res]
         self.cam_id=cam_id
         self.vd = ALProxy('ALVideoDevice', ip, port)
+        streamer_name = '_'.join(['lower' if cam_id else 'upper', str(res)])
         self.sub = self.vd.subscribeCamera(
-            "video_streamer", cam_id, res, 13, fps
+            streamer_name, cam_id, res, 13, fps
         )
 
     def to_angles(self, x, y):
@@ -36,10 +37,8 @@ class NaoImageReader(object):
     def get_frame(self):
         result = self.vd.getImageRemote(self.sub)
         self.vd.releaseImage(self.sub)
-        if result == None:
+        if result is None or result[6] is None:
-            raise RuntimeError('cannot capture')
+            raise RuntimeError("Couldn't capture")
-        elif result[6] == None:
-            raise ValueError('no image data string')
         else:
             height, width = self.res
             return np.frombuffer(result[6], dtype=np.uint8).reshape(

pykick/striker.py

@@ -30,22 +30,23 @@ class Striker(object):
         self.loss_counter = 0
         self.run_after = run_after
         self.in_move = False
-        self.speaker = ALProxy("ALTextToSpeech",bytes(nao_ip),nao_port)
+        self.speaker = ALProxy("ALTextToSpeech", bytes(nao_ip), nao_port)
-        self.speaker.setParameter("pitchShift",2)
+        self.speaker.setParameter("pitchShift", 2)
-        self.speaker.setParameter("speed",50)
+        self.speaker.setParameter("speed", 50)
         self.tts_thread = None
         self.last_speak = None
 
     def speak(self, text):
-        if (self.tts_thread is None or not self.tts_thread.isAlive() ) and text!=self.last_speak:
+        if (
+            (self.tts_thread is None or not self.tts_thread.isAlive())
+            and text != self.last_speak
+        ):
             self.tts_thread = Thread(
                 target=lambda text: self.speaker.say(str(text)),
                 args=(text,)
             )
             self.tts_thread.start()
-            self.last_speak=text
+            self.last_speak = text
-        
-        
 
     def ball_scan(self):
         """Intelligently rotate the robot to search for stuff."""
@@ -63,12 +64,17 @@ class Striker(object):
         # rotate head to the left, if head yaw angle is equally zero or larger
         # rotate head to the right, if head yaw angle is smaller than zero
         else:
-            #self.speak("I have found the ball")
+            # self.speak("I have found the ball")
             self.mover.change_head_angles(sign * pi / 4, 0, 0.5)
 
     def get_ball_angles_from_camera(self, cam):
         """Detect the ball and return its angles in camera coordinates."""
+        try:
             ball = self.ball_finder.find(cam.get_frame())
+        except RuntimeError as e:
+            print(e)
+            return None
+
         if ball is None:
             return None
 
@@ -112,7 +118,7 @@ class Striker(object):
 
         # turn to ball, if the angle between the ball and the robot is too big
         if abs(x) > 0.15:
-            #self.speak('Align to the ball')
+            # self.speak('Align to the ball')
             self.mover.stop_moving()
             self.turn_to_ball(x, y)
             return False
@@ -153,7 +159,6 @@ class Striker(object):
             self.mover.move_to(0, 0, yaw)
             self.mover.wait()
 
-
     def align_to_ball(self):
         ball_angles = self.get_ball_angles_from_camera(self.lower_camera)
         if ball_angles is None:
@@ -302,18 +307,17 @@ if __name__ == '__main__':
         striker.mover.kick()
         striker.mover.rest()
 
-
     # perform normal state-machine if no input argument is given
     # (see diagram above)
     else:
         try:  # Hit Ctrl-C to stop, cleanup and exit
             state = 'tracking'
-            #t = None
+            # t = None
             while True:
                 # meassure time for debbuging
                 loop_start = time()
                 print('State:', state)
-                #striker.speak(str(state))
+                # striker.speak(str(state))
 
                 if state == 'tracking':
                     # start ball approach when ball is visible
@@ -328,27 +332,25 @@ if __name__ == '__main__':
                     print(ball_in_lower)
                     if (ball_in_lower is not None and ball_in_lower[1] > 0.28):
 
-                        #t = Thread(target=striker.speak, args=["Ball is close enough, stop approach"])
-                        #t.start()
                         print('Ball is close enough, stop approach')
-                        #striker.speak("Ball is close enough stop approach")
+                        # striker.speak("Ball is close enough stop approach")
-                        #striker.mover.stop_moving()
+                        # striker.mover.stop_moving()
-                        #state = 'align'
+                        # state = 'align'
-                        state='simple_kick'
+                        state = 'simple_kick'
                     else:
                         print('Continue running')
-                        ##striker.speak("Continue running")
+                        # striker.speak("Continue running")
                         striker.run_to_ball()
                         state = 'tracking'
 
                 elif state == 'simple_kick':
-                    #striker.mover.set_head_angles(0,0.25,0.3)
+                    # striker.mover.set_head_angles(0,0.25,0.3)
                     print('Doing the simple kick')
 
                     # just walk a short distance forward, ball should be near
                     # and it will probably be kicked in the right direction
                     striker.speak("Simple Kick")
-                    striker.mover.move_to(0.3,0,0)
+                    striker.mover.move_to(0.3, 0, 0)
                     striker.mover.wait()
                     state = 'tracking'