入门篇（6）获取NAO机器人麦克风数据进行相关处理

前言

前一段时间，有位做声学处理的同学问我，在NAO机器人上做声学实验，怎么获取机器人的麦克风数据。好吧，渣渣的我给她说了一下。现在分享出来。

环境

win10安装python2.7 32位：
https://www.python.org/ftp/python/2.7.14/python-2.7.14.msi
下载pythonnaoqi SDK包：
https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb
当然需要账号密码登录啦。

保存麦克风数据

官方API网址：

http://doc.aldebaran.com/2-1/naoqi/audio/alaudiorecorder-api.html#alaudiorecorder-api

ALAudioRecorder

Nao机器人录音模块；
可以录音成“wav” / “OGG”格式；

Performances and Limitations

four channels 48000Hz in OGG.
four channels 48000Hz in WAV.
one channels (front, rear, left or right), 16000Hz, in OGG.
one channels (front, rear, left or right), 16000Hz, in WAV.

#录音一段时间，再播放录音
import argparse
from naoqi import ALProxy
import time

tts = audio = record = aup = None 

def main(robot_IP, robot_PORT=9559):
    global tts, audio, record, aup 
    # ----------> Connect to robot <----------
    tts = ALProxy("ALTextToSpeech", robot_IP, robot_PORT)
    audio = ALProxy("ALAudioDevice", robot_IP, robot_PORT)
    record = ALProxy("ALAudioRecorder", robot_IP, robot_PORT)
    aup = ALProxy("ALAudioPlayer", robot_IP, robot_PORT)
    # ----------> recording <----------
    print 'start recording...'
    record_path = '/home/nao/record.wav'
    record.startMicrophonesRecording(record_path, 'wav', 16000, (0,0,1,0))
    time.sleep(10)
    record.stopMicrophonesRecording()
    print 'record over'


    # ----------> playing the recorded file <----------
    fileID = aup.playFile(record_path, 0.7, 0)  

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="192.168.2.100", help="Robot ip address")#IP"192.168.2.100"改成当前NAO的IP地址
    parser.add_argument("--port", type=int, default=9559, help="Robot port number")
    args = parser.parse_args()
    # ----------> 执行main函数 <----------
    main(args.ip, args.port)

将录音拷贝出来

如果是Linux，当然ssh一下就行了，若是Windows,那就使用winscp吧。
打开winscp，然后输入NAO当前IP，输入用户名和密码（nao,nao），然后将/home/nao/record.wav拷贝出来。