Launch trigger conditions¶

NAOqi Interaction engines - Overview | API | Launch trigger conditions | Advanced

Goal¶

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 and Conditions expression language.

Example of a launch trigger condition¶

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.

Launch trigger conditions¶

Many of these ALMemory Events are based on combining Context coming from Extractors which are managed by Autonomous Life. For more information, see Extractors management.

About people and movements

Key Name	Type	Explanation
`Launchpad/NumMotionZone1()`	int	The number of moving objects detected in zone 1. Only available during solitary state.
`Launchpad/NumMotionZone2()`	int	The number of moving objects detected in zone 2. Only available during solitary state.
`Launchpad/NumMotionZone3()`	int	The number of moving objects detected in zone 3. Only available during solitary state.
`Launchpad/NoMotionInZones()`	bool	True when no motion is detected in any zone. Only available during solitary state.
`Launchpad/WavingDetection()`	int	0 while no waving is detected, 1 while waving is detected. Only available during solitary state.
`Launchpad/NumPeopleZone1()`	int	The number of people detected in zone 1. Only available during solitary state.
`Launchpad/NumPeopleZone2()`	int	The number of people detected in zone 2 Only available during solitary state.
`Launchpad/NumPeopleZone3()`	int	The number of people detected in zone 3 Only available during solitary state.
`Launchpad/NoPeopleInZones()`	bool	True when no people are detected in any zone. Only available during solitary state.
`Launchpad/PeopleNotSeen()`	bool	True when PeoplePerception/VisiblePeopleList is empty. Only available during solitary state.
`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. Only available if BasicAwareness is started.
`Launchpad/ZoneOfTrackedHuman()`	int	The zone that the tracked person is in: 1, 2, or 3. 0 if no one is tracked. Only available if BasicAwareness is started.
`Launchpad/DistanceOfTrackedHuman()`	float	The distance in meters to the tracked human. -1.0 if no one is tracked. Only available if BasicAwareness is started.
`Launchpad/TrackedHumanIsLookingAtRobot()`	bool	True when the tracked person is looking at the robot. Only available if BasicAwareness is started.

About battery information

Key Name	Type	Explanation
`Launchpad/BatteryIsCharging()`	bool	True if the batter is currently recharging.
`Launchpad/BatteryLevel()`	int	A number in the set: [0, 5].
`Launchpad/BatteryStatus()`	string	Critical, Low, Half, Full.

About robot hardware information

Key Name	Type	Explanation
`Launchpad/RobotType()`	string	nao, pepper, romeo.

About the posture of the robot

Key Name	Type	Explanation
`Launchpad/Lifted()`	bool	True if someone has lifted the robot up. Can only be true on NAO.
`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.
`Launchpad/RobotPushedRecently()`	bool	True if the robot was pushed within the last 13 seconds. Can only be true on Pepper.

About the temperature of the joints of the robot

Key Name Type Explanation

Launchpad/TemperatureStatus() string Overall 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.

Additional information about NAO’s Joints.

About time

Key Name	Type	Example Value
`Launchpad/Year()`	int	2013
`Launchpad/Month()`	int	1 (1~12)
`Launchpad/MonthName()`	string	January
`Launchpad/Day()`	int	1 (day of the year, 1~366)
`Launchpad/DayName()`	string	Sunday
`Launchpad/Date()`	int	12 (day of the month, starting from 1)
`Launchpad/Hour()`	int	14 (24-hour time, 2:00pm)
`Launchpad/Minute()`	int	42
`Launchpad/MinuteOfDay()`	int	120 (corresponds to 2:00am)
`Launchpad/Week()`	int	2 (zero-based week of the year 0~53)

About activity history

Key Name	Type	Explanation
`Launchpad/LifeTime()`	int	The current value of `ALAutonomousLifeProxy::getLifeTime`.
`Launchpad/State()`	string	The current state of Autonomous Life. Can be one of the States.
`Launchpad/PreviousState()`	string	The previous state of Autonomous Life. Can be one of the 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.
`Launchpad/FocusCount/myPackageUUID/myActivityPath()` Replace myPackageUUID and myActivityPath with the corresponding values from your Activity’s manifest data.	int	The count of how many occasions this activity has been focused since NAOqi started up.

Other events¶

You can also use the events raised by the extractors running in solitary state:

Conditions expression language¶

* Expression grammar:
* -------------------------------------------------------------------------------------------
*   - Parenthesis ()
*
*   - Constant int: 1
*
*   - Constant floats: 1.5, 1e4
*
*   - Constant strings: double-quoted: "foo", "bar"
*
*   - ALMemory keys: single-quoted: '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.
*       If you refer to a memory key that does not exist, it will be an "Invalid" type
*         which effectively evaluates to 0 (false).
*       If you use a memory that has been declared, but not initialized with a value,
*         it is also an "Invalid" type, and evaluates to 0 (false).
*
*   - Index a list key: 'motion/foo'[2]
*
*   - Lists: [1, 2, foo]
*
*   - Logical, Mathematical, bitwise operators:
*       && || ! != == <= < >= > + - / * % | & ^
*
*   - String operation functions:
*       substr("canard", 1, 3) returns "ana"
*       strlen("coin") returns 4
*       concat("a", "b") returns "ab"
*
*   - Type operation functions:
*       size([1,2,3]) returns 3.
*       type("foo") returns "String".  Other types: Invalid, Array, Bool, Int, Float, String
*       Type casting: int() float() string() bool()
*                     The parameters passed to these can be any expression.
*
*   - 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
*
*   - random operator:
*       rand(0, 10, 1) return a random int between 0 and 10 included, the random number will be regenerated every second
*       rand(5.0, 7.0, 5) return a random float between 5.0 and 7.0 included, the random number will be regenerated every 5 seconds
*       rand(60, 80, 0) return a random int between 60 and 80 included, the random number will be generated only once per naoqi startup
*
*   - Preference key fetching function: pref("com.mydomain", "myKey")
*       Only constant strings can be passed as parameters, not ALMemory keys or expressions.
*       If the preference does not exist, an "Invalid" will be returned.
*       Otherwise all preferences are returned as "String".  It may be necessary to use
*         type casting functions around the pref() call.
*
*   - ALMemory key utility functions:
*       bang('myKey'):      True for the moment that the associated key's event is raised
*                           and false at all other times.  This only works with event based keys.
*
*       stable(expression): expression can be any expression possible with this grammar.
*                           stable() will evaluate to True as long as the returned value
*                           of it's expression are not changing.
*                           It will evaluate to false only at the moment that the expression
*                           has a change in value.
*                           This us useful when combined with time based operators.
*
*   - Time based operators:
*       ~ operator: Requires an expression to be true for given duration in seconds
*                   Example: ('myKey' < 1) ~ 1.5
*                   Meaning: myKey has been less than 1 for at least 1.5 seconds.
*
*       @ operator: Requires an expression to be true at a specific point in time in the past
*                   Example: ('myKey' == 1) @ 10.0
*                   Meaning: Exactly 10 seconds ago, myKey was equal to 1
*
*       # operator: Requires an expression to be true at any moment in time
*                     within the specified window toward the past
*                   Example: ('myKey' > 1) # 60.0
*                   Meaning: myKey was greater than 1 at some point in the last 60 seconds.
*                            It may also have had many other values during that period.
*
*       Note that time operators can be combined to describe a context.
*                   Example: 'myKey' ~ 1.5 @ 10.0 && !'myKey'
*                   Meaning: 10 seconds ago, myKey had been true for at least 1.5 seconds,
*                              and now it is false.
*
*                   Example: ('Launchpad/FocusedActivity' == "myPkg/myActivity") # 2160
*                              && ('Launchpad/FocusedActivity' != "myPkg/myActivity") ~ 3600
*                   Meaning: "myPkg/myActivity" was focused at least once in the last 6 hours,
*                              but not in the last 1 hour.
*
* Order of Operations:
* (highest precedence operation listed first, items on same line have equal precedence)
* -------------------------------------------------------------------------------------------
*   ()
*   Evaluate memory keys into constants
*   []
*   pref(), int(), float(), string(), bool(), type(), size()
*   !
*   ~, @, #
*   subsets, intersects
*   bang(), stable(), rand()
*   *, /, %
*   +, -
*   |, &, ^
*   <, <=, >, >=
*   ==, !=
*   &&
*   ||

Event list¶

About people and movements

Event: "Launchpad/NumMotionZone1" callback(std::string eventName, int nbMovingObject, std::string subscriberIdentifier)¶

The number of moving objects detected in zone 1.