NAOqi Core - Overview | API | Launch trigger conditions | Advanced
When Life is running on a robot, in solitary state, Activities with launch trigger conditions can be started automatically.
These conditions can be set in the manifest of the Choregrahe behavior of the activity. Refer to the Choregraphe documentation for editing manifest of behaviors. To write them, use events and an expression language. For further details, see: Launch trigger conditions - Event list and Conditions expression language.
About people and movements
| Key Name | Type | Explanation |
|---|---|---|
| Launchpad/NumPeopleZone1 | int | The number of people detected in zone 1 |
| Launchpad/NumPeopleZone2 | int | The number of people detected in zone 2 |
| Launchpad/NumPeopleZone3 | int | The number of people detected in zone 3 |
| Launchpad/NumMotionZone1 | int | The number of moving objects detected in zone 1 |
| Launchpad/NumMotionZone2 | int | The number of moving objects detected in zone 2 |
| Launchpad/NumMotionZone3 | int | The number of moving objects detected in zone 3 |
| Launchpad/WavingDetection | int | 0 while no waving is detected, 1 while waving is detected |
| Launchpad/PeopleNotSeen | bool | True when PeoplePerception/VisiblePeopleList is empty |
| Launchpad/SameTrackedHuman | bool | True as long as the same person is being tracked.
Momentarily false when the tracked person changes.
The tracked person is determined by BasicAwareness.
|
| Launchpad/ZoneOfTrackedHuman | int | The zone that the tracked person is in. 1, 2, or 3. 0 if no one is tracked. |
| Launchpad/TrackedHumanIsLookingAtRobot | bool | True when the tracked person is looking at the robot. |
About battery information
| Key Name | Type | Explanation |
|---|---|---|
| Launchpad/BatteryLevel | int | A number in the set [0, 5] |
| Launchpad/BatteryStatus | string | Critical, Low, Half, Full |
About hardware information
| Key Name | Type | Explanation |
|---|---|---|
| Launchpad/RobotType | string | nao, romeo |
About the posture of the robot
| Key Name | Type | Explanation |
|---|---|---|
| Launchpad/PostureFamily | string | One of the Posture family. |
| Launchpad/Posture | string | One of the Posture. |
| Launchpad/RobotFellRecently | bool | True if the robot has fallen within the last 13 seconds |
About the temperature of the joints of the robot
| Key Name | Type | Explanation |
|---|---|---|
| Launchpad/TemperatureStatus | string | Complete temperature health of the robot.
Cold, Warm, Hot, Critical
|
| Launchpad/HighestTemperature | float | The highest temperature found on the robot, in Celsius. |
| Launchpad/HighestJoint | string | The name of the hottest joint.
HeadYaw, HeadPitch, LShoulderPitch, LShoulderRoll, LElbowYaw, LElbowRoll,
LWristYaw, LHand, RShoulderPitch, RShoulderRoll, RElbowYaw, RElbowRoll,
RWristYaw, RHand, LHipRoll, LHipYawPitch, LHipPitch, LKneePitch, LAnkleRoll,
LAnklePitch, RHipRoll, RHipYawPitch, RHipPitch, RKneePitch, RAnkleRoll, RAnklePitch
|
Additonal information about NAO’s Joints.
About time
| Key Name | Type | Example Value |
|---|---|---|
| Launchpad/Year | int | 2013 |
| Launchpad/Month | int | 1 |
| Launchpad/MonthName | string | January |
| Launchpad/Day | int | 0 |
| Launchpad/DayName | string | Sunday |
| Launchpad/Date | int | 12 |
| Launchpad/Hour | int | 14 |
| Launchpad/Minute | int | 42 |
| Launchpad/Week | int | 2 |
About activity history
| General Keys | Type | Explanation |
|---|---|---|
| Launchpad/LifeTime | int | The time in seconds since Autonomous Life module has loaded |
| Launchpad/State | string | The current state of Autonomous Life. Can be one of the Autonomous Life states. |
| Launchpad/PreviousState | string | The previous state of Autonomous Life. Can be one of the Autonomous Life states. Note, it is possible for the previous state to equal the current state if the current state was re-entered. |
| Launchpad/FocusedActivity | string | The currently focused activity. Note, if no activity is running, this will be an empty string (“”) |
| Launchpad/PreviousActivity | string | The previously focused activity. Note, “” (no activity running) is not considered for PreviousActivity |
To have condition on the time since your application was last focused, follow this pattern: (('Launchpad/FocusedActivity' != "my_attractions/child_attraction1") ~ 60)
For the following, replace myPackageUUID and myActivityPath with the corresponding values from your Activity’s manifest data.
| Per Activity Keys | Type | Explanation |
|---|---|---|
| Launchpad/FocusCount/myPackageUUID/myActivityPath | int | The count of how many occasions this activity has been focused. |
You can also use the events raised by the extractors running in solitary state:
* Expression grammar:
* ---------------------------------------------------------------------------
* - Parenthesis ()
*
* - Constant int: 1
*
* - Constant floats: 1.5, 1e4
*
* - Constant strings: double-quoted: "foo", "bar"
*
* - ALMemory keys: unquoted or quoted if having a slash / : key12, 'motion/foo'
* A key can be used anywhere a constant or list can be used.
* Be careful about the data types of your keys.
*
* - Index a list key: 'motion/foo'[2]
*
* - Lists: [1, 2, foo]
*
* - Mathematical, logical operators: + - / * % && || == <= < >= > ! !=
*
* - Function calls:
* substr("canard", 1, 3) returns "ana"
* strlen("coin") returns 4
* type("foo") returns "String". Other types: Invalid, Array, Bool, Int, Float, String
* size([1,2,3]) returns 3
* concat("a", "b") returns "ab"
*
* - ~ operator: Requires condition to be true for given duration in seconds
* to trigger: "(soundVolume < 1) ~ 1".
*
* - subsets operator:
* True example: [1, 2] subsets [1, 2, 3, 4]
* True example: 1 subsets [1, 2, 3, 4]
*
* - intersects operator:
* True example: [4, 5, 6] intersects [1, 2, 3, 4]
* True example: [4, 5, 6] intersects 5
*
*
* Order of Operations (highest precedence operation listed first, items on same line have equal precedence):
* ---------------------------------------------------------------------------
* []
* !
* ~
* subsets, intersects
* *, /, %
* +, -
* <, <=, >, >=
* ==, !=
* &&
* ||
A condition for a solitary Activity which attracts a human could look like this:
('Launchpad/NumPeopleZone2' >= 1) ~ 3
There is at least one person detected in zone 2 of ALEngagementZones for at least 3 seconds.