Changelog ========= 1.12.0.61 --------- * **NAOqi** * MOTION: add verbose medium information for production * **HAL** * Add compatibility with new V4.0 boards 1.12.0.60 --------- * **NAOqi** * Fix #5998 (Even after setting the robot in french, naoqi is set in english) 1.12.0.59 --------- * **Choregraphe** * Fix #5916 Logs are written at the end of the logViewer * Fix #5921 Video monitor starts playing when focus is back, even after having been paused * **Monitor** * Fix spelling mistake * **NAOqi** * Fix #5795 NAO 4: heat on shoulder pitch * ALAudioDevice absence does not make ALSoundExtractor constructor throw anymore * **OpenNAO** * Remove release name * Fix #5980 Kernel: fix fps setter in uncorn driver * htop: enable default configuration 1.12.0.58 --------- * **NAOqi** * ALLauncher: fix error message when loading a library fails * Fix #5969 Cannot play subbehaviors * Fix #5964 Crash of naoqi at the end of a file recording) * Bug #5811 Hack no more needed * **OpenNAO** * Minor fix in the naopathe (the web page) * Fix #5949 Kernel: Low memory corruption by the video driver 1.12.0.57 --------- * **NAOqi** * Fix #5963 Logs appear several times * **OpenNAO** * nao-autoflash: Make it more verbose (print a message when chcecksum check starts) 1.12.0.56 --------- * **Choregraphe** * Fix #5945: Stand up box does not work when arms in front * **NAOqi** * Fix #5946 The new side fall manager is damaging too much the mechanical parts of the robot. * Fix #5904 Fix memory leak in pyth 1.12.0.55 --------- * **Choregraphe** * Fix #5799 Issues when extracting large projects on the robot * Fix #5733 ResourceManagement: onStart called after a resource error * Fix #5864 all onStopped trigered when resources taken * Fix #5653 The Reconnection manager every 30 seconds is very annoying * Fix #4226 Desktop shortcuts of Choregraphe-suite are available to all users * Fix Choregraphe doc link from 'help' menu * **Monitor** * Fix #5905 Camera Monitor : notify users that fps are limited * **NAOqi** * Fix #5363 Atom : isBackLit is not robust * Fix #5912 ALVideoDevice::onClientDisconnected never end when I close Choregraph * Vision: add the 960p alias for 4VGA resolution * Vision: images are cut in four in Choregraphe after booting. * **HAL** * Fix #5927 Hand and Neck was tested for protection against overheating * **Flasher** * Fix usb detection on Windows XP 1.12.0.54 --------- * **OpenNAO** * Fix #4691 Kernel: desactivation of the bounce support in MMC driver, avoiding kmap to sleep in RT context. * Fix #5906 Persistent data: passwd does not move shadow file, ensure that passwords are kept after software update. * nao-autoflash: forbid launch by root. 1.12.0.53 --------- * **Hal** * Fix #5881 HipYaw pitch overheating * **Choregraphe** * Fix #2845 Recording mode stops before last keyframe. * Fix #3520 The hand slider is not precise enough * Fix #5865 Fix a crash when there is an accent in the word * Fix #5774 Crash Choregraphe when attached file is too big * Fix #5235 Default IP changed from "localhost" to "127.0.0.1" * Fix #4939 When setting a default behavior from a Choregraphe 1.12 on a NAOqi 1.10, it is not played on start-up * **NAOqi** * Fix #5879 Inertial unit send more 'nacks' than before, causing false positives for fall manager * Fix #5880 Robot should not be able to play any behavior during auto-checkup * Fix #4787 It is possible to launch behaviors in parallel with the autoDiagnostic * Fix #5542 autodiagnostic should use new stand up box * Fix #5908 Fall side posture not robust enough * Fix #4224 Take the resource when the hardware is not there * Fix #5798 ASR keeps saying: "Vocabulary cannot be changed while ASR engine is running" * Fix #5801 Support of French in System ofr ASR and TTS * Fix #5691 Strange End of ALDescriptors::run() method in logs * Fix #5649 Acapella ASR: crash NAOqi with Chinese ASR * **SDK** * Fix #5896: naoqiclient doesn't run * **OpenNAO** * New firmware-update: reflash carrier-board 1.12.0.51 --------- * **NAOqi - Vision** * Fix #5649 NAOqi crash when calling getDirectRawImageLocal or getImageLocal with empty strings * Fix #5694 remove debug ``printf`` * Fix #5648 Better error messages when callinng ALVistionToolBox methods with incorrect arguments * Fix #5227 Problems recording video with ALVisionToolbox module * Fix #5388 Some Vision Recognition Databases provoke NAOqi segfault * Fix #5789 Non optimal mutex * Fix #5731 image data currently in use by a module can be replaced by newer data before it has finished * Fix #5725 correct camera ID is not provided anymore in the ALImage when switching cam * Fix #5364 'in darkness' box does not work with an atom camera * Fix #5586 Hue parameter doesn't work with the HD camera * Fix #5587 Exposure parameter doesn't work with the HD camera * **NAOqi - Motion** * Fix #5813 Anti-collision prevents the robot to go back to a normal positio * **NAOqi - Core** * Fix #5642: ALPreferences: Better error message when using readPrefFile with an empty name * Fix #5825: naoqi segfaults at startup * **Choregraphe** * Fix #5344 using ``--help`` on Windows * Fix #1751 Better icons for Windows installer 1.12.0.50 --------- * **NAOqi** * Motion: Update V4 walk config * Fix #5643 crash in ALResourceManager * Fix #5350 better command line parsing of logview * Fix #5607 better error message when stop method is not implemented * Fix #5645 deadlock on ALMemory when calling getDataOnChange on empty data * Fix #5436 ALAudio modules can leak file descriptors * Fix #5389 Error on loading .wav files leads to left open files * **Hal** * Update thermal model for X2Y motorboard * Fix #5710 hardware communication issues with the intertial measurement unit * **Simulator SDK** * Add multi-robot support * **Choregraphe** * Fix #5705 isItDark threshold for dark is wrong * Fix #3657 remove bluetooth boxes * Fix #4845 Fix check of name availability when editing IO of box * Fix #5314 Flow Diagram: Immediate suppression of a drag and drop a box do not work * Fix #5468, #5469 Choice Box: better handling of non-ASCII characters * Fix #4664 Prevent from zooming in the motion timeline outside the timeline editor * Fix #5668 Strange options are available on Choregraphe 1.12.0.49 - RC1 --------------- * **NAOqi** * Changed: :ref:`ALBroker::getModuleList` no longer returns invalid shared pointer * Fix #5476 Sentinel: Emergency stiffness removal does not work when system menu is activated * Fix #5568 Robot cannot find its body after several hours running * Fix #5531 Many video modules set framerate to 0. Camera and extractor now use the user requested framerate * Fix #5555 ALRedBallDetection crashes when run on a local naoqi without simulator * Fix #5118 Choregraphe/NaoQi crash on Windows when there are accentuated character in login name * Fix #5509: fix memory leak on :ref:`ALBehaviorManager::runBehavior`'s stress tests * Fix #5647: :ref:`ALFrameManager::learnFace` deadlocks when the filename is empty * **Monitor** * Fix #5603 Excessive, erroneous logs when using FaceDetection from Monitor * Fix #5361 ATOM: Many error messages when running video monitor * **Choregraphe** * Fix #5349 Atom Head temperature is always -42 degrees * Fix #5503 Diacratics and special characters are not displayed in the robot view * Fix #5562 videoMonitor is at 5fps * Fix #5364 ATOM: 'in darkness' box does not work with an atom camera * **Firmware** * Motorboard v0.41: fix issue with ADC 1.12.0.48 --------- * **NAOqi** * Disable ALBluetooth * ALModule::isStopRequired no arg by default * ALFrameManager: stop looking for Urbi * Motion: fix walk for NAO v4 * Vision: fix bugs with Atom camera * Fix #5219 Hide ALStore * Fix #5351 ATOM: head temperature reported as -42 * Fix #2065 Missing Portuguese and Korean Chest button translations * Fix #5482: Resolve inactive second start input * **Hal** * Fix #5525 The hal should not allow being started by root * **OpenNAO** * Allows deactivation of fall management from nao web page * Fix #5505 network interface are on eth2 and wlan2 * Bug fixes in Atom video kernel driver 1.12.0.47 --------- * **NAOqi** * Update proxies to 1.12.0.46 - remove ALStore, ALTelepathe * Fall Manager is now always active by default * Add get/setAnimationMode * Revert feature #4224 Take the resource when the hardware is not there * Fix #5473 Some sensors (sonar, bumper) do not have a correct position * Fix #5459 ATOM: Collecting images through ALVideoInput does not work properly * Fix #5379 WordRecognized should not be erased at the end of asr * Fix #5436 ALAudio modules can leak file descriptors * Fix #5477 Adding a lock file to allow nao's life to start its own updater * **Choregraphe** * Fix #5433 Using self.logger.debug() in a choregraphe box leads to strange text * Fix #5405 Animation mode: the ASR threshold should be raised to prevent false alarms * Fix #5431 Motion recorder: Red line showing currently recorded frame is not displayed * Fix #5416 In the MotionRecording with animationMode, it is not possible to store positions with vocal commands 1.12.0.46 --------- * **NAOqi** * Fix #5400 memory leak in ALProxy * Fix #5401 bug in ALBehaviorManager * Fix #5407 begin and white space problems in Nuance * Fix #5158 interaction problem between animation-mode and fallmanager * Fix #5348 walk is unstable on carpet * Fix #5408 Resource Manager further information broken on Chrome * Fix #5110 Nao V4 mass update * Fix #4174 Improve ModuleGenerator, add audio/video modules * Fix #2949 stop talking when chest button is pressed again * Fix #5409 Should close hands upon shutdown * Fix #5168 disable FallManager during diagnostic * **hal** * Fix #5414 The HAL should reconnect the USB when needed * **OpenNAO** * Fix #5392 can't resolve bonjour hostname * Fix #5168 change FallManager text on the webpage 1.12.0.45 --------- * **Choregraphe** * Update translations * Fix #5322 change attribute value to default in walk tracker * Fix #5188 After a few PLAY / STOP in the video monitor of choregraphe, the video can not retrieved anymore. * Fix #4925 Repetitive crash of Choregraphe when quitting * Fix #5185 Useless extra end of lines are added at each log entry * **NAOqi - Core** * Fix #5123 academics/robocup: activate stuff based on configuration keys * Fix #5371 Connection Failure Error is not clear * Fix #5358 albroker: createBroker does not unregister broker that failed to connect * Fix #5365 qi::os::spawnlp should preserve environment variables by default * Fix #5225 Launch python modules and executables from autoload.ini * **NAOqi - Audio** * Fix#4975 Difference of Nuance ASR sensitivity between V3.2, V3.3 and V4 * **NAOqi - ALInfrared** * Add a new method: sendRemoteKeyWithTime 1.12.0.44 --------- * **Choregraphe** * Fix #5213 walkTracker: first call can failed * Fix #5224 The red line representing the current frame does not appear when you have no behavior layer * Fix #5156 ALBehaviorManager - runBehavior doesn't work on a sub behavior anymore * Fix After a StopAllBehaviors, the animationMode will not start. * **NAOqi - Motion** * Fix #5169 update V4.0 camera position in robot model * Fix #5207 Fall during test * Fix #5226 Enabling anti collision should be always possible if there is no stiffness (even in collision case) * Fix #5320 tracker does not work if the robot is crouch * Fix #5300 Instabilities when walking backwards * Fix #5149 Nao Walk follows a Dubins Curve * **OpenNAO** * Fix #4978 on V4 /media/internal is not persistent * Fix #143, #4022 DFU v2 * Add webpage display license in the package list * **Firmware** * Add motorboard v0.40: PWM control for x2y (reduce heat) * Fix inertialboard v0.17: accelero are back 1.12.0.43 --------- * **Choregraphe** * Fix #5199 crash when clicking too fast on the 3D view * Fix #4972 Cannot flash robot with an image containing a space in its name * **NAOqi** * Fix #4972 ALLauncher: correct arguments handling when using spawnvp * **Telepathe-web** * Fix #5210 Enable interactive association for 20sec when pressing the chest button * **Monitor** * Fix #4120 camera: sliders react on value change instead of clicks only * **OpenNAO** * Fix #4428 infrared remote discovery not terminating on the webpage * Fix #5211, #5212 Remove NAOStore credential on the webpage * Add #4562 alfand for NAOv4: regulate fan speed 1.12.0.42 - Beta2 ----------------- * **Choregraphe** * Fix #4781 video freeze after multiple PLAY/STOP in Choregraphe * Fix #5093 add examples to display objects in 3D view * Fix #4626 paste of boxes from 1.10 won't crash * **NAOqi** * Fix #5175 almath: add orthogonalSpace * Fix #4244 improving ALBehaviorManager documentation * Fix #5192 Cannot launch ALRedBalltracker with the simulator * Fix #5165 hrow errors in set and get volume functions if there are ones * **NAOSim** * Fix #5206 it's difficult to connect NAOsim with another naoqi-sdk * **Telepathe-web** * Fix #5152 post RPCs do not block threads anymore * **OpenNAO** * Fix webpage: say hello on the webpage use the real name of the robot instead of NAO 1.12.0.41 --------- * **Choregraphe** * Fix #5203 Random Float/Int: value of parameter was too high * Fix #5104 Increase FTP login dialog width * **NAOqi** * Fix #5107 if diag file found, ALMotion.xml is always updated * Fix #5171 Vision: Memory / Resource leaks and bad iterators * Fix #5106 Battery low event not raised * Fix #5204 Acapela ASR not working 1.12.0.40 --------- * **Monitor** * Lots of fixes for new HD atom camera * Fix #4070 Monitor cannot open a XML file with chinese characters in the path * **NAOqi - Core** * Add ALProxy::remoteBrokerName to get the name of the remote broker * Fix #5133 Cleanup all remote proxies when unregistering a broker * **NAOqi - Mecalogger** * Fix dates and logs fall management and podometer * **NAOqi - Motion** * Fix #4833 During walk, fast walk with extrem torso x orientation can block walk: motion unfeasible * Fix #4842 Can not move the robot without another module * Fix #5070 Fall Manager is not enabled by default * Fix #5071 Smart Stiffness is not enabled by default * Fix #5081 getTimeFinalJoint: infinite time * Fix #5110 Nao V4 mass update * Fix #5113 Instability of walk * Fix #5115 Do not break getRobotConfig API * Fix #5121 Restore 1.10 default walk parameter * Fix #5143 Clip foot step return useless warning * **NAOqi - Audio** * Fix #5078 Chinese and Korean can now be installed through NAOStore * Fix #5137 ALSpeechRecognition segfault if no ASR package is found * Fix #5139 TTS behaves strangely when no package is found * Fix #5141 Nuance does not support all languages that it should * Fix #5159 ALSpeechRecognition exits when launched with a default language that is not installed * Fix #5160 Message in ALTextToSpeech when setDefaultLanguage fails is not clear * Fix #5179 xRemoveBrackets segfaults * Auto-mute removed (both in naoqi and in kernel). Feature is too risky for 1.12. * **NAOqi - Vision** * Fix #5076 By default, active camera is the bottom one on ATOM * Fix #4922 Stopping ALVisionRecognition segfault on Atom * Fix #5062 Error when shutting down Vision modules * Fix #5073 Uncaught exception while playing with VisionReco and learn features * Fix #1258 MovementDetection should not subscribe to VideoInput at initialization * Fioix #5116 FaceDetection doesn't work anymore * API change: getCameraModel() becomes getCameraModelID() * getActiveCameras() removed * manage taking HD pictures with VisionToolbox * **Choregraphe** * Fix #5046 walk advanced torso parameter too high * Fix #5121 fixing walk options * Fix #5148 user custom vectors added in the 3d view do not have correct origi * Fix #5167 Choregraphe flashes Atom NAOs the Geode way * Fix #5104 File transfer authentication dialog talks about system update * Fix #5037 Enable fall manager in animation mode * Fix #5155 Nicer ear leas effects during animation mode * **SDK** * Fix #5125 ALMemory version is void. 1.12.0.39 --------- * **Choregraphe** * Fix #4696, #3788, #4969, #4234: cleaning of e-mail boxes * The button for animation mode is back * Fix #4836 Video acquisition continued even if video monitor widget is closed * Fix #4672 Pause on demand does not pause box (after modifying box script) * **SDK** * Changed #5129 naoqclient is now deprecated * Do not install logodetection tests * **OpenNAO** * Fix ethernet vs wifi: one routing table by interface 1.12.0.38 --------- * **SDK** * flash-usbstick and flasher.exe are gone, they are replaced by bin/flasher for now. * Fix #5023 Do not install test executables .. note:: the new flasher is still a work in progress... In the mean time, please use nao-autoflash or Choregraphe * **NAOqi - Core** * Changed #5084 Prevent naoqi from running as root * Fix ALBroker::isExiting did not have the same behavior on 1.12 and 1.14 * Fix segfault when creating user autoload.ini fails * **NAOqi - Audio** * Fix #5029 The hidden functions _setVocabularyForDigitsSpelling() interferes with the public one _setVocabulary() * Fix #5111 ASR Nuance does not know where to look for the default english package on Atom * Fix #5096 Switching Language in Nuance provokes unexpected Errors * Fix #4935 Output parameters cannot be set in audiodevice if audio inputs are closed * Add automatic mute of audio amplifier. Handled by the audio driver in the kernel now. * **Choregraphe** * Fix #4756 Inside Choregraphe, links for Choregraphe and API reference documentation are not working anymore * Fix #3706 Prevent user from setting a black background * Fix #5074 Crash in ALBehaviorManager * Fix #4695 The behavior manager is never refreshed * Fix dubious error message on desktop when killing naoqi:: [INFO ] Stopping ALBehaviorManager ALFileSystem::listDirectory /usr/share/behaviors: not a directory (From : f:\src\naoqi\core\lib\alfile\alfile\alfilesystem.cpp:75) * **OpenNAO** * Add ASR files for nuance (ATOM) * Del dictionary and language files for Acapela ASR (ATOM) * Cleanup images (remove unneeded dependencies) * Fix kernel unicorn driver (video driver) * Fix #5091 Remove old DCM from image * Fix #5061 ALMecaLogger shutdown error * Fix #5040 Support for Urbi is back. To enable it, add a section like this in /home/nao/naoqi/preferences/autoload.ini:: [user] /usr/lib/naoqi/liburbistarter.so * **Firmware** * give time to motorboard to wakeup after they have been flashed * lirc: support long keys press 1.12.0.37 --------- Various attempts to fix Atom kernel video driver.... * **NAOqi - ALInfrared** * Fix #5034 DCM segfaults at shutdown 1.12.0.36 --------- * **NAOqi - Core** * Fix #4474, #4825, #4359, #4940 : deadlock or crashes when connecting/deconnecting brokers * Fix #5014 Crash of choregraphe when connecting to an bad IP * Changed #5012 qi::path::findData() finds writable path first, using findData with an empty filenames now throws an std::invalid_argument * Fix #4709 logging file has the same format as console output * Fix #4508 log colors on a white terminal * Changed #3992 the NAOqi broker is now called 'NAOqi' instead of 'mainBroker' * Fix #5895 - When you subscribeToEvent to a data, a getData of it outputs None 1. ALMemory::insertData only insert a value. 2. ALMemory::raiseMicroEvent insert a value and notify subscribers. 3. ALMemory::raiseEvent insert a value, notify subscriber, store timestamp and history (internal). * Fix #3213 Remote notification order. Remote notification are in the same order than events. * Fix #4397 SOAP error in soundplayback. Python binary data has no limitation now. * Fix #4422 ALMemory performance decrease. ALMemory from C++ and python are 10 times faster. * Fix #1826 No return value in python module. * **NAOqi - Audio** * Fix #4832 formatting problems in ASR output * Fix #2766 using apostrophe (ยด) instead of quote (') in English Text To Speech works * Fix #4928 Add mutex in audio player to avoid crash during stopAll() * **NAOqi - Motion** * Fix #4792 Relax motors put a local NAOqi into an other position * Fix #4749 areResourcesAvailable does not work with multiple angleInterpolation.post * Fix #4927: angleInterpolation does not begin with current joint speed * Fix #4784: setMotionConfig doesn't complain when using wrong parameters * Fix #4796 setStiffness without anticollision does a pose zero motion on local NAOqi * Fix #4842 Can not move the robot without another module * Fix #4958 Anti Collision does not work on local NAOqi * Fix #5011 Cannot guess robot pose when angle Y around 70deg * Fix #4950 The message "please put me on the floor ... so I can wake up correctly" is far too loud on a V4 and also repeats too often * **Choregraphe - 3D View** * Fix #4955 Choregraphe does not display NAO v4 correctly * New Collision: activate the plot of collision * **Choregraphe - Flashing** * Fix #4972 Cannot flash robot with an image containing a space in its name * Fix #4985 support NAO system images with .opn extension instead of .bin * Fix #4968 Choregraphe freezes during the flashing process * Fix #4906 Error popups on FTP connection and login. * **Choregraphe - Boxes** * Fix #4769 wrong file path in Record Sound box's help * Fix #4973 MP3 files: late and incomplete playing => modify the tooltip * Fix #4392 IR Send Key box: cannot enter custom remote control config. name * Fix #3493 icones and labels of vision boxes not clear * **Choregraphe - GUI** * Fix #4646 The Animation mode activated is not visible (added nice red/orange/green icons) * Changed #4774 "Resource dependency" title becomes "Resource editor" * New #4795 Add a shortcut to stop behavior with shift-F5 * Fix #4907 Crash when loading a behavior before the main window is opened * Fix #5045 Choregraphe crash when connecting to an old NAOqi * **Monitor** * New #4932 Support Atom camera * **Simulator** * Fix #4757 Out of range reading in RGB to YUV conversion * **HAL** * Fix #4963 Correct hand /legs detection for 4.0 * **Firmware** * New new firmware for inertial sensor * **OpenNAO** * Fix prompt colors on a white terminal * Fix #4946 Bug fixes in Atom video driver 1.12.0.35 --------- * **NAOqi** * Fix #4789 Fixed addDefaultBehavior method * Fix #4871 Add support of antoine voice in TTS * Fix #4849 Avoid crashes when audio input/outputs are closed * Fix #4121 Better error description when encoding conversion fails * **Choregraphe** * Fix #4844 speech display does not work * Fix #4920 launching default behaviors in local does not work * Fix #4909 with Japanese language, in choregraphe SAY box, Voice shaping and speed do not work * New #4828 walkTo and walkToward are biw customizable with new motion api gaitConfig * Fix #4626 Choregraphe crash when pasting boxes from 1.10 * **.Net SDK** * New #4860 Support generic proxies * New #4766 Suppoprt using TTS in Japanese 1.12.0.34 --------- * **Choregraphe** * Fix #4768 box library for stand up and sit down * Fix #4085 Display a warning message when the XAR file of a CRG cannot be properly parsed * Fix #4836 fix the pause/resume video process at initialisation * Fix #4625 ChoregrapheModule: Made the popup in case of callback failure clearer. 1.12.0.33 --------- * **Choregraphe** * Fix #4730 : Choregraphe can now flash Atom images, and is backward-compatible with 1.10 1.12.0.32 --------- * **Choregraphe** * Fix #4800 3DModel: Fixed problem with ankles * Fix #4751 catching eventual exceptions on loading libraries. This makes it possible to use Choregraphe 1.12 when having old 1.10 * **Telepathe** * Fix #4805 avoid memory leaks we using XMPP * Fix #128 ALTelepathe now really allows callbacks from NAOqi 1.12.0.31 --------- * **NAOqi** * New Support new atom kernel audio driver * **Choregraphe** * Fix #775 Editing pose librairies caused the user to edit the box librairies instead 1.12.0.30 - Beta1 ----------------- * **NAOqi** * Fix #4740 ALLaser: Laser has an offset of around 20 degrees * **Choregraphe** * Fix #4738 Animation Mode when unenslaved is useless for arms * Fix #4431 ALFrameManager: onStopped output bang type not recognized as ALValue * Fix #4623 VideoMonitor: avoid infinite popup and crashes