5. 休息状态

在本项目中，PiDog 会趴在地上打盹，当它听到周围的声音时，会迷迷糊糊地站起来，看看是谁打扰了它的美梦。

运行代码

cd ~/pidog/examples
sudo python3 5_rest.py

程序运行后，PiDog 会趴在地上，摇头摆尾，仿佛在打瞌睡。 此时，声音方向传感器模块开始工作。 如果 PiDog 听到响动，它会立刻站起来，环顾四周，露出一副迷惑的表情， 然后再次进入打盹状态。

代码

备注

您可以对以下代码进行 修改/重置/复制/运行/停止。但请确保已进入源码路径（如 pidog\examples）后操作。修改后可直接运行查看效果。

#!/usr/bin/env python3
from pidog import Pidog
from time import sleep
from preset_actions import shake_head

my_dog = Pidog()
sleep(0.1)

def loop_around(amplitude=60, interval=0.5, speed=100):
    my_dog.head_move([[amplitude,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()
    sleep(interval)
    my_dog.head_move([[-amplitude,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()
    sleep(interval)
    my_dog.head_move([[0,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()

def is_sound():
    if my_dog.ears.isdetected():
        direction = my_dog.ears.read()
        if direction != 0:
            return True
        else:
            return False
    else:
        return False

def rest():
    my_dog.wait_all_done()
    my_dog.do_action('lie', speed=50)
    my_dog.wait_all_done()

    while True:
        # 进入睡眠状态
        my_dog.rgb_strip.set_mode('breath', 'pink', bps=0.3)
        my_dog.head_move([[0,0,-40]], immediately=True, speed=5)
        my_dog.do_action('doze_off', speed=92)
        # 清除之前的声音检测
        sleep(1)
        is_sound()

        # 持续休息，直到检测到声音
        while is_sound() is False:
            my_dog.do_action('doze_off', speed=92)
            sleep(0.2)

        # 听到声音后唤醒
        # Set light to yellow and stand up
        my_dog.rgb_strip.set_mode('boom', 'yellow', bps=1)
        my_dog.body_stop()
        my_dog.do_action('stand', speed=90)
        my_dog.head_move([[0, 0, 0]], immediately=True, speed=80)
        my_dog.wait_all_done()
        # 环顾四周
        loop_around(60, 1, 60)
        sleep(0.5)
        # 歪头迷惑
        my_dog.speak('confused_3', volume=80)
        my_dog.do_action('tilting_head_left', speed=80)
        my_dog.wait_all_done()
        sleep(1.2)
        my_dog.head_move([[0, 0, -10]], immediately=True, speed=80)
        my_dog.wait_all_done()
        sleep(0.4)
        # 摇头，表示不在意
        shake_head(my_dog)
        sleep(0.2)

        # 再次趴下休息
        my_dog.rgb_strip.set_mode('breath', 'pink', bps=1)
        my_dog.do_action('lie', speed=50)
        my_dog.wait_all_done()
        sleep(1)


if __name__ == "__main__":
    try:
        rest()
    except KeyboardInterrupt:
        pass
    except Exception as e:
        print(f"\033[31mERROR: {e}\033[m")
    finally:
        my_dog.close()