558 lines
20 KiB
Python
558 lines
20 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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biohead.py — 基于gRPC的仿生头控制脚本
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功能：
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1. 控制单个表情参数
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2. 控制多个表情参数
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3. 退出
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4. 自动增减模式：从0到1再到0循环变化
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5. 设置自动模式参数数量
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6. 眨眼模式：执行预设的眨眼动作
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7. 打哈欠模式：模拟打哈欠动作
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8. 说话模式：模拟嘴巴开合动作
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"""
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import sys
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import time
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import random
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import os
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import grpc
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from typing import Generator
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# 添加项目根目录到Python路径
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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# 导入gRPC相关模块
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from generated.cmvr.api import biohead_command_pb2
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from cmvr import CMVRGrpcClient, CMVRErrorCode, FacialExpressionState
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def angle_to_normalized(angle):
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"""将角度值(0-180)转换为归一化值(0-1)"""
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return max(0.0, min(1.0, angle / 180.0))
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def normalized_to_angle(normalized):
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"""将归一化值(0-1)转换为角度值(0-180)"""
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return int(normalized * 180)
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def init_biohead_client(server_addr="192.168.1.222:50051"):
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"""初始化仿生头gRPC客户端"""
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client = CMVRGrpcClient(server_addr)
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if not client.is_connected():
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print("连接服务器失败")
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return None
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biohead = client.get_biohead("bio_head")
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if not biohead:
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print("获取仿生头客户端失败")
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client.close()
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return None
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return client, biohead
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def set_single_expression(biohead):
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"""设置单个表情参数"""
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print("\n--- 设置单个表情参数 ---")
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# 表情参数映射表
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param_map = {
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1: "left_eyebrow_outside_y",
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2: "left_eyebrow_inside_y",
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3: "right_eyebrow_outside_y",
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4: "right_eyebrow_inside_y",
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5: "left_eye_upper_lid_y",
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6: "left_eye_lower_lid_y",
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7: "right_eye_upper_lid_y",
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8: "right_eye_lower_lid_y",
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9: "left_eye_ball_x",
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10: "left_eye_ball_y",
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11: "right_eye_ball_x",
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12: "right_eye_ball_y",
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13: "upper_lip_y",
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14: "lower_lip_y",
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15: "jaw_x",
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16: "jaw_y"
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}
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print("可用表情参数:")
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for idx, name in param_map.items():
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print(f"{idx}: {name}")
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try:
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param_id = int(input("选择参数ID: "))
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if param_id not in param_map:
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print("无效的参数ID")
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return
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angle = int(input("输入角度(0-180): "))
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if angle < 0 or angle > 180:
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print("角度必须在0-180之间")
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return
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# 转换为归一化值
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value = angle_to_normalized(angle)
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# 创建表情对象
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expression = FacialExpressionState()
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# 设置对应的参数
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setattr(expression, param_map[param_id], value)
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# 发送表情设置
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result = biohead.set_expression(expression)
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print(f"设置 {param_map[param_id]} 成功，角度: {angle}°，归一化值: {value:.2f}")
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else:
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print(f"设置失败，错误码: {result}")
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except ValueError:
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print("输入无效，请输入数字")
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def set_multiple_expressions(biohead):
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"""设置多个表情参数"""
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print("\n--- 设置多个表情参数 ---")
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# 表情参数映射表
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param_map = {
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1: "left_eyebrow_outside_y",
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2: "left_eyebrow_inside_y",
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3: "right_eyebrow_outside_y",
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4: "right_eyebrow_inside_y",
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5: "left_eye_upper_lid_y",
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6: "left_eye_lower_lid_y",
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7: "right_eye_upper_lid_y",
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8: "right_eye_lower_lid_y",
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9: "left_eye_ball_x",
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10: "left_eye_ball_y",
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11: "right_eye_ball_x",
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12: "right_eye_ball_y",
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13: "upper_lip_y",
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14: "lower_lip_y",
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15: "jaw_x",
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16: "jaw_y"
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}
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print("可用表情参数:")
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for idx, name in param_map.items():
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print(f"{idx}: {name}")
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try:
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count = int(input("输入要设置的参数数量: "))
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if count <= 0:
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print("数量必须大于0")
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return
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# 创建表情对象
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expression = FacialExpressionState()
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for i in range(count):
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print(f"\n第{i+1}个参数:")
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param_id = int(input("选择参数ID: "))
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if param_id not in param_map:
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print("无效的参数ID，跳过该参数")
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continue
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angle = int(input("输入角度(0-180): "))
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if angle < 0 or angle > 180:
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print("角度必须在0-180之间，跳过该参数")
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continue
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# 转换为归一化值
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value = angle_to_normalized(angle)
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# 设置对应的参数
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setattr(expression, param_map[param_id], value)
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print(f"已添加: {param_map[param_id]} = {value:.2f} (对应角度: {angle}°)")
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# 发送表情设置
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result = biohead.set_expression(expression)
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("设置多个表情参数成功")
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else:
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print(f"设置失败，错误码: {result}")
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except ValueError:
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print("输入无效，请输入数字")
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def auto_mode(biohead, params):
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"""自动增减模式：0→1→0，循环变化"""
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print("\n--- 自动增减模式 ---")
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try:
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# 表情参数映射表
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param_map = {
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1: "left_eyebrow_outside_y",
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2: "left_eyebrow_inside_y",
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3: "right_eyebrow_outside_y",
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4: "right_eyebrow_inside_y",
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5: "left_eye_upper_lid_y",
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6: "left_eye_lower_lid_y",
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7: "right_eye_upper_lid_y",
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8: "right_eye_lower_lid_y",
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9: "left_eye_ball_x",
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10: "left_eye_ball_y",
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11: "right_eye_ball_x",
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12: "right_eye_ball_y",
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13: "upper_lip_y",
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14: "lower_lip_y",
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15: "jaw_x",
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16: "jaw_y"
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}
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# 过滤有效的参数ID
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valid_params = [p for p in params if p in param_map]
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if not valid_params:
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print("没有有效的参数，返回菜单")
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return
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print(f"将自动控制以下参数: {[param_map[p] for p in valid_params]}")
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frequency = 50.0 # 50Hz
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interval = 1.0 / frequency
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value = 0.0
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direction = 0.02 # 步长
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# 启动流式控制
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result = biohead.start_stream()
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if result != CMVRErrorCode.CMVR_SUCCESS:
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print(f"开始流式会话失败，错误码: {result}")
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return
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print("启动自动模式，按Ctrl+C停止")
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while True:
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# 创建protobuf消息
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proto_expr = biohead_command_pb2.FacialExpression()
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# 设置所有参数
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for param_id in valid_params:
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param_name = param_map[param_id]
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# 根据参数类型设置到不同的字段
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if param_name in ["left_eyebrow_outside_y", "left_eyebrow_inside_y",
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"right_eyebrow_outside_y", "right_eyebrow_inside_y"]:
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setattr(proto_expr.eyebrow, param_name, value)
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elif param_name in ["left_eye_upper_lid_y", "left_eye_lower_lid_y",
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"right_eye_upper_lid_y", "right_eye_lower_lid_y"]:
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setattr(proto_expr.eyelid, param_name, value)
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elif param_name in ["left_eye_ball_x", "left_eye_ball_y",
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"right_eye_ball_x", "right_eye_ball_y"]:
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setattr(proto_expr.eye_ball, param_name, value)
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elif param_name in ["upper_lip_y", "lower_lip_y"]:
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setattr(proto_expr.mouth, param_name, value)
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elif param_name in ["jaw_x", "jaw_y"]:
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setattr(proto_expr.jaw, param_name, value)
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# 发送流式表情
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result = biohead.stream_expression(proto_expr)
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if result != CMVRErrorCode.CMVR_SUCCESS:
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print(f"流式控制失败，错误码: {result}")
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break
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# 更新值
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value += direction
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if value >= 1.0:
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value = 1.0
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direction = -direction
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elif value <= 0.0:
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value = 0.0
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direction = -direction
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time.sleep(interval)
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except KeyboardInterrupt:
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print("\n自动模式已停止")
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finally:
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# 结束流式会话
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biohead.end_stream()
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def set_auto_params():
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"""设置自动模式的参数列表"""
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print("\n--- 设置自动模式参数 ---")
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# 表情参数映射表
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param_map = {
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1: "left_eyebrow_outside_y",
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2: "left_eyebrow_inside_y",
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3: "right_eyebrow_outside_y",
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4: "right_eyebrow_inside_y",
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5: "left_eye_upper_lid_y",
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6: "left_eye_lower_lid_y",
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7: "right_eye_upper_lid_y",
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8: "right_eye_lower_lid_y",
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9: "left_eye_ball_x",
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10: "left_eye_ball_y",
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11: "right_eye_ball_x",
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12: "right_eye_ball_y",
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13: "upper_lip_y",
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14: "lower_lip_y",
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15: "jaw_x",
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16: "jaw_y"
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}
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print("可用表情参数:")
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for idx, name in param_map.items():
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print(f"{idx}: {name}")
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try:
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count = int(input("输入要自动控制的参数数量: "))
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if count <= 0:
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print("数量必须大于0")
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return None
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params = []
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for i in range(count):
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param_id = int(input(f"第{i+1}个参数ID: "))
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if param_id not in param_map:
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print("无效的参数ID，跳过")
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continue
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params.append(param_id)
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if not params:
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print("未设置有效的参数")
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return None
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print(f"已设置自动模式参数: {[param_map[p] for p in params]}")
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return params
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except ValueError:
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print("输入无效，请输入数字")
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return None
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def blink_mode(biohead):
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"""眨眼模式：执行预设的眨眼动作"""
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print("\n--- 眨眼模式 ---")
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try:
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blink_count = int(input("输入眨眼次数(默认10次): ") or "10")
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interval = float(input("输入间隔时间(秒，默认0.1): ") or "0.1")
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# 启动流式控制
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result = biohead.start_stream()
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if result != CMVRErrorCode.CMVR_SUCCESS:
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print(f"开始流式会话失败，错误码: {result}")
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return
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print(f"启动眨眼模式，共{blink_count}次，间隔{interval}秒")
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for i in range(blink_count):
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print(f"第{i+1}次眨眼...")
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# 闭眼动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
proto_expr.eyelid.left_upper_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.left_lower_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.right_upper_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.right_lower_lid_y = angle_to_normalized(90)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"闭眼动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
# 睁眼动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
proto_expr.eyelid.left_upper_lid_y = angle_to_normalized(50)
|
|||
|
|
proto_expr.eyelid.left_lower_lid_y = angle_to_normalized(130)
|
|||
|
|
proto_expr.eyelid.right_upper_lid_y = angle_to_normalized(130)
|
|||
|
|
proto_expr.eyelid.right_lower_lid_y = angle_to_normalized(60)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"睁眼动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
print("眨眼模式结束")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("\n眨眼模式已停止")
|
|||
|
|
except ValueError:
|
|||
|
|
print("输入无效，请输入数字")
|
|||
|
|
finally:
|
|||
|
|
# 结束流式会话
|
|||
|
|
biohead.end_stream()
|
|||
|
|
|
|||
|
|
def yawn_mode(biohead):
|
|||
|
|
"""打哈欠模式：模拟打哈欠动作"""
|
|||
|
|
print("\n--- 打哈欠模式 ---")
|
|||
|
|
try:
|
|||
|
|
yawn_count = int(input("输入打哈欠次数(默认5次): ") or "5")
|
|||
|
|
interval = float(input("输入间隔时间(秒，默认1): ") or "1")
|
|||
|
|
|
|||
|
|
# 启动流式控制
|
|||
|
|
result = biohead.start_stream()
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"开始流式会话失败，错误码: {result}")
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
print(f"启动打哈欠模式，共{yawn_count}次，间隔{interval}秒")
|
|||
|
|
|
|||
|
|
for i in range(yawn_count):
|
|||
|
|
print(f"第{i+1}次打哈欠...")
|
|||
|
|
|
|||
|
|
# 打哈欠动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
# 眉毛
|
|||
|
|
proto_expr.eyebrow.left_eyebrow_outside_y = angle_to_normalized(70)
|
|||
|
|
proto_expr.eyebrow.right_eyebrow_outside_y = angle_to_normalized(110)
|
|||
|
|
# 眼睑
|
|||
|
|
proto_expr.eyelid.left_upper_lid_y = angle_to_normalized(60)
|
|||
|
|
proto_expr.eyelid.left_lower_lid_y = angle_to_normalized(130)
|
|||
|
|
proto_expr.eyelid.right_upper_lid_y = angle_to_normalized(120)
|
|||
|
|
proto_expr.eyelid.right_lower_lid_y = angle_to_normalized(80)
|
|||
|
|
# 嘴巴和下巴
|
|||
|
|
proto_expr.mouth.upper_lip_y = angle_to_normalized(120)
|
|||
|
|
proto_expr.mouth.lower_lip_y = angle_to_normalized(45)
|
|||
|
|
proto_expr.jaw.x = angle_to_normalized(60)
|
|||
|
|
proto_expr.jaw.y = angle_to_normalized(120)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"打哈欠动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
# 恢复动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
# 恢复到正常状态
|
|||
|
|
proto_expr.eyebrow.left_eyebrow_outside_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyebrow.right_eyebrow_outside_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.left_upper_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.left_lower_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.right_upper_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.eyelid.right_lower_lid_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.mouth.upper_lip_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.mouth.lower_lip_y = angle_to_normalized(90)
|
|||
|
|
proto_expr.jaw.x = angle_to_normalized(90)
|
|||
|
|
proto_expr.jaw.y = angle_to_normalized(90)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"恢复动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
print("打哈欠模式结束")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("\n打哈欠模式已停止")
|
|||
|
|
except ValueError:
|
|||
|
|
print("输入无效，请输入数字")
|
|||
|
|
finally:
|
|||
|
|
# 结束流式会话
|
|||
|
|
biohead.end_stream()
|
|||
|
|
|
|||
|
|
def talk_mode(biohead):
|
|||
|
|
"""说话模式：模拟嘴巴开合动作"""
|
|||
|
|
print("\n--- 说话模式 ---")
|
|||
|
|
try:
|
|||
|
|
talk_count = int(input("输入说话循环次数(默认50次): ") or "50")
|
|||
|
|
|
|||
|
|
# 启动流式控制
|
|||
|
|
result = biohead.start_stream()
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"开始流式会话失败，错误码: {result}")
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
print(f"启动说话模式，共{talk_count}次")
|
|||
|
|
|
|||
|
|
for i in range(talk_count):
|
|||
|
|
print(f"第{i+1}次说话...")
|
|||
|
|
|
|||
|
|
# 开口动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
proto_expr.mouth.upper_lip_y = angle_to_normalized(120)
|
|||
|
|
proto_expr.mouth.lower_lip_y = angle_to_normalized(45)
|
|||
|
|
proto_expr.jaw.x = angle_to_normalized(80)
|
|||
|
|
proto_expr.jaw.y = angle_to_normalized(110)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"开口动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
# 随机间隔
|
|||
|
|
interval = random.uniform(0, 0.3)
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
# 闭口动作
|
|||
|
|
proto_expr = biohead_command_pb2.FacialExpression()
|
|||
|
|
proto_expr.mouth.upper_lip_y = angle_to_normalized(120)
|
|||
|
|
proto_expr.mouth.lower_lip_y = angle_to_normalized(45)
|
|||
|
|
proto_expr.jaw.x = angle_to_normalized(90)
|
|||
|
|
proto_expr.jaw.y = angle_to_normalized(90)
|
|||
|
|
|
|||
|
|
result = biohead.stream_expression(proto_expr)
|
|||
|
|
if result != CMVRErrorCode.CMVR_SUCCESS:
|
|||
|
|
print(f"闭口动作失败，错误码: {result}")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
# 随机间隔
|
|||
|
|
interval = random.uniform(0, 0.3)
|
|||
|
|
time.sleep(interval)
|
|||
|
|
|
|||
|
|
print("说话模式结束")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("\n说话模式已停止")
|
|||
|
|
except ValueError:
|
|||
|
|
print("输入无效，请输入数字")
|
|||
|
|
finally:
|
|||
|
|
# 结束流式会话
|
|||
|
|
biohead.end_stream()
|
|||
|
|
|
|||
|
|
def main():
|
|||
|
|
# 初始化gRPC客户端
|
|||
|
|
server_addr = "192.168.1.222:50051"
|
|||
|
|
if len(sys.argv) > 1:
|
|||
|
|
server_addr = sys.argv[1]
|
|||
|
|
|
|||
|
|
print(f"连接到仿生头服务器: {server_addr}")
|
|||
|
|
client, biohead = init_biohead_client(server_addr)
|
|||
|
|
if not client or not biohead:
|
|||
|
|
sys.exit(1)
|
|||
|
|
|
|||
|
|
# 默认自动模式参数
|
|||
|
|
auto_params = [5, 6, 7, 8] # 默认控制眼睑参数
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
while True:
|
|||
|
|
print("\n=== 仿生头控制菜单 ===")
|
|||
|
|
print("1. 控制单个表情参数")
|
|||
|
|
print("2. 控制多个表情参数")
|
|||
|
|
print("3. 退出")
|
|||
|
|
print("4. 自动增减模式(50Hz)")
|
|||
|
|
print("5. 设置自动模式参数")
|
|||
|
|
print("6. 眨眼模式")
|
|||
|
|
print("7. 打哈欠模式")
|
|||
|
|
print("8. 说话模式")
|
|||
|
|
opt = input("选择操作: ").strip()
|
|||
|
|
|
|||
|
|
if opt == '1':
|
|||
|
|
set_single_expression(biohead)
|
|||
|
|
elif opt == '2':
|
|||
|
|
set_multiple_expressions(biohead)
|
|||
|
|
elif opt == '3':
|
|||
|
|
print("退出程序")
|
|||
|
|
break
|
|||
|
|
elif opt == '4':
|
|||
|
|
auto_mode(biohead, auto_params)
|
|||
|
|
elif opt == '5':
|
|||
|
|
new_params = set_auto_params()
|
|||
|
|
if new_params:
|
|||
|
|
auto_params = new_params
|
|||
|
|
elif opt == '6':
|
|||
|
|
blink_mode(biohead)
|
|||
|
|
elif opt == '7':
|
|||
|
|
yawn_mode(biohead)
|
|||
|
|
elif opt == '8':
|
|||
|
|
talk_mode(biohead)
|
|||
|
|
else:
|
|||
|
|
print("无效选项，请重试")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("\n用户中断，退出程序")
|
|||
|
|
finally:
|
|||
|
|
client.close()
|
|||
|
|
print("已关闭连接")
|
|||
|
|
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
main()
|