From 32ccbd4e4060b12062ebe9481271275cfc20bb89 Mon Sep 17 00:00:00 2001
From: Benjamin Navarro <navarro.benjamin13@gmail.com>
Date: Tue, 29 Sep 2020 09:25:35 +0000
Subject: [PATCH] workarounds for simulated robots

---
 src/helpers/driver_helpers.cpp | 27 +++++++++++++++++++++++++--
 src/helpers/driver_helpers.hpp |  2 ++
 src/naoqi_driver.cpp           |  3 +++
 3 files changed, 30 insertions(+), 2 deletions(-)

diff --git a/src/helpers/driver_helpers.cpp b/src/helpers/driver_helpers.cpp
index 6fd014c8..d99c5748 100644
--- a/src/helpers/driver_helpers.cpp
+++ b/src/helpers/driver_helpers.cpp
@@ -41,8 +41,20 @@ static naoqi_bridge_msgs::RobotInfo& getRobotInfoLocal( const qi::SessionPtr& se
   // Get the robot type
   std::cout << "Receiving information about robot model" << std::endl;
   qi::AnyObject p_memory = session->service("ALMemory");
-  std::string robot = p_memory.call<std::string>("getData", "RobotConfig/Body/Type" );
-  std::string version = p_memory.call<std::string>("getData", "RobotConfig/Body/BaseVersion" );
+  std::string robot; 
+  try {
+    robot = p_memory.call<std::string>("getData", "RobotConfig/Body/Type" );
+  }
+  catch(const qi::FutureUserException& e) {
+    robot = p_memory.call<std::string>("getData", "Dialog/RobotModel" );
+  }
+  std::string version;
+  try {
+    version = p_memory.call<std::string>("getData", "RobotConfig/Body/BaseVersion" );
+  }
+  catch(const qi::FutureUserException& e) {
+    version = "unknown";
+  }
   std::transform(robot.begin(), robot.end(), robot.begin(), ::tolower);
 
   if (std::string(robot) == "nao")
@@ -259,6 +271,17 @@ bool isDepthStereo(const qi::SessionPtr &session) {
  }
 }
 
+bool isRealRobot(const qi::SessionPtr &session) {
+  qi::AnyObject p_memory = session->service("ALMemory");
+  try {
+    p_memory.call<std::string>("getData", "RobotConfig/Body/Type" );
+    return true;
+  }
+  catch(const qi::FutureUserException& e) {
+    return false;
+  }
+}
+
 } // driver
 } // helpers
 } // naoqi
diff --git a/src/helpers/driver_helpers.hpp b/src/helpers/driver_helpers.hpp
index 342c141d..3b247a80 100644
--- a/src/helpers/driver_helpers.hpp
+++ b/src/helpers/driver_helpers.hpp
@@ -44,6 +44,8 @@ std::string& getLanguage( const qi::SessionPtr& session );
 
 bool isDepthStereo(const qi::SessionPtr &session);
 
+bool isRealRobot(const qi::SessionPtr &session);
+
 } // driver
 } // helpers
 } // naoqi
diff --git a/src/naoqi_driver.cpp b/src/naoqi_driver.cpp
index e25cf5a7..76fa40f0 100644
--- a/src/naoqi_driver.cpp
+++ b/src/naoqi_driver.cpp
@@ -165,6 +165,9 @@ void Driver::loadBootConfig()
   if (!file_path.empty())
   {
     boost::property_tree::read_json( file_path, boot_config_ );
+    if(!helpers::driver::isRealRobot(sessionPtr_)) {
+      boot_config_.put("converters.audio.enabled", false);
+    }
   }
 }