import time import numpy as np import requests import os from reachy_mini import ReachyMini from reachy_mini.utils import create_head_pose SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__)) RECORD_DIR = os.path.join(SCRIPT_DIR, "record") os.makedirs(RECORD_DIR, exist_ok=True) def get_server_ip(): ip = os.getenv("server_ip") if ip: return ip try: env_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), '.env') if os.path.exists(env_path): with open(env_path, 'r', encoding='utf-8') as f: for line in f: line = line.strip() if line and not line.startswith('#') and '=' in line: parts = line.split('=', 1) key = parts[0].strip() val = parts[1].strip().strip('\'"') if key == "server_ip": return val except Exception: pass return "10.112.5.79" # ----------------- 加入 Monkey Patch 解決遠端連線問題 ----------------- from reachy_mini.media.media_manager import MediaManager if not hasattr(MediaManager, "_is_patched"): original_media_manager_init = MediaManager.__init__ def mocked_media_manager_init(self, *args, **kwargs): # 如果傳入的信令伺服器不是 localhost，強制改為 localhost 以便走 SSH Tunnel if kwargs.get("signalling_host") not in (None, "localhost", "127.0.0.1"): kwargs["signalling_host"] = "localhost" original_media_manager_init(self, *args, **kwargs) # 替換原有的初始化函數 MediaManager.__init__ = mocked_media_manager_init MediaManager._is_patched = True # --------------------------------------------------------------------- def transcribe_audio(file_path=None): if file_path is None: file_path = os.path.join(RECORD_DIR, "ask.mp3") server_ip = get_server_ip() url = f"http://{server_ip}:4002/v1/audio/transcriptions" try: with open(file_path, "rb") as f: files = {"file": f} response = requests.post(url, files=files) response.raise_for_status() result = response.json() return result.get("text", "") except Exception as e: print(f"Error during audio transcription: {e}") return None def text_to_speech(text, output_file=None): if output_file is None: output_file = os.path.join(RECORD_DIR, "tmp.wav") url = "http://localhost:4003/v1/audio/speech" headers = { "Content-Type": "application/json" } payload = { "text": text } print(f"Converting text to speech via {url}...") try: response = requests.post(url, headers=headers, json=payload, timeout=30) response.raise_for_status() with open(output_file, "wb") as f: f.write(response.content) print(f"Audio saved to {output_file}") return True except Exception as e: print(f"Error in TTS request: {e}") return False def get_chat_completion(prompt): server_ip = get_server_ip() url = f"http://{server_ip}:4001/v1/chat/completions" headers = { "Content-Type": "application/json" } payload = { "model": "openbmb/MiniCPM5-1B", "messages": [{"role": "user", "content": prompt}], "max_tokens": 128, "temperature": 0.7 } try: response = requests.post(url, headers=headers, json=payload) response.raise_for_status() result = response.json() return result["choices"][0]["message"]["content"] except Exception as e: print(f"Error during chat completion: {e}") return None def ask_gesture(mini, count=3): for _ in range(count): mini.goto_target( head=create_head_pose(y=0.0, roll=15, pitch=-20, mm=True), antennas=np.deg2rad([-30, -30]), body_yaw=np.deg2rad(0), duration=1.0, method="minjerk" ) time.sleep(0.1) mini.goto_target( head=create_head_pose(y=0.0, roll=-15, pitch=-20, mm=True), antennas=np.deg2rad([30, 30]), body_yaw=np.deg2rad(0), duration=1.0, method="minjerk" ) time.sleep(0.1) def run_ask_workflow(mini): print("Connected successfully!") # Enable motors (Torque ON) so the robot can move print("Enabling motors (Torque ON)...") mini.enable_motors() time.sleep(0.5) print("Moving robot up (goto_target)...") mini.goto_target( head=create_head_pose(z=10, mm=True), # Up 5mm antennas=np.deg2rad([0, 0]), # Antennas out body_yaw=np.deg2rad(0), # Turn body 30 degrees duration=2.0, # Slow movement method="minjerk" # Smooth movement ) time.sleep(0.5) # Transcribe audio file and print result transcribed_text = transcribe_audio(os.path.join(RECORD_DIR, "latest_voice.mp3")) print("=== Transcription Result ===") print(transcribed_text) print("============================") if transcribed_text: response_text = get_chat_completion(transcribed_text) print("=== LLM Response ===") print(response_text) print("====================") # Convert the resulting text to speech and play it if response_text: response_wav = os.path.join(RECORD_DIR, "ask_response.wav") if text_to_speech(response_text, response_wav): print('Playing...') mini.media.play_sound(response_wav) ask_gesture(mini, count=3) mini.media.stop_playing() else: print("No response text returned from reasoning model, skipping text-to-speech.") print("Moving robot down (goto_target)...") mini.goto_target( head=create_head_pose(z=-15, mm=True), # Back down to 0mm antennas=np.deg2rad([0, 0]), # Antennas back to 0 body_yaw=np.deg2rad(0), # Turn body back to 0 duration=2.0, # Slow movement method="minjerk" # Smooth movement ) print("Down movement completed!") time.sleep(0.5) # Disable motors (Torque OFF) to protect motors and make it compliant print("Disabling motors (Torque OFF - making robot limp)...") mini.disable_motors() print("Done!") def apply_safe_goto(mini): original_goto = mini.goto_target if not hasattr(original_goto, "_is_safe"): def safe_goto(*args, **kwargs): try: return original_goto(*args, **kwargs) except Exception as e: if "timeout" in str(e).lower() or "TimeoutError" in type(e).__name__: print(f"⚠️ [網路延遲] 動作發送超時但可能已在執行中，繼續下一個動作... ({e})") else: raise e safe_goto._is_safe = True mini.goto_target = safe_goto def main(): print("Connecting to Reachy Mini...") shared_mini = None try: from app import robot_manager if robot_manager and robot_manager.mini is not None: shared_mini = robot_manager.mini except Exception: pass try: if shared_mini is not None: print("Reusing existing ReachyMini connection from RobotManager.") apply_safe_goto(shared_mini) run_ask_workflow(shared_mini) else: # Standard standalone execution with ReachyMini(connection_mode="network", host="localhost") as mini: apply_safe_goto(mini) run_ask_workflow(mini) finally: # 刪除暫存的 latest_voice.mp3 檔案 voice_file = os.path.join(os.path.dirname(os.path.abspath(__file__)), "record", "latest_voice.mp3") if os.path.exists(voice_file): try: os.remove(voice_file) print(f"🗑️ 已刪除暫存的語音檔: {voice_file}") except Exception as e: print(f"⚠️ 無法刪除暫存語音檔: {e}") if __name__ == "__main__": main()