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# base 64
buff64 = base64.b64encode(buff)
full = "data:image/png;base64," + buff64
# show app
self.memory.raiseEvent(self.events["metricalMap"], [mpp, size, map[3], full])
def getOccupancyMapParams(self):
return [self.occMap.size, self.occMap.metersPerPixel, self.occMap.originOffset.toVector()]
if __name__ == "__main__":
app = qi.Application(sys.argv)
app.start()
session = app.session
#get the logs
mod = qi.module("qicore")
provider = mod.initializeLogging(app.session)
# don't forget to check that the services you use are ready!
for required_service in ["ALMemory", "ALNavigation", "ALTabletService"]:
future = session.waitForService(required_service)
if future is not None:
future.wait()
my_service = ExplorationManager(session)
register_id = session.registerService("ExplorationManager", my_service)
app.run()
def get_logger(session, app_id):
"""Returns a qi logger object."""
logger = qi.logging.Logger(app_id)
try:
qicore = qi.module("qicore")
log_manager = session.service("LogManager")
provider = qicore.createObject("LogProvider", log_manager)
log_manager.addProvider(provider)
except RuntimeError:
# no qicore, we're not running on a robot, it doesn't matter
pass
except AttributeError:
# old version of NAOqi - logging will probably not work.
pass
return logger