Création des boutons

jericho/main.py

@@ -245,6 +245,8 @@ class Jericho(ReachyMiniApp):
         self.antennas_enabled = True
         self.sound_play_requested = False
         self.play_robot_requested = False
+        self.manual_emotion = None          # émotion choisie via bouton
+        self.manual_emotion_lock = threading.Lock()
         self.current_commands = []
         self.current_timestamps = []
         self.current_project_name = None
@@ -291,6 +293,9 @@ class Jericho(ReachyMiniApp):
         return len(commands)
 
     def _set_playback_state(self, project_name: str | None, current_time: float, playing: bool, *, dirty: bool = True, stop_requested: bool = False):
+        if playing:
+            with self.manual_emotion_lock:
+                self.manual_emotion = None
         with self.playback_lock:
             self.playback_state.update({
                 "project_name": project_name,
@@ -415,6 +420,16 @@ class Jericho(ReachyMiniApp):
                     raise HTTPException(status_code=500, detail=f"Erreur de suppression: {str(e)}")
             raise HTTPException(status_code=404, detail="Projet introuvable.")
 
+        class EmotionPayload(BaseModel):
+            emotion: str | None = None  # None ou "" = annuler
+
+        @self.settings_app.post("/api/emotion")
+        def set_emotion(payload: EmotionPayload):
+            emotion = (payload.emotion or "").strip().upper() or None
+            with self.manual_emotion_lock:
+                self.manual_emotion = emotion
+            return {"status": "ok", "emotion": emotion}
+
         @self.settings_app.post("/api/playback")
         def sync_playback(payload: PlaybackPayload):
           
@@ -466,10 +481,109 @@ class Jericho(ReachyMiniApp):
             except Exception as e:
                 raise HTTPException(status_code=500, detail=str(e))
 
+    def _run_manual_emotion_loop(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        """Thread secondaire : anime les antennes selon l'émotion choisie via bouton."""
+        ANTENNA_MAX     = np.deg2rad(120)
+        ANTENNA_MAX_alt = np.deg2rad(45)
+        ANTENNA_MAX_col = np.deg2rad(110)
+        COLERE_PERIOD   = 5.0   # répétition colère toutes les 5 s
+        COLERE_ANIM     = 1.0   # durée de l'animation colère (s)
+
+        current = None
+        t_start = time.time()
+        colere_last = 0.0
+
+        while not stop_event.is_set():
+            with self.manual_emotion_lock:
+                emotion = self.manual_emotion
+            with self.playback_lock:
+                video_playing = bool(self.playback_state.get("playing", False))
+
+            # Si une vidéo tourne, on laisse le thread principal gérer les antennes
+            if video_playing or emotion is None:
+                current = None
+                time.sleep(0.05)
+                continue
+
+            if emotion != current:
+                current = emotion
+                t_start = time.time()
+                colere_last = time.time() if emotion == "COLERE" else 0.0
+
+            t_state = time.time() - t_start
+
+            # Calcul des antennes selon l'émotion
+            if emotion == "COLERE":
+                elapsed_since_last = time.time() - colere_last
+                if elapsed_since_last >= COLERE_PERIOD:
+                    colere_last = time.time()
+                    elapsed_since_last = 0.0
+
+                anim_t = elapsed_since_last  # temps dans le cycle
+                if anim_t < COLERE_ANIM:
+                    # Animation colère
+                    if anim_t < 0.15:
+                        angle = -1.0 * (anim_t / 0.15) * ANTENNA_MAX_col
+                    elif anim_t < 0.40:
+                        angle = (-1.0 + 1.0 * ((anim_t - 0.15) / 0.15)) * ANTENNA_MAX_col
+                    elif anim_t < 0.65:
+                        angle = -1.0 * ((anim_t - 0.3) / 0.15) * ANTENNA_MAX_col
+                    else:
+                        angle = -1.0 * ANTENNA_MAX_col
+                    left_ant  =  angle
+                    right_ant = -angle
+                else:
+                    # Entre les répétitions : position neutre
+                    neutral_t = anim_t - COLERE_ANIM
+                    angle = 1.0 * (1.0 - math.exp(-14.0 * neutral_t)) * ANTENNA_MAX_alt
+                    left_ant  = -(angle - 0.3)
+                    right_ant =  (angle - 0.3)
+            elif emotion == "JOIE":
+                oscillation = 0.5 * math.sin(2 * math.pi * 4.0 * t_state)
+                angle = (0.5 + oscillation) * ANTENNA_MAX_alt
+                left_ant  = -angle
+                right_ant =  angle
+            elif emotion == "CONTENT":
+                oscillation = 0.8 * math.sin(2 * math.pi * 0.5 * t_state)
+                angle = oscillation * ANTENNA_MAX_alt
+                left_ant = right_ant = angle
+            elif emotion == "SURPRISE":
+                angle = 1.0 * (1.0 - math.exp(-14.0 * t_state)) * ANTENNA_MAX_alt
+                left_ant  = -(angle - 0.8)
+                right_ant =  (angle - 0.8)
+            elif emotion == "TRISTESSE":
+                target = -1.0 * (1.0 - math.exp(-1.5 * t_state)) * ANTENNA_MAX
+                left_ant  =  target - 0.2
+                right_ant = -(target - 0.2)
+            elif emotion == "PEUR":
+                tremblement = 0.1 * math.sin(2 * math.pi * 15.0 * t_state)
+                angle = -1.0 * (1.0 - math.exp(-1.5 * t_state) + tremblement) * ANTENNA_MAX
+                left_ant  =  angle - 0.2
+                right_ant = -(angle - 0.2)
+            else:  # NEUTRE
+                angle = 1.0 * (1.0 - math.exp(-14.0 * t_state)) * ANTENNA_MAX_alt
+                left_ant  = -(angle - 0.3)
+                right_ant =  (angle - 0.3)
+
+            clamp = lambda v: float(max(-ANTENNA_MAX, min(ANTENNA_MAX, v)))
+            try:
+                reachy_mini.set_target(antennas=[clamp(left_ant), clamp(right_ant)])
+            except Exception:
+                pass
+
+            time.sleep(0.02)
+
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         reachy_mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)
         time.sleep(1.2)
 
+        emotion_thread = threading.Thread(
+            target=self._run_manual_emotion_loop,
+            args=(reachy_mini, stop_event),
+            daemon=True,
+        )
+        emotion_thread.start()
+
         while not stop_event.is_set():
             with self.playback_lock:
                 commands_to_play = list(self.current_commands)

jericho/projects/fish/signals.json

@@ -1,195 +0,0 @@
-{
-  "video": "C:\\Users\\hugov\\reachy_mini\\my_apps\\jericho\\jericho\\projects\\fish\\input.mp4",
-  "output_video": "C:\\Users\\hugov\\reachy_mini\\my_apps\\jericho\\jericho\\projects\\fish\\output_annotated.mp4",
-  "fps": 29.97,
-  "width": 256,
-  "height": 144,
-  "total_frames": 6812,
-  "output_total_frames": 7,
-  "skipped_no_face_frames": 6800,
-  "timeline": "compact_face_only",
-  "frames": [
-    {
-      "frame": 0,
-      "timestamp_s": 0.0,
-      "face_detected": true,
-      "face_cx": 0.5041,
-      "face_cy": 0.5993,
-      "face_w": 0.1426,
-      "face_h": 0.2724,
-      "bbox_xmin": 0.4328,
-      "bbox_ymin": 0.4631,
-      "bbox_xmax": 0.5754,
-      "bbox_ymax": 0.7355,
-      "yaw": 20.61,
-      "pitch": -5.88,
-      "roll": -24.4,
-      "ear_left": 0.3552,
-      "ear_right": 0.3423,
-      "mar": 0.4183,
-      "smile": 0.9454,
-      "brow_raise_left": 0.0973,
-      "brow_raise_right": 0.1283,
-      "brow_furrow": 0.3575,
-      "emotion": "CONTENT",
-      "original_frame": 362,
-      "original_timestamp_s": 12.0787
-    },
-    {
-      "frame": 1,
-      "timestamp_s": 0.0334,
-      "face_detected": true,
-      "face_cx": 0.4867,
-      "face_cy": 0.5864,
-      "face_w": 0.1723,
-      "face_h": 0.2947,
-      "bbox_xmin": 0.4005,
-      "bbox_ymin": 0.439,
-      "bbox_xmax": 0.5729,
-      "bbox_ymax": 0.7337,
-      "yaw": 19.71,
-      "pitch": -2.08,
-      "roll": -39.22,
-      "ear_left": 0.3216,
-      "ear_right": 0.3117,
-      "mar": 0.3816,
-      "smile": 0.7823,
-      "brow_raise_left": 0.0676,
-      "brow_raise_right": 0.1177,
-      "brow_furrow": 0.3827,
-      "emotion": "NEUTRE",
-      "original_frame": 2441,
-      "original_timestamp_s": 81.448
-    },
-    {
-      "frame": 2,
-      "timestamp_s": 0.0667,
-      "face_detected": true,
-      "face_cx": 0.4762,
-      "face_cy": 0.5905,
-      "face_w": 0.1745,
-      "face_h": 0.2462,
-      "bbox_xmin": 0.3889,
-      "bbox_ymin": 0.4674,
-      "bbox_xmax": 0.5634,
-      "bbox_ymax": 0.7136,
-      "yaw": 43.6,
-      "pitch": 9.84,
-      "roll": -60.06,
-      "ear_left": 0.3956,
-      "ear_right": 0.3608,
-      "mar": 0.3857,
-      "smile": 1.0639,
-      "brow_raise_left": 0.0065,
-      "brow_raise_right": 0.0484,
-      "brow_furrow": 0.5031,
-      "emotion": "JOIE",
-      "original_frame": 2501,
-      "original_timestamp_s": 83.45
-    },
-    {
-      "frame": 3,
-      "timestamp_s": 0.1001,
-      "face_detected": true,
-      "face_cx": 0.4605,
-      "face_cy": 0.5879,
-      "face_w": 0.1804,
-      "face_h": 0.2179,
-      "bbox_xmin": 0.3703,
-      "bbox_ymin": 0.4789,
-      "bbox_xmax": 0.5508,
-      "bbox_ymax": 0.6969,
-      "yaw": 51.33,
-      "pitch": 1.17,
-      "roll": -72.7,
-      "ear_left": 0.4808,
-      "ear_right": 0.5752,
-      "mar": 0.3477,
-      "smile": 0.8995,
-      "brow_raise_left": 0.0225,
-      "brow_raise_right": 0.0464,
-      "brow_furrow": 0.4005,
-      "emotion": "PEUR",
-      "original_frame": 5331,
-      "original_timestamp_s": 177.8777
-    },
-    {
-      "frame": 4,
-      "timestamp_s": 0.1335,
-      "face_detected": true,
-      "face_cx": 0.4809,
-      "face_cy": 0.604,
-      "face_w": 0.1627,
-      "face_h": 0.2473,
-      "bbox_xmin": 0.3996,
-      "bbox_ymin": 0.4803,
-      "bbox_xmax": 0.5622,
-      "bbox_ymax": 0.7276,
-      "yaw": 28.46,
-      "pitch": -2.9,
-      "roll": -43.45,
-      "ear_left": 0.3534,
-      "ear_right": 0.4038,
-      "mar": 0.4107,
-      "smile": 0.8494,
-      "brow_raise_left": 0.0586,
-      "brow_raise_right": 0.0748,
-      "brow_furrow": 0.4035,
-      "emotion": "NEUTRE",
-      "original_frame": 5662,
-      "original_timestamp_s": 188.9221
-    },
-    {
-      "frame": 5,
-      "timestamp_s": 0.1668,
-      "face_detected": true,
-      "face_cx": 0.4915,
-      "face_cy": 0.6195,
-      "face_w": 0.1447,
-      "face_h": 0.2324,
-      "bbox_xmin": 0.4192,
-      "bbox_ymin": 0.5033,
-      "bbox_xmax": 0.5639,
-      "bbox_ymax": 0.7357,
-      "yaw": 27.66,
-      "pitch": -3.79,
-      "roll": -36.34,
-      "ear_left": 0.3412,
-      "ear_right": 0.448,
-      "mar": 0.3767,
-      "smile": 0.764,
-      "brow_raise_left": 0.0665,
-      "brow_raise_right": 0.099,
-      "brow_furrow": 0.3344,
-      "emotion": "NEUTRE",
-      "original_frame": 6053,
-      "original_timestamp_s": 201.9684
-    },
-    {
-      "frame": 6,
-      "timestamp_s": 0.2002,
-      "face_detected": true,
-      "face_cx": 0.4813,
-      "face_cy": 0.5952,
-      "face_w": 0.1594,
-      "face_h": 0.2209,
-      "bbox_xmin": 0.4016,
-      "bbox_ymin": 0.4848,
-      "bbox_xmax": 0.561,
-      "bbox_ymax": 0.7057,
-      "yaw": 45.55,
-      "pitch": 5.15,
-      "roll": -64.75,
-      "ear_left": 0.3412,
-      "ear_right": 0.4439,
-      "mar": 0.3823,
-      "smile": 0.8951,
-      "brow_raise_left": 0.0063,
-      "brow_raise_right": 0.0339,
-      "brow_furrow": 0.4389,
-      "emotion": "NEUTRE",
-      "original_frame": 6777,
-      "original_timestamp_s": 226.1259
-    }
-  ]
-}

jericho/projects/fish/status.txt

@@ -1 +0,0 @@
-ERROR: NO_FACE_DETECTED

jericho/projects/hugo/status.txt

@@ -1 +0,0 @@
-DONE

jericho/static/index.html

@@ -10,7 +10,7 @@
     <header>
       <h1>Jericho projet : Reachy Mini</h1>
       <div id="conteneurHeader">
-        <img src="./image/logoReachyMini.png" alt="Photo de Reachy" width="10%" />
+        <img src="static/images/logoReachyMini.png" alt="Photo de Reachy" width="10%" />
         <div id="robot-status">Prêt</div>
       </div>
     </header>
@@ -51,6 +51,33 @@
           </p>
         </div>
       </section>
+
+      <section class="card">
+        <h2>Les émotions</h2>
+        <div id="listeEmotions">
+          <button id="joie">
+            Joie
+          </button>
+          <button id="content">
+            Content
+          </button>
+          <button id="surprise">
+            Surprise
+          </button>
+          <button id="colere">
+            Colère
+          </button>
+          <button id="peur">
+            Peur
+          </button>
+          <button id="tristesse">
+            Tristesse
+          </button>
+          <button id="neutre">
+            Neutre
+          </button>
+        </div>
+      </section>
     </main>
 
     <script src="/static/main.js"></script>

jericho/static/main.js

@@ -70,6 +70,25 @@ document.addEventListener('DOMContentLoaded', () => {
             if (currentLoadedProject) videoPlayer.play();
         };
     }
+
+    // Boutons d'émotions
+    const emotionIds = ['joie', 'content', 'surprise', 'colere', 'peur', 'tristesse', 'neutre'];
+    emotionIds.forEach(id => {
+        const el = document.getElementById(id);
+        if (!el) return;
+        el.addEventListener('click', async () => {
+            // Highlight du bouton actif
+            emotionIds.forEach(eid => document.getElementById(eid)?.classList.remove('active-emotion'));
+            el.classList.add('active-emotion');
+
+            await fetch('/api/emotion', {
+                method: 'POST',
+                headers: { 'Content-Type': 'application/json' },
+                body: JSON.stringify({ emotion: id.toUpperCase() })
+            });
+            robotStatus.textContent = `Émotion : ${el.textContent.trim()}`;
+        });
+    });
 });
 
 document.getElementById('import-btn').onclick = function() {
@@ -208,6 +227,14 @@ window.loadVideoPlayer = async function(name, url) {
         await sendPlayback('stop', { projectName: currentLoadedProject, playing: false });
     }
 
+    // Annuler l'émotion manuelle active
+    document.querySelectorAll('#listeEmotions button').forEach(b => b.classList.remove('active-emotion'));
+    await fetch('/api/emotion', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ emotion: null })
+    });
+
     currentLoadedProject = name;
     document.getElementById('player-section').classList.remove('hidden');
     document.getElementById('current-video-title').textContent = 'Projet : ' + name;
@@ -254,4 +281,4 @@ videoPlayer.addEventListener('ended', () => {
     robotStatus.textContent = 'Terminé';
     sendPlayback('stop', { playing: false });
     stopSyncLoop();
-});
+});

jericho/static/style.css

@@ -122,3 +122,21 @@ input[type="text"], input[type="number"] {
     color: #74424a;
     margin-bottom: 0;
 }
+
+#listeEmotions{
+    button{
+        color : #a34952;
+        background-color: white;
+        font-family:'Trebuchet MS', 'Lucida Sans Unicode', 'Lucida Grande', 'Lucida Sans', Arial, sans-serif;
+        font-weight: lighter;
+        border-color: #ffffff;
+        border-radius: 10%;
+        margin-top : auto;
+        margin-bottom: auto;
+        padding-top : 0.7%;
+        padding-bottom : 0.7%;
+        font-size: 1.3em;
+        margin-right : 2.5%;
+        width : 11%;
+    }
+}