通过 QiMessaging 连接到虚拟机器人 JavaScript

Question

我想在本地测试我的 Javascript 应用程序。

因此我想在我的 JavaScript QiMessaging 应用程序与虚拟机器人之间建立连接。

以前有人做过吗？

这可能吗？

作为虚拟机器人，我在 windows 10 系统上尝试了 naoqi-bin.exe 和 opennao vm。

通过连接到虚拟机器人无法正常工作，它与真实机器人 (Pepper) 一起工作。

这是我的尝试：

qimessaging 1.0:

代码：

<!DOCTYPE html>
<html>    
<head>
    <meta charset="utf-8"/>
</head>    
<body>
<script src="libs/qimessaging/1.0/qimessaging.js"></script>
<script type="text/javascript">

var robot_address = '127.0.0.1'    

  var session = new QiSession(robot_address);
    session.socket().on('connect', function () {
  console.log('QiSession connected!');
  // now you can start using your QiSession
}).on('disconnect', function () {
  console.log('QiSession disconnected!');
});        
</script>
</body>    
</html>

结果：

浏览器控制台显示：

404 Not Found http://127.0.0.1/libs/qimessaging/1.0/socket.io/1/?t=1557305266224

Cross-Origin Request Blocked: The Same Origin Policy disallows reading the remote resource at http://127.0.0.1/libs/qimessaging/1.0/socket.io/1/?t=1557305266224 Reson: Reason: CORS header 'Access-Control-Allow-Origin' missing

qimessaging 2.0:

代码：

<!DOCTYPE html>
<html>    
<head>
    <meta charset="utf-8"/>
</head>    
<body>
<script src="libs/qi/2/qi.js"></script>
<script type="text/javascript">

    var robot_address = '127.0.0.1'

    QiSession(function (session) {
      console.log("connected!");
      // you can now use your QiSession
    }, function () {
      console.log("disconnected");
    },
      robot_address);
</script>
</body>
</html>

结果：

与 qimessaging 1.0 相同

机器人工具：

代码：

<!DOCTYPE html>
<html>   
<head>
  <meta charset="utf-8"/>
</head>    
<body>
  <script src="js/robotutils.js"></script>
  <script type="text/javascript">
    RobotUtils.robotIp = "127.0.0.1"

    RobotUtils.onService(function (ALDialog) {
      console.log("Connected the service.")         
    }, function () {
      console.log("Failed to get the service.")
    })
  </script>
</body>   
</html>

结果：

GET http://127.0.0.1/libs/qimessaging/2/qimessaging.js 404 Not Found

The script from “http://127.0.0.1/libs/qimessaging/2/qimessaging.js” was loaded even though its MIME type (“text/html”) is not a valid JavaScript MIME type.

Loading failed for the with source “http://127.0.0.1/libs/qimessaging/2/qimessaging.js”.

所以我的解释是虚拟机器人没有提供所需的文件，或者我在这里遗漏了什么？

Answer 1

好的，我在 aldebaran forum

中找到了答案

[...]

Sorry, but qimessaging javascript won't work with a virtual robot, only with a real robot (on a real robot there's a server listening to a certain port for qimessaging js communication, there's no such server running for a virtual robot).

[...]

通过 QiMessaging 连接到虚拟机器人 JavaScript

Connect to virtual Robot via QiMessaging JavaScript

javascript

nao-robot

pepper

qimessaging 1.0:

代码：

结果：

qimessaging 2.0:

代码：

结果：

机器人工具：

代码：

结果：