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Pepper 2.9 RuntimeError: could not take the focus: focus is owned by another activity #27

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Pepper 2.9 RuntimeError: could not take the focus: focus is owned by another activity#27
@DrR955

Description

@DrR955
DrR955
opened on Jul 10, 2024

Follow-up to #26 (comment) (so as not to interfere with #26).

Goal

Use this library to control a Pepper robot running on NAOqi 2.9 (QiSDK).

Problems

  • Services introduced with the new NAOqi version now require a context/focus object to call most functions.

  • How to use ALTracker of Pepper 2.9 with libqi-python? #26 (comment) looks promising, but currently focus.take() fails and causes the exeception from the title (tested while the tablet only had the launcher open, while a QiSDK app was running and while a default app - in this case Chrome - was running).

  • focus.take has another overload that takes a String token as parameter to specify the owner of the current focus. However, I currently don't know how I would acquire said token. I've tried using both the package name of my QiSDK app as well as just the app name. But unfortunately neither worked.

    • There is a FocusOwner interface in the QiSDK docs that technically has a token function, but I'm not sure how (if at all) this could be used to perhaps obtain the token. Maybe create a blank app which implements this interface and returns a static token?

Code

# connection code omitted for reasons of clarity, see https://github.com/aldebaran/libqi-python/issues/22 for an example
ctxFactory = app.session.service("ContextFactory") # taken from https://github.com/aldebaran/libqi-python/issues/26#issuecomment-2218316353
focus = app.session.service("Focus")
ctx = ctxFactory.makeContext()
focusOwner = focus.take() # RuntimeError: could not take the focus: focus is owned by another activity
ctx.focus.setValue(focusOwner)
ctx.identity.setValue("my-app")

autonomousAbilities = app.session.service("AutonomousAbilities")
autonomousAbilities.holdByDegreesOfFreedom(ctx, [0])
Logs 

[V] 1720601125.123717 15670 qi.Application: Program path guessed as 
[W] 1720601125.123813 15670 qi.path.sdklayout: No Application was created, trying to deduce paths
[V] 1720601125.123845 15670 qi.path.sdklayout: Prefix: bin
[V] 1720601125.123848 15670 qi.path.sdklayout: Prefix: /usr
[V] 1720601125.123902 15670 qi.applicationsession: Connect URL is now: tcps://192.168.1.59:9503
[V] 1720601125.123948 15670 qi.applicationsession: Listen URLs are now: tcp://127.0.0.1:0
[V] 1720601125.124100 15670 qi.eventloop: start: thread count limits: initial (minimum, maximum) before any adjustment = (-1, 0)
[V] 1720601125.124155 15670 qi.eventloop: start: thread count limits: min <- 8 (read from environment variable QI_EVENTLOOP_MIN_THREADS, with default 8)
[V] 1720601125.124161 15670 qi.eventloop: start: thread count limits: max <- 150 (read from environment variable QI_EVENTLOOP_MAX_THREADS, with default 150)
[V] 1720601125.124164 15670 qi.eventloop: start: thread count limits: final (minimum, maximum) after potential adjustment = (8, 150)
[V] 1720601125.124167 15670 qi.eventloop: start: number of threads that will be launched = 8 (between (min, max) = (8, 150))
[V] 1720601125.125973 15670 qitype.type: Shared pointer to unknown type N2qi13MessageSocketE, assuming object not yet registered
[V] 1720601125.126032 15670 qitype.type: Shared pointer to unknown type N2qi13MessageSocketE, assuming object not yet registered
[V] 1720601125.126505 15670 qitype.type: Shared pointer to unknown type N2qi13MessageSocketE, assuming object not yet registered
[V] 1720601125.126505 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi16ServiceDirectoryE
[V] 1720601125.126505 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi6FutureImEE
[V] 1720601125.126633 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi6FutureINS_8AnyValueEEE
[V] 1720601125.126790 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi11BoundObjectE
[V] 1720601125.126887 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi10FutureSyncINS_8AnyValueEEE
[V] 1720601125.127015 15670 qitype.type: registerType: access to type factory before registration detected for type N2qi7PromiseINS_8AnyValueEEE
[V] 1720601125.127239 15670 qi.python.object: Registration of method __class__ is ignored as it is private.
[V] 1720601125.127288 15670 qi.python.object: Registration of method __delattr__ is ignored as it is private.
[V] 1720601125.127297 15670 qi.python.object: Registration of method __dir__ is ignored as it is private.
[V] 1720601125.127301 15670 qi.python.object: The object attribute '__doc__' has value 'None', and will therefore be ignored.
[V] 1720601125.127305 15670 qi.python.object: Registration of method __eq__ is ignored as it is private.
[V] 1720601125.127309 15670 qi.python.object: Registration of method __format__ is ignored as it is private.
[V] 1720601125.127314 15670 qi.python.object: Registration of method __ge__ is ignored as it is private.
[V] 1720601125.127318 15670 qi.python.object: Registration of method __getattribute__ is ignored as it is private.
[V] 1720601125.127356 15670 qi.python.object: Registration of method __gt__ is ignored as it is private.
[V] 1720601125.127364 15670 qi.python.object: Registration of method __hash__ is ignored as it is private.
[V] 1720601125.127371 15670 qi.python.object: Registration of method __init__ is ignored as it is private.
[V] 1720601125.127376 15670 qi.python.object: Registration of method __init_subclass__ is ignored as it is private.
[V] 1720601125.127381 15670 qi.python.object: Registration of method __le__ is ignored as it is private.
[V] 1720601125.127696 15670 qi.python.object: Registration of method __lt__ is ignored as it is private.
[V] 1720601125.127745 15670 qi.python.object: Registration of method __ne__ is ignored as it is private.
[V] 1720601125.127753 15670 qi.python.object: Registration of method __new__ is ignored as it is private.
[V] 1720601125.127757 15670 qi.python.object: Registration of method __reduce__ is ignored as it is private.
[V] 1720601125.127761 15670 qi.python.object: Registration of method __reduce_ex__ is ignored as it is private.
[V] 1720601125.127766 15670 qi.python.object: Registration of method __repr__ is ignored as it is private.
[V] 1720601125.127771 15670 qi.python.object: Registration of method __setattr__ is ignored as it is private.
[V] 1720601125.127775 15670 qi.python.object: Registration of method __sizeof__ is ignored as it is private.
[V] 1720601125.127840 15670 qi.python.object: Registration of method __str__ is ignored as it is private.
[V] 1720601125.127880 15670 qi.python.object: Registration of method __subclasshook__ is ignored as it is private.
[V] 1720601125.127917 15670 qi.python.object: The object attribute '__weakref__' has value 'None', and will therefore be ignored.
[V] 1720601125.128038 15670 qi.python.object: Registration of method newAuthenticator with signature () -> m.
[V] 1720601125.128150 15670 qi.python.object: Registration of method __class__ is ignored as it is private.
[V] 1720601125.128191 15670 qi.python.object: Registration of method __delattr__ is ignored as it is private.
[V] 1720601125.128201 15670 qi.python.object: Registration of method __dir__ is ignored as it is private.
[V] 1720601125.128205 15670 qi.python.object: The object attribute '__doc__' has value 'None', and will therefore be ignored.
[V] 1720601125.128209 15670 qi.python.object: Registration of method __eq__ is ignored as it is private.
[V] 1720601125.128213 15670 qi.python.object: Registration of method __format__ is ignored as it is private.
[V] 1720601125.128217 15670 qi.python.object: Registration of method __ge__ is ignored as it is private.
[V] 1720601125.128248 15670 qi.python.object: Registration of method __getattribute__ is ignored as it is private.
[V] 1720601125.128256 15670 qi.python.object: Registration of method __gt__ is ignored as it is private.
[V] 1720601125.128262 15670 qi.python.object: Registration of method __hash__ is ignored as it is private.
[V] 1720601125.128267 15670 qi.python.object: Registration of method __init__ is ignored as it is private.
[V] 1720601125.128298 15670 qi.python.object: Registration of method __init_subclass__ is ignored as it is private.
[V] 1720601125.128307 15670 qi.python.object: Registration of method __le__ is ignored as it is private.
[V] 1720601125.128312 15670 qi.python.object: Registration of method __lt__ is ignored as it is private.
[V] 1720601125.128317 15670 qi.python.object: Registration of method __ne__ is ignored as it is private.
[V] 1720601125.128321 15670 qi.python.object: Registration of method __new__ is ignored as it is private.
[V] 1720601125.128356 15670 qi.python.object: Registration of method __reduce__ is ignored as it is private.
[V] 1720601125.128364 15670 qi.python.object: Registration of method __reduce_ex__ is ignored as it is private.
[V] 1720601125.128369 15670 qi.python.object: Registration of method __repr__ is ignored as it is private.
[V] 1720601125.128373 15670 qi.python.object: Registration of method __setattr__ is ignored as it is private.
[V] 1720601125.128407 15670 qi.python.object: Registration of method __sizeof__ is ignored as it is private.
[V] 1720601125.128416 15670 qi.python.object: Registration of method __str__ is ignored as it is private.
[V] 1720601125.128469 15670 qi.python.object: Registration of method __subclasshook__ is ignored as it is private.
[V] 1720601125.128478 15670 qi.python.object: Registration of method __weakref__ is ignored as it is private.
[V] 1720601125.128523 15670 qi.python.object: Registration of method newAuthenticator with signature () -> m.
[V] 1720601125.128923 15670 qi.eventloop: start: thread count limits: initial (minimum, maximum) before any adjustment = (1, 1)
[V] 1720601125.128969 15670 qi.eventloop: start: thread count limits: final (minimum, maximum) after potential adjustment = (1, 1)
[V] 1720601125.128976 15670 qi.eventloop: start: number of threads that will be launched = 1 (between (min, max) = (1, 1))
[V] 1720601125.129207 15670 qimessaging.messagesocket: (ResolverUrlList)0x627ab121dce0: Trying to connect to 192.168.1.59:9503
[V] 1720601125.221899 15676 qitype.dynamicobject: Return signature might be incorrect depending on the value, from m to o
[V] 1720601125.222053 15678 qi.python.object: Registration of method __class__ is ignored as it is private.
[V] 1720601125.222107 15678 qi.python.object: Registration of method __delattr__ is ignored as it is private.
[V] 1720601125.222121 15678 qi.python.object: Registration of method __dir__ is ignored as it is private.
[V] 1720601125.222124 15678 qi.python.object: The object attribute '__doc__' has value 'None', and will therefore be ignored.
[V] 1720601125.222176 15678 qi.python.object: Registration of method __eq__ is ignored as it is private.
[V] 1720601125.222218 15678 qi.python.object: Registration of method __format__ is ignored as it is private.
[V] 1720601125.222266 15678 qi.python.object: Registration of method __ge__ is ignored as it is private.
[V] 1720601125.222306 15678 qi.python.object: Registration of method __getattribute__ is ignored as it is private.
[V] 1720601125.222314 15678 qi.python.object: Registration of method __gt__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __hash__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __init__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __init_subclass__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __le__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __lt__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __ne__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __new__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __reduce__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __reduce_ex__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __repr__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __setattr__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __sizeof__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __str__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: Registration of method __subclasshook__ is ignored as it is private.
[V] 1720601125.222504 15678 qi.python.object: The object attribute '__weakref__' has value 'None', and will therefore be ignored.
[V] 1720601125.222704 15678 qi.python.object: Registration of method initialAuthData with signature () -> m.
[V] 1720601125.222906 15676 qitype.dynamicobject: Return signature might be incorrect depending on the value, from m to {sm}
[V] 1720601125.712055 15677 qimessaging.remoteobject: Requesting metaobject
[V] 1720601125.736526 15674 qimessaging.remoteobject: Fetched metaobject
[V] 1720601125.746481 15676 qimessaging.server: 0x627ab12002f0 - New socket 0x627ab122a5c0 added to the server.
[V] 1720601125.753472 15677 qimessaging.session: Inserting sd to cache for c4538afe-edff-4afa-9c5d-762abce92211 tcps://192.168.1.59:9503
started
[V] 1720601125.753774 15670 qimessaging.sessionservice: Asynchronously asking service 'ContextFactory' to SD client. requestId = 1
[V] 1720601125.779454 15674 qimessaging.sessionservice: Received answer from SD client for service 'ContextFactory'. requestId = 1
[V] 1720601125.779521 15674 qimessaging.sessionservice: Requesting socket from cache. service = 'ContextFactory', requestId = 1
[V] 1720601125.779583 15674 qimessaging.sessionservice: Got transport socket for service. requestId = 1
[V] 1720601125.779710 15674 qimessaging.remoteobject: Requesting metaobject
[V] 1720601125.779822 15674 qimessaging.sessionservice: Fetching metaobject (2) for requestId = 1
[V] 1720601125.792403 15676 qimessaging.remoteobject: Fetched metaobject
[V] 1720601125.792477 15676 qimessaging.sessionservice: Got metaobject for request id = 1
[V] 1720601125.792662 15670 qimessaging.sessionservice: Asynchronously asking service 'Focus' to SD client. requestId = 2
[V] 1720601125.821754 15676 qimessaging.sessionservice: Received answer from SD client for service 'Focus'. requestId = 2
[V] 1720601125.821785 15676 qimessaging.sessionservice: Requesting socket from cache. service = 'Focus', requestId = 2
[V] 1720601125.821572 15678 qimessaging.sessionservice: Got transport socket for service. requestId = 2
[V] 1720601125.821678 15678 qimessaging.remoteobject: Requesting metaobject
[V] 1720601125.821735 15678 qimessaging.sessionservice: Fetching metaobject (2) for requestId = 2
[V] 1720601125.832664 15671 qimessaging.remoteobject: Fetched metaobject
[V] 1720601125.833153 15671 qimessaging.sessionservice: Got metaobject for request id = 2
[V] 1720601125.856880 15671 qimessaging.remoteobject: Received error message{54.1.101, id:14}:could not take the focus: focus is owned by another activity
Traceback (most recent call last):
  File "/home/pepper/playground/contextTest.py", line 39, in <module>
    focusOwner = focus.take()
RuntimeError: could not take the focus: focus is owned by another activity

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