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  1. import platform
  2. import os
  3. import uuid
  4. import urllib2
  5. import json
  6. import traceback
  7. import tempfile
  8. import re
  9. import getpass
  10. #import configparser
  11. import sys
  12. import argparse
  13. import random
  14. import telly
  15. import robot_util
  16.  
  17. parser = argparse.ArgumentParser(description='start robot control program')
  18. parser.add_argument('robot_id', help='Robot ID')
  19. parser.add_argument('--info-server', help="Server that robot will connect to for information about servers and things", default='letsrobot.tv')
  20. parser.add_argument('--type', help="Serial or motor_hat or gopigo2 or gopigo3 or l298n or motozero or pololu or mdd10", default='motor_hat')
  21. parser.add_argument('--serial-device', help="Serial device", default='/dev/ttyACM0')
  22. parser.add_argument('--male', dest='male', action='store_true')
  23. parser.add_argument('--female', dest='male', action='store_false')
  24. parser.add_argument('--voice-number', type=int, default=1)
  25. parser.add_argument('--led', help="Type of LED for example max7219", default=None)
  26. parser.add_argument('--ledrotate', help="Rotates the LED matrix. Example: 180", default=None)
  27. parser.add_argument('--tts-volume', type=int, default=80)
  28. parser.add_argument('--secret-key', default=None)
  29. parser.add_argument('--turn-delay', type=float, default=0.4)
  30. parser.add_argument('--straight-delay', type=float, default=0.5)
  31. parser.add_argument('--driving-speed', type=int, default=90)
  32. parser.add_argument('--day-speed', type=int, default=255)
  33. parser.add_argument('--night-speed', type=int, default=255)
  34. parser.add_argument('--forward', default='[-1,1,-1,1]')
  35. parser.add_argument('--left', default='[1,1,1,1]')
  36. parser.add_argument('--festival-tts', dest='festival_tts', action='store_true')
  37. parser.set_defaults(festival_tts=False)
  38. parser.add_argument('--auto-wifi', dest='auto_wifi', action='store_true')
  39. parser.set_defaults(auto_wifi=False)
  40. parser.add_argument('--no-anon-tts', dest='anon_tts', action='store_false')
  41. parser.set_defaults(anon_tts=True)
  42. parser.add_argument('--no-chat-server-connection', dest='enable_chat_server_connection', action='store_false')
  43. parser.set_defaults(enable_chat_server_connection=True)
  44. parser.add_argument('--no-secure-cert', dest='secure_cert', action='store_false')
  45. parser.set_defaults(secure_cert=True)
  46. parser.add_argument('--filter-url-tts', dest='filter_url_tts', action='store_true')
  47. parser.set_defaults(filter_url_tts=False)
  48. parser.add_argument('--slow-for-low-battery', dest='slow_for_low_battery', action='store_true')
  49. parser.set_defaults(slow_for_low_battery=False)
  50. parser.add_argument('--reverse-ssh-key-file', default='/home/pi/reverse_ssh_key1.pem')
  51. parser.add_argument('--reverse-ssh-host', default='ubuntu@52.52.204.174')
  52. parser.add_argument('--charge-hours', type=float, default = 3.0)
  53. parser.add_argument('--discharge-hours', type=float, default = 8.0)
  54. parser.add_argument('--right-wheel-forward-speed', type=int)
  55. parser.add_argument('--right-wheel-backward-speed', type=int)
  56. parser.add_argument('--left-wheel-forward-speed', type=int)
  57. parser.add_argument('--left-wheel-backward-speed', type=int)
  58. parser.add_argument('--led-max-brightness', type=int)
  59. parser.add_argument('--speaker-device', default=2, type=int)
  60. parser.add_argument('--tts-delay-enabled', dest='tts_delay_enabled', action='store_true')
  61. parser.add_argument('--tts-delay-seconds', dest='tts_delay_seconds', type=int, default=5)
  62. parser.add_argument('--woot-room', help="Room to enable woot events", default='')
  63.  
  64. commandArgs = parser.parse_args()
  65. print commandArgs
  66.  
  67. chargeCheckInterval = 5
  68. chargeValue = 0.0
  69. secondsToCharge = 60.0 * 60.0 * commandArgs.charge_hours
  70. secondsToDischarge = 60.0 * 60.0 * commandArgs.discharge_hours
  71.  
  72. maxSpeedEnabled = False
  73.  
  74. # watch dog timer
  75. os.system("sudo modprobe bcm2835_wdt")
  76. os.system("sudo /usr/sbin/service watchdog start")
  77.  
  78.  
  79. # set volume level
  80.  
  81. # tested for 3.5mm audio jack
  82. os.system("amixer set PCM -- 100%d%%" % commandArgs.tts_volume)
  83. #if commandArgs.tts_volume > 50:
  84. #os.system("amixer set PCM -- -100")
  85.  
  86. # tested for USB audio device
  87. os.system("amixer -c %d cset numid=3 %d%%" % (commandArgs.speaker_device, commandArgs.tts_volume))
  88.  
  89.  
  90. infoServer = commandArgs.info_server
  91. #infoServer = "letsrobot.tv"
  92. #infoServer = "runmyrobot.com"
  93. #infoServer = "52.52.213.92"
  94. #infoServer = "letsrobot.tv:3100"
  95.  
  96. print "info server:", infoServer
  97.  
  98. tempDir = tempfile.gettempdir()
  99. print "temporary directory:", tempDir
  100.  
  101.  
  102. # motor controller specific intializations
  103. if commandArgs.type == 'none':
  104. pass
  105. elif commandArgs.type == 'serial':
  106. import serial
  107. elif commandArgs.type == 'motor_hat':
  108. pass
  109. elif commandArgs.type == 'mebo2':
  110. from mebo.handle_mebo_command import handle_mebo_command
  111. elif commandArgs.type == 'gopigo2':
  112. import gopigo
  113. elif commandArgs.type == 'gopigo3':
  114. sys.path.append("/home/pi/Dexter/GoPiGo3/Software/Python")
  115. import easygopigo3
  116. easyGoPiGo3 = easygopigo3.EasyGoPiGo3()
  117. elif commandArgs.type == 'l298n':
  118. try:
  119. import configparser
  120. except ImportError:
  121. print "You need to install configparser (sudo python -m pip install configparser)\n Ctrl-C to quit"
  122. while True:
  123. pass # Halt program to avoid error down the line.
  124. elif commandArgs.type == 'motozero':
  125. pass
  126. elif commandArgs.type == 'pololu':
  127. pass
  128. elif commandArgs.type == 'screencap':
  129. pass
  130. elif commandArgs.type == 'adafruit_pwm':
  131. from Adafruit_PWM_Servo_Driver import PWM
  132. elif commandArgs.led == 'max7219':
  133. import spidev
  134. elif commandArgs.type == 'owi_arm':
  135. import owi_arm
  136. elif commandArgs.type == 'mdd10':
  137. pass
  138. else:
  139. print "invalid --type in command line"
  140. exit(0)
  141.  
  142. serialDevice = commandArgs.serial_device
  143.  
  144. if commandArgs.type == 'motor_hat':
  145. try:
  146. from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
  147. motorsEnabled = True
  148. except ImportError:
  149. print "You need to install Adafruit_MotorHAT"
  150. print "Please install Adafruit_MotorHAT for python and restart this script."
  151. print "To install: cd /usr/local/src && sudo git clone https://github.com/adafruit/Adafruit-Motor-HAT-Python-Library.git"
  152. print "cd /usr/local/src/Adafruit-Motor-HAT-Python-Library && sudo python setup.py install"
  153. print "Running in test mode."
  154. print "Ctrl-C to quit"
  155. motorsEnabled = False
  156.  
  157. # todo: specificity is not correct, this is specific to a bot with a claw, not all motor_hat based bots
  158. if commandArgs.type == 'motor_hat':
  159. from Adafruit_PWM_Servo_Driver import PWM
  160.  
  161. import time
  162. import atexit
  163. import sys
  164. import thread
  165. import subprocess
  166. if (commandArgs.type == 'motor_hat') or (commandArgs.type == 'l298n') or (commandArgs.type == 'motozero'):
  167. import RPi.GPIO as GPIO
  168. import datetime
  169. from socketIO_client import SocketIO, LoggingNamespace
  170.  
  171. chargeIONumber = 17
  172. robotID = commandArgs.robot_id
  173.  
  174. if commandArgs.type == 'motor_hat':
  175. GPIO.setmode(GPIO.BCM)
  176. GPIO.setup(chargeIONumber, GPIO.IN)
  177. if commandArgs.type == 'l298n':
  178. mode=GPIO.getmode()
  179. print " mode ="+str(mode)
  180. GPIO.cleanup()
  181. #Change the GPIO Pins to your connected motors in gpio.conf
  182. #visit http://bit.ly/1S5nQ4y for reference
  183. gpio_config = configparser.ConfigParser()
  184. gpio_config.read('gpio.conf')
  185. if str(robotID) in gpio_config.sections():
  186. config_id = str(robotID)
  187. else:
  188. config_id = 'default'
  189. StepPinForward = int(str(gpio_config[config_id]['StepPinForward']).split(',')[0]),int(str(gpio_config[config_id]['StepPinForward']).split(',')[1])
  190. StepPinBackward = int(str(gpio_config[config_id]['StepPinBackward']).split(',')[0]),int(str(gpio_config[config_id]['StepPinBackward']).split(',')[1])
  191. StepPinLeft = int(str(gpio_config[config_id]['StepPinLeft']).split(',')[0]),int(str(gpio_config[config_id]['StepPinLeft']).split(',')[1])
  192. StepPinRight = int(str(gpio_config[config_id]['StepPinRight']).split(',')[0]),int(str(gpio_config[config_id]['StepPinRight']).split(',')[1])
  193.  
  194. GPIO.setmode(GPIO.BOARD)
  195. GPIO.setup(StepPinForward, GPIO.OUT)
  196. GPIO.setup(StepPinBackward, GPIO.OUT)
  197. GPIO.setup(StepPinLeft, GPIO.OUT)
  198. GPIO.setup(StepPinRight, GPIO.OUT)
  199. #Test if user
  200. if commandArgs.type == "pololu":
  201. try:
  202. from pololu_drv8835_rpi import motors, MAX_SPEED
  203. except ImportError:
  204. print "You need to install drv8835-motor-driver-rpi"
  205. print "Please install drv8835-motor-driver-rpi for python and restart this script."
  206. print "To install: cd /usr/local/src && sudo git clone https://github.com/pololu/drv8835-motor-driver-rpi"
  207. print "cd /usr/local/src/drv8835-motor-driver-rpi && sudo python setup.py install"
  208. print "Running in test mode."
  209. print "Ctrl-C to quit"
  210.  
  211. if commandArgs.type == 'motozero':
  212. GPIO.cleanup()
  213. GPIO.setmode(GPIO.BCM)
  214.  
  215. # Motor1 is back left
  216. # Motor1A is reverse
  217. # Motor1B is forward
  218. Motor1A = 24
  219. Motor1B = 27
  220. Motor1Enable = 5
  221.  
  222. # Motor2 is back right
  223. # Motor2A is reverse
  224. # Motor2B is forward
  225. Motor2A = 6
  226. Motor2B = 22
  227. Motor2Enable = 17
  228.  
  229. # Motor3 is ?
  230. # Motor3A is reverse
  231. # Motor3B is forward
  232. Motor3A = 23
  233. Motor3B = 16
  234. Motor3Enable = 12
  235.  
  236. # Motor4 is ?
  237. # Motor4A is reverse
  238. # Motor4B is forward
  239. Motor4A = 13
  240. Motor4B = 18
  241. Motor4Enable = 25
  242.  
  243. GPIO.setup(Motor1A,GPIO.OUT)
  244. GPIO.setup(Motor1B,GPIO.OUT)
  245. GPIO.setup(Motor1Enable,GPIO.OUT)
  246.  
  247. GPIO.setup(Motor2A,GPIO.OUT)
  248. GPIO.setup(Motor2B,GPIO.OUT)
  249. GPIO.setup(Motor2Enable,GPIO.OUT)
  250.  
  251. GPIO.setup(Motor3A,GPIO.OUT)
  252. GPIO.setup(Motor3B,GPIO.OUT)
  253. GPIO.setup(Motor3Enable,GPIO.OUT)
  254.  
  255. GPIO.setup(Motor4A,GPIO.OUT)
  256. GPIO.setup(Motor4B,GPIO.OUT)
  257. GPIO.setup(Motor4Enable,GPIO.OUT)
  258. #Cytron MDD10 GPIO setup
  259. if commandArgs.type == 'mdd10' :
  260. # pwm.setPWMFreq(60)
  261. import RPi.GPIO as GPIO
  262. GPIO.setmode(GPIO.BCM)
  263. GPIO.setwarnings(False)
  264. AN2 = 13
  265. AN1 = 12
  266. DIG2 = 24
  267. DIG1 = 26
  268. GPIO.setup(AN2, GPIO.OUT)
  269. GPIO.setup(AN1, GPIO.OUT)
  270. GPIO.setup(DIG2, GPIO.OUT)
  271. GPIO.setup(DIG1, GPIO.OUT)
  272. time.sleep(1)
  273. p1 = GPIO.PWM(AN1, 100)
  274. p2 = GPIO.PWM(AN2, 100)
  275.  
  276. #LED controlling
  277. if commandArgs.led == 'max7219':
  278. spi = spidev.SpiDev()
  279. spi.open(0,0)
  280. #VCC -> RPi Pin 2
  281. #GND -> RPi Pin 6
  282. #DIN -> RPi Pin 19
  283. #CLK -> RPi Pin 23
  284. #CS -> RPi Pin 24
  285.  
  286. # decoding:BCD
  287. spi.writebytes([0x09])
  288. spi.writebytes([0x00])
  289. # Start with low brightness
  290. spi.writebytes([0x0a])
  291. spi.writebytes([0x03])
  292. # scanlimit; 8 LEDs
  293. spi.writebytes([0x0b])
  294. spi.writebytes([0x07])
  295. # Enter normal power-mode
  296. spi.writebytes([0x0c])
  297. spi.writebytes([0x01])
  298. # Activate display
  299. spi.writebytes([0x0f])
  300. spi.writebytes([0x00])
  301. columns = [0x1,0x2,0x3,0x4,0x5,0x6,0x7,0x8]
  302. LEDOn = [0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF]
  303. LEDOff = [0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]
  304. LEDEmoteSmile = [0x0,0x0,0x24,0x0,0x42,0x3C,0x0,0x0]
  305. LEDEmoteSad = [0x0,0x0,0x24,0x0,0x0,0x3C,0x42,0x0]
  306. LEDEmoteTongue = [0x0,0x0,0x24,0x0,0x42,0x3C,0xC,0x0]
  307. LEDEmoteSuprise = [0x0,0x0,0x24,0x0,0x18,0x24,0x24,0x18]
  308. if commandArgs.ledrotate == '180':
  309. LEDEmoteSmile = LEDEmoteSmile[::-1]
  310. LEDEmoteSad = LEDEmoteSad[::-1]
  311. LEDEmoteTongue = LEDEmoteTongue[::-1]
  312. LEDEmoteSuprise = LEDEmoteSuprise[::-1]
  313.  
  314. def SetLED_On():
  315. if commandArgs.led == 'max7219':
  316. for i in range(len(columns)):
  317. spi.xfer([columns[i],LEDOn[i]])
  318. def SetLED_Off():
  319. if commandArgs.led == 'max7219':
  320. for i in range(len(columns)):
  321. spi.xfer([columns[i],LEDOff[i]])
  322. def SetLED_E_Smiley():
  323. if commandArgs.led == 'max7219':
  324. for i in range(len(columns)):
  325. spi.xfer([columns[i],LEDEmoteSmile[i]])
  326. def SetLED_E_Sad():
  327. if commandArgs.led == 'max7219':
  328. for i in range(len(columns)):
  329. spi.xfer([columns[i],LEDEmoteSad[i]])
  330. def SetLED_E_Tongue():
  331. if commandArgs.led == 'max7219':
  332. for i in range(len(columns)):
  333. spi.xfer([columns[i],LEDEmoteTongue[i]])
  334. def SetLED_E_Suprised():
  335. if commandArgs.led == 'max7219':
  336. for i in range(len(columns)):
  337. spi.xfer([columns[i],LEDEmoteSuprise[i]])
  338. def SetLED_Low():
  339. if commandArgs.led == 'max7219':
  340. # brightness MIN
  341. spi.writebytes([0x0a])
  342. spi.writebytes([0x00])
  343. def SetLED_Med():
  344. if commandArgs.led == 'max7219':
  345. #brightness MED
  346. spi.writebytes([0x0a])
  347. spi.writebytes([0x06])
  348. def SetLED_Full():
  349. if commandArgs.led == 'max7219':
  350. # brightness MAX
  351. spi.writebytes([0x0a])
  352. spi.writebytes([0x0F])
  353.  
  354. SetLED_Off()
  355.  
  356. steeringSpeed = 90
  357. steeringHoldingSpeed = 90
  358.  
  359. global drivingSpeed
  360.  
  361.  
  362. #drivingSpeed = 90
  363. drivingSpeed = commandArgs.driving_speed
  364. handlingCommand = False
  365.  
  366.  
  367. # Marvin
  368. turningSpeedActuallyUsed = 250
  369. dayTimeDrivingSpeedActuallyUsed = commandArgs.day_speed
  370. nightTimeDrivingSpeedActuallyUsed = commandArgs.night_speed
  371.  
  372. # Initialise the PWM device
  373. if commandArgs.type == 'motor_hat':
  374. pwm = PWM(0x42)
  375. elif commandArgs.type == 'adafruit_pwm':
  376. pwm = PWM(0x40)
  377.  
  378. # Note if you'd like more debug output you can instead run:
  379. #pwm = PWM(0x40, debug=True)
  380. servoMin = [150, 150, 130] # Min pulse length out of 4096
  381. servoMax = [600, 600, 270] # Max pulse length out of 4096
  382. armServo = [300, 300, 300]
  383.  
  384. #def setMotorsToIdle():
  385. # s = 65
  386. # for i in range(1, 2):
  387. # mh.getMotor(i).setSpeed(s)
  388. # mh.getMotor(i).run(Adafruit_MotorHAT.FORWARD)
  389.  
  390.  
  391. #if commandArgs.env == 'dev':
  392. # print 'DEV MODE ***************'
  393. # print "using dev port 8122"
  394. # port = 8122
  395. #elif commandArgs.env == 'prod':
  396. # print 'PROD MODE *************'
  397. # print "using prod port 8022"
  398. # port = 8022
  399. #else:
  400. # print "invalid environment"
  401. # sys.exit(0)
  402.  
  403.  
  404. if commandArgs.type == 'serial':
  405. # initialize serial connection
  406. serialBaud = 9600
  407. print "baud:", serialBaud
  408. #ser = serial.Serial('/dev/tty.usbmodem12341', 19200, timeout=1) # open serial
  409. ser = None
  410. try:
  411. ser = serial.Serial(serialDevice, serialBaud, timeout=1) # open serial
  412. except:
  413. print "error: could not open serial port"
  414. try:
  415. ser = serial.Serial('/dev/ttyACM0', serialBaud, timeout=1) # open serial
  416. except:
  417. print "error: could not open serial port /dev/ttyACM0"
  418. try:
  419. ser = serial.Serial('/dev/ttyUSB0', serialBaud, timeout=1) # open serial
  420. except:
  421. print "error: could not open serial port /dev/ttyUSB0"
  422. try:
  423. ser = serial.Serial('/dev/ttyUSB1', serialBaud, timeout=1) # open serial
  424. except:
  425. print "error: could not open serial port /dev/ttyUSB1"
  426. try:
  427. ser = serial.Serial('/dev/ttyUSB2', serialBaud, timeout=1) # open serial
  428. except:
  429. print "error: could not open serial port /dev/ttyUSB2"
  430.  
  431. if ser is None:
  432. print "error: could not find any valid serial port"
  433. else:
  434. telly.sendSettings(ser, commandArgs)
  435.  
  436.  
  437.  
  438.  
  439. def getControlHostPort():
  440.  
  441. url = 'https://%s/get_control_host_port/%s' % (infoServer, commandArgs.robot_id)
  442. response = robot_util.getWithRetry(url, secure=commandArgs.secure_cert)
  443. return json.loads(response)
  444.  
  445. def getChatHostPort():
  446. url = 'https://%s/get_chat_host_port/%s' % (infoServer, commandArgs.robot_id)
  447. response = robot_util.getWithRetry(url, secure=commandArgs.secure_cert)
  448. return json.loads(response)
  449.  
  450. controlHostPort = getControlHostPort()
  451. chatHostPort = getChatHostPort()
  452.  
  453.  
  454.  
  455. print "connecting to control socket.io", controlHostPort
  456. controlSocketIO = SocketIO(controlHostPort['host'], controlHostPort['port'], LoggingNamespace)
  457. print "finished using socket io to connect to control host port", controlHostPort
  458.  
  459. if commandArgs.enable_chat_server_connection:
  460. print "connecting to chat socket.io", chatHostPort
  461. chatSocket = SocketIO(chatHostPort['host'], chatHostPort['port'], LoggingNamespace)
  462. print 'finished using socket io to connect to chat ', chatHostPort
  463. else:
  464. print "chat server connection disabled"
  465.  
  466. if commandArgs.tts_delay_enabled or commandArgs.woot_room != '':
  467. userSocket = SocketIO('https://letsrobot.tv', 8000, LoggingNamespace)
  468.  
  469. print "connecting to app server socket.io"
  470. appServerSocketIO = SocketIO(infoServer, 8022, LoggingNamespace)
  471. print "finished connecting to app server"
  472.  
  473. def setServoPulse(channel, pulse):
  474. pulseLength = 1000000 # 1,000,000 us per second
  475. pulseLength /= 60 # 60 Hz
  476. print "%d us per period" % pulseLength
  477. pulseLength /= 4096 # 12 bits of resolution
  478. print "%d us per bit" % pulseLength
  479. pulse *= 1000
  480. pulse /= pulseLength
  481. pwm.setPWM(channel, 0, pulse)
  482.  
  483.  
  484. if commandArgs.type == 'motor_hat' or commandArgs.type == 'adafruit_pwm':
  485. pwm.setPWMFreq(60) # Set frequency to 60 Hz
  486.  
  487.  
  488. WPA_FILE_TEMPLATE = """ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
  489. update_config=1
  490. country=GB
  491.  
  492. network={{
  493. ssid=\"beepx\"
  494. psk=\"yellow123\"
  495. key_mgmt=WPA-PSK
  496. }}
  497.  
  498. network={{
  499. ssid=\"{name}\"
  500. psk=\"{password}\"
  501. key_mgmt=WPA-PSK
  502. }}
  503. """
  504.  
  505.  
  506. def isInternetConnected():
  507. try:
  508. urllib2.urlopen('https://www.google.com', timeout=1)
  509. return True
  510. except urllib2.URLError as err:
  511. return False
  512.  
  513. def configWifiLogin(secretKey):
  514.  
  515. url = 'https://%s/get_wifi_login/%s' % (infoServer, secretKey)
  516. try:
  517. print "GET", url
  518. response = urllib2.urlopen(url).read()
  519. responseJson = json.loads(response)
  520. print "get wifi login response:", response
  521.  
  522. with open("/etc/wpa_supplicant/wpa_supplicant.conf", 'r') as originalWPAFile:
  523. originalWPAText = originalWPAFile.read()
  524.  
  525. wpaText = WPA_FILE_TEMPLATE.format(name=responseJson['wifi_name'], password=responseJson['wifi_password'])
  526.  
  527.  
  528. print "original(" + originalWPAText + ")"
  529. print "new(" + wpaText + ")"
  530.  
  531. if originalWPAText != wpaText:
  532.  
  533. wpaFile = open("/etc/wpa_supplicant/wpa_supplicant.conf", 'w')
  534.  
  535. print wpaText
  536. print
  537. wpaFile.write(wpaText)
  538. wpaFile.close()
  539.  
  540. say("Updated wifi settings. I will automatically reset in 10 seconds.")
  541. time.sleep(8)
  542. say("Reseting")
  543. time.sleep(2)
  544. os.system("reboot")
  545.  
  546.  
  547. except:
  548. print "exception while configuring setting wifi", url
  549. traceback.print_exc()
  550.  
  551.  
  552.  
  553.  
  554.  
  555.  
  556.  
  557. def incrementArmServo(channel, amount):
  558.  
  559. armServo[channel] += amount
  560.  
  561. print "arm servo positions:", armServo
  562.  
  563. if armServo[channel] > servoMax[channel]:
  564. armServo[channel] = servoMax[channel]
  565. if armServo[channel] < servoMin[channel]:
  566. armServo[channel] = servoMin[channel]
  567. pwm.setPWM(channel, 0, armServo[channel])
  568.  
  569.  
  570.  
  571. def times(lst, number):
  572. return [x*number for x in lst]
  573.  
  574.  
  575.  
  576. def runMotor(motorIndex, direction):
  577. motor = mh.getMotor(motorIndex+1)
  578. if direction == 1:
  579. motor.setSpeed(drivingSpeed)
  580. motor.run(Adafruit_MotorHAT.FORWARD)
  581. if direction == -1:
  582. motor.setSpeed(drivingSpeed)
  583. motor.run(Adafruit_MotorHAT.BACKWARD)
  584. if direction == 0.5:
  585. motor.setSpeed(128)
  586. motor.run(Adafruit_MotorHAT.FORWARD)
  587. if direction == -0.5:
  588. motor.setSpeed(128)
  589. motor.run(Adafruit_MotorHAT.BACKWARD)
  590.  
  591.  
  592. forward = json.loads(commandArgs.forward)
  593. backward = times(forward, -1)
  594. left = json.loads(commandArgs.left)
  595. right = times(left, -1)
  596. straightDelay = commandArgs.straight_delay
  597. turnDelay = commandArgs.turn_delay
  598. #Change sleeptime to adjust driving speed
  599. #Change rotatetimes to adjust the rotation. Will be multiplicated with sleeptime.
  600. l298n_sleeptime=0.2
  601. l298n_rotatetimes=5
  602.  
  603.  
  604. def handle_exclusive_control(args):
  605. if 'status' in args and 'robot_id' in args and args['robot_id'] == robotID:
  606.  
  607. status = args['status']
  608.  
  609. if status == 'start':
  610. print "start exclusive control"
  611. if status == 'end':
  612. print "end exclusive control"
  613.  
  614.  
  615.  
  616. def say(message):
  617.  
  618. tempFilePath = os.path.join(tempDir, "text_" + str(uuid.uuid4()))
  619. f = open(tempFilePath, "w")
  620. f.write(message)
  621. f.close()
  622.  
  623.  
  624. #os.system('"C:\Program Files\Jampal\ptts.vbs" -u ' + tempFilePath) Whaa?
  625.  
  626. if commandArgs.festival_tts:
  627. # festival tts
  628. os.system('festival --tts < ' + tempFilePath)
  629. #os.system('espeak < /tmp/speech.txt')
  630.  
  631. else:
  632. # espeak tts
  633. for hardwareNumber in (2, 0, 3, 1, 4):
  634. print 'plughw:%d,0' % hardwareNumber
  635. if commandArgs.male:
  636. os.system('cat ' + tempFilePath + ' | espeak --stdout | aplay -D plughw:%d,0' % hardwareNumber)
  637. else:
  638. os.system('cat ' + tempFilePath + ' | espeak -ven-us+f%d -s170 --stdout | aplay -D plughw:%d,0' % (commandArgs.voice_number, hardwareNumber))
  639.  
  640. os.remove(tempFilePath)
  641.  
  642. def handle_user_socket_chat_message(args):
  643. if args['name'] == 'LetsBot' and args['room'] == commandArgs.woot_room:
  644. message = args['message']
  645. messageSplit = message.split(' ')
  646. if len(messageSplit) == 8:
  647. if messageSplit[1] == 'wooted' and messageSplit[3] == 'robits' and messageSplit[4] == 'to' and messageSplit[6] == '!!' and messageSplit[7] == '': # yes.
  648. process_woot(messageSplit[0], int(messageSplit[2]))
  649.  
  650. def process_woot(username, amount): # do stuff with woots here!!
  651. print 'woot!! username: ', username, ' amount: ', amount
  652.  
  653. def handle_chat_message(args):
  654. print "chat message received:", args
  655.  
  656. if commandArgs.tts_delay_enabled:
  657. processing.append(args['_id'])
  658. time.sleep(commandArgs.tts_delay_seconds)
  659. processing.remove(args['_id'])
  660. if args['_id'] in deleted:
  661. deleted.remove(args['_id'])
  662. print args['_id'] + ' was deleted before TTS played!'
  663. exit()
  664. else:
  665. deleted.remove(args['_id'])
  666.  
  667. rawMessage = args['message']
  668. withoutName = rawMessage.split(']')[1:]
  669. message = "".join(withoutName)
  670. urlRegExp = "(http|ftp|https)://([\w_-]+(?:(?:\.[\w_-]+)+))([\w.,@?^=%&:/~+#-]*[\w@?^=%&/~+#-])?"
  671. if message[1] == ".":
  672. exit()
  673. elif commandArgs.anon_tts != True and args['anonymous'] == True:
  674. exit()
  675. elif commandArgs.filter_url_tts == True and re.search(urlRegExp, message):
  676. exit()
  677. else:
  678. say(message)
  679.  
  680. #MDD10 speed and movement controls
  681. def moveMDD10(command, speedPercent):
  682. if command == 'F':
  683. GPIO.output(DIG1, GPIO.LOW)
  684. GPIO.output(DIG2, GPIO.LOW)
  685. p1.start(speedPercent) # set speed for M1
  686. p2.start(speedPercent) # set speed for M2
  687. time.sleep(straightDelay)
  688. if command == 'B':
  689. GPIO.output(DIG1, GPIO.HIGH)
  690. GPIO.output(DIG2, GPIO.HIGH)
  691. p1.start(speedPercent)
  692. p2.start(speedPercent)
  693. time.sleep(straightDelay)
  694. if command == 'L':
  695. GPIO.output(DIG1, GPIO.LOW)
  696. GPIO.output(DIG2, GPIO.HIGH)
  697. p1.start(speedPercent)
  698. p2.start(speedPercent)
  699. time.sleep(turnDelay)
  700. if command == 'R':
  701. GPIO.output(DIG1, GPIO.HIGH)
  702. GPIO.output(DIG2, GPIO.LOW)
  703. p1.start(speedPercent)
  704. p2.start(speedPercent)
  705. time.sleep(turnDelay)
  706.  
  707.  
  708. def moveAdafruitPWM(command):
  709. print "move adafruit pwm command", command
  710.  
  711. if command == 'L':
  712. pwm.setPWM(1, 0, 300) # turn left
  713. pwm.setPWM(0, 0, 445) # drive forward
  714. time.sleep(0.5)
  715. pwm.setPWM(1, 0, 400) # turn neutral
  716. pwm.setPWM(0, 0, 335) # drive neutral
  717.  
  718. if command == 'R':
  719. pwm.setPWM(1, 0, 500) # turn right
  720. pwm.setPWM(0, 0, 445) # drive forward
  721. time.sleep(0.5)
  722. pwm.setPWM(1, 0, 400) # turn neutral
  723. pwm.setPWM(0, 0, 335) # drive neutral
  724.  
  725. if command == 'BL':
  726. pwm.setPWM(1, 0, 300) # turn left
  727. pwm.setPWM(0, 0, 270) # drive backward
  728. time.sleep(0.5)
  729. pwm.setPWM(1, 0, 400) # turn neutral
  730. pwm.setPWM(0, 0, 335) # drive neutral
  731.  
  732. if command == 'BR':
  733. pwm.setPWM(1, 0, 500) # turn right
  734. pwm.setPWM(0, 0, 270) # drive backward
  735. time.sleep(0.5)
  736. pwm.setPWM(1, 0, 400) # turn neurtral
  737. pwm.setPWM(0, 0, 335) # drive neutral
  738.  
  739.  
  740. if command == 'F':
  741. pwm.setPWM(0, 0, 445) # drive forward
  742. time.sleep(0.3)
  743. pwm.setPWM(0, 0, 345) # drive slowly forward
  744. time.sleep(0.4)
  745. pwm.setPWM(0, 0, 335) # drive neutral
  746. if command == 'B':
  747. pwm.setPWM(0, 0, 270) # drive backward
  748. time.sleep(0.3)
  749. pwm.setPWM(0, 0, 325) # drive slowly backward
  750. time.sleep(0.4)
  751. pwm.setPWM(0, 0, 335) # drive neutral
  752.  
  753. if command == 'S2INC': # neutral
  754. pwm.setPWM(2, 0, 300)
  755.  
  756. if command == 'S2DEC':
  757. pwm.setPWM(2, 0, 400)
  758.  
  759. if command == 'POS60':
  760. pwm.setPWM(2, 0, 490)
  761.  
  762. if command == 'NEG60':
  763. pwm.setPWM(2, 0, 100)
  764.  
  765.  
  766.  
  767.  
  768.  
  769. def moveGoPiGo2(command):
  770. if command == 'L':
  771. gopigo.left_rot()
  772. time.sleep(0.15)
  773. gopigo.stop()
  774. if command == 'R':
  775. gopigo.right_rot()
  776. time.sleep(0.15)
  777. gopigo.stop()
  778. if command == 'F':
  779. gopigo.forward()
  780. time.sleep(0.35)
  781. gopigo.stop()
  782. if command == 'B':
  783. gopigo.backward()
  784. time.sleep(0.35)
  785. gopigo.stop()
  786.  
  787.  
  788.  
  789.  
  790. def changeVolumeHighThenNormal(seconds):
  791.  
  792. os.system("amixer -c 2 cset numid=3 %d%%" % 50)
  793. time.sleep(seconds)
  794. os.system("amixer -c 2 cset numid=3 %d%%" % commandArgs.tts_volume)
  795.  
  796.  
  797. def maxSpeedThenNormal():
  798.  
  799. global maxSpeedEnabled
  800.  
  801. maxSpeedEnabled = True
  802. print "max speed"
  803. time.sleep(120)
  804. maxSpeedEnabled = False
  805. print "normal speed"
  806.  
  807.  
  808.  
  809. def handleLoudCommand(seconds):
  810.  
  811. thread.start_new_thread(changeVolumeHighThenNormal, (seconds,))
  812.  
  813.  
  814. def handleMaxSpeedCommand():
  815.  
  816. thread.start_new_thread(maxSpeedThenNormal, ())
  817.  
  818.  
  819.  
  820. def moveGoPiGo3(command):
  821. e = easyGoPiGo3
  822. if command == 'L':
  823. e.set_motor_dps(e.MOTOR_LEFT, -e.get_speed())
  824. e.set_motor_dps(e.MOTOR_RIGHT, e.get_speed())
  825. time.sleep(0.15)
  826. easyGoPiGo3.stop()
  827. if command == 'R':
  828. e.set_motor_dps(e.MOTOR_LEFT, e.get_speed())
  829. e.set_motor_dps(e.MOTOR_RIGHT, -e.get_speed())
  830. time.sleep(0.15)
  831. easyGoPiGo3.stop()
  832. if command == 'F':
  833. easyGoPiGo3.forward()
  834. time.sleep(0.35)
  835. easyGoPiGo3.stop()
  836. if command == 'B':
  837. easyGoPiGo3.backward()
  838. time.sleep(0.35)
  839. easyGoPiGo3.stop()
  840.  
  841.  
  842.  
  843.  
  844.  
  845. def handle_command(args):
  846. now = datetime.datetime.now()
  847. now_time = now.time()
  848. # if it's late, make the robot slower
  849. if now_time >= datetime.time(21,30) or now_time <= datetime.time(9,30):
  850. #print "within the late time interval"
  851. drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
  852. else:
  853. drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed
  854.  
  855.  
  856.  
  857. global drivingSpeed
  858. global handlingCommand
  859.  
  860. if 'robot_id' in args and args['robot_id'] == robotID: print "received message:", args
  861. # Note: If you are adding features to your bot,
  862. # you can get direct access to incomming commands right here.
  863.  
  864.  
  865. if handlingCommand:
  866. return
  867.  
  868.  
  869.  
  870. #if 'robot_id' in args:
  871. # print "args robot id:", args['robot_id']
  872.  
  873. #if 'command' in args:
  874. # print "args command:", args['command']
  875.  
  876.  
  877.  
  878. if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:
  879.  
  880. print('got command', args)
  881.  
  882. command = args['command']
  883.  
  884. # don't turn set handlingCommand true for
  885. # commands that persist for a while and are not exclusive
  886. # so others are allowed to run
  887. if command not in ("SOUND2", "WALL", "LOUD", "MAXSPEED"):
  888. handlingCommand = True
  889.  
  890. if command == 'LOUD':
  891. handleLoudCommand(25)
  892.  
  893. if command == 'MAXSPEED':
  894. handleMaxSpeedCommand()
  895.  
  896. if commandArgs.type == 'mdd10':
  897. if maxSpeedEnabled:
  898. print "AT MAX....................."
  899. print maxSpeedEnabled
  900. moveMDD10(command, 100)
  901. else:
  902. print "NORMAL................."
  903. print maxSpeedEnabled
  904. moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))
  905.  
  906. if commandArgs.type == 'adafruit_pwm':
  907. moveAdafruitPWM(command)
  908.  
  909. if commandArgs.type == 'mebo2':
  910. handle_mebo_command(command)
  911.  
  912. if commandArgs.type == 'gopigo2':
  913. moveGoPiGo2(command)
  914.  
  915. if commandArgs.type == 'gopigo3':
  916. moveGoPiGo3(command)
  917.  
  918. if commandArgs.type == 'owi_arm':
  919. owi_arm.handleOwiArm(command)
  920.  
  921. if commandArgs.type == 'serial':
  922. robot_util.sendSerialCommand(ser, command)
  923.  
  924. if commandArgs.type == 'motor_hat' and motorsEnabled:
  925. motorA.setSpeed(drivingSpeed)
  926. motorB.setSpeed(drivingSpeed)
  927. if command == 'F':
  928. drivingSpeed = drivingSpeedActuallyUsed
  929. for motorIndex in range(4):
  930. runMotor(motorIndex, forward[motorIndex])
  931. time.sleep(straightDelay)
  932. if command == 'B':
  933. drivingSpeed = drivingSpeedActuallyUsed
  934. for motorIndex in range(4):
  935. runMotor(motorIndex, backward[motorIndex])
  936. time.sleep(straightDelay)
  937. if command == 'L':
  938. drivingSpeed = turningSpeedActuallyUsed
  939. for motorIndex in range(4):
  940. runMotor(motorIndex, left[motorIndex])
  941. time.sleep(turnDelay)
  942. if command == 'R':
  943. drivingSpeed = turningSpeedActuallyUsed
  944. for motorIndex in range(4):
  945. runMotor(motorIndex, right[motorIndex])
  946. time.sleep(turnDelay)
  947. if command == 'U':
  948. #mhArm.getMotor(1).setSpeed(127)
  949. #mhArm.getMotor(1).run(Adafruit_MotorHAT.BACKWARD)
  950. incrementArmServo(1, 10)
  951. time.sleep(0.05)
  952. if command == 'D':
  953. #mhArm.getMotor(1).setSpeed(127)
  954. #mhArm.getMotor(1).run(Adafruit_MotorHAT.FORWARD)
  955. incrementArmServo(1, -10)
  956. time.sleep(0.05)
  957. if command == 'O':
  958. #mhArm.getMotor(2).setSpeed(127)
  959. #mhArm.getMotor(2).run(Adafruit_MotorHAT.BACKWARD)
  960. incrementArmServo(2, -10)
  961. time.sleep(0.05)
  962. if command == 'C':
  963. #mhArm.getMotor(2).setSpeed(127)
  964. #mhArm.getMotor(2).run(Adafruit_MotorHAT.FORWARD)
  965. incrementArmServo(2, 10)
  966. time.sleep(0.05)
  967.  
  968. if commandArgs.type == 'mdd10':
  969. turnOffMotorsMDD10()
  970.  
  971. if commandArgs.type == 'motor_hat':
  972. turnOffMotors()
  973. if command == 'WALL':
  974. handleLoudCommand(25)
  975. os.system("aplay -D plughw:2,0 /home/pi/wall.wav")
  976. if command == 'SOUND2':
  977. handleLoudCommand(25)
  978. os.system("aplay -D plughw:2,0 /home/pi/sound2.wav")
  979.  
  980.  
  981. if commandArgs.type == 'l298n':
  982. runl298n(command)
  983. #setMotorsToIdle()
  984. if commandArgs.type == 'motozero':
  985. runmotozero(command)
  986. if commandArgs.type == 'pololu':
  987. runPololu(command)
  988.  
  989. if commandArgs.led == 'max7219':
  990. if command == 'LED_OFF':
  991. SetLED_Off()
  992. if command == 'LED_FULL':
  993. SetLED_On()
  994. SetLED_Full()
  995. if command == 'LED_MED':
  996. SetLED_On()
  997. SetLED_Med()
  998. if command == 'LED_LOW':
  999. SetLED_On()
  1000. SetLED_Low()
  1001. if command == 'LED_E_SMILEY':
  1002. SetLED_On()
  1003. SetLED_E_Smiley()
  1004. if command == 'LED_E_SAD':
  1005. SetLED_On()
  1006. SetLED_E_Sad()
  1007. if command == 'LED_E_TONGUE':
  1008. SetLED_On()
  1009. SetLED_E_Tongue()
  1010. if command == 'LED_E_SUPRISED':
  1011. SetLED_On()
  1012. SetLED_E_Suprised()
  1013. handlingCommand = False
  1014.  
  1015.  
  1016. def runl298n(direction):
  1017. if direction == 'F':
  1018. GPIO.output(StepPinForward, GPIO.HIGH)
  1019. time.sleep(l298n_sleeptime * l298n_rotatetimes)
  1020. GPIO.output(StepPinForward, GPIO.LOW)
  1021. if direction == 'B':
  1022. GPIO.output(StepPinBackward, GPIO.HIGH)
  1023. time.sleep(l298n_sleeptime * l298n_rotatetimes)
  1024. GPIO.output(StepPinBackward, GPIO.LOW)
  1025. if direction == 'L':
  1026. GPIO.output(StepPinLeft, GPIO.HIGH)
  1027. time.sleep(l298n_sleeptime)
  1028. GPIO.output(StepPinLeft, GPIO.LOW)
  1029. if direction == 'R':
  1030. GPIO.output(StepPinRight, GPIO.HIGH)
  1031. time.sleep(l298n_sleeptime)
  1032. GPIO.output(StepPinRight, GPIO.LOW)
  1033.  
  1034. def runmotozero(direction):
  1035. if direction == 'F':
  1036. GPIO.output(Motor1B, GPIO.HIGH)
  1037. GPIO.output(Motor1Enable,GPIO.HIGH)
  1038.  
  1039. GPIO.output(Motor2B, GPIO.HIGH)
  1040. GPIO.output(Motor2Enable, GPIO.HIGH)
  1041.  
  1042. GPIO.output(Motor3A, GPIO.HIGH)
  1043. GPIO.output(Motor3Enable, GPIO.HIGH)
  1044.  
  1045. GPIO.output(Motor4B, GPIO.HIGH)
  1046. GPIO.output(Motor4Enable, GPIO.HIGH)
  1047.  
  1048. time.sleep(0.3)
  1049.  
  1050. GPIO.output(Motor1B, GPIO.LOW)
  1051. GPIO.output(Motor2B, GPIO.LOW)
  1052. GPIO.output(Motor3A, GPIO.LOW)
  1053. GPIO.output(Motor4B, GPIO.LOW)
  1054. if direction == 'B':
  1055. GPIO.output(Motor1A, GPIO.HIGH)
  1056. GPIO.output(Motor1Enable, GPIO.HIGH)
  1057.  
  1058. GPIO.output(Motor2A, GPIO.HIGH)
  1059. GPIO.output(Motor2Enable, GPIO.HIGH)
  1060.  
  1061. GPIO.output(Motor3B, GPIO.HIGH)
  1062. GPIO.output(Motor3Enable, GPIO.HIGH)
  1063.  
  1064. GPIO.output(Motor4A, GPIO.HIGH)
  1065. GPIO.output(Motor4Enable, GPIO.HIGH)
  1066.  
  1067. time.sleep(0.3)
  1068.  
  1069. GPIO.output(Motor1A, GPIO.LOW)
  1070. GPIO.output(Motor2A, GPIO.LOW)
  1071. GPIO.output(Motor3B, GPIO.LOW)
  1072. GPIO.output(Motor4A, GPIO.LOW)
  1073.  
  1074. if direction =='L':
  1075. GPIO.output(Motor3B, GPIO.HIGH)
  1076. GPIO.output(Motor3Enable, GPIO.HIGH)
  1077.  
  1078. GPIO.output(Motor1A, GPIO.HIGH)
  1079. GPIO.output(Motor1Enable, GPIO.HIGH)
  1080.  
  1081. GPIO.output(Motor2B, GPIO.HIGH)
  1082. GPIO.output(Motor2Enable, GPIO.HIGH)
  1083.  
  1084. GPIO.output(Motor4B, GPIO.HIGH)
  1085. GPIO.output(Motor4Enable, GPIO.HIGH)
  1086.  
  1087. time.sleep(0.3)
  1088.  
  1089. GPIO.output(Motor3B, GPIO.LOW)
  1090. GPIO.output(Motor1A, GPIO.LOW)
  1091. GPIO.output(Motor2B, GPIO.LOW)
  1092. GPIO.output(Motor4B, GPIO.LOW)
  1093.  
  1094. if direction == 'R':
  1095. GPIO.output(Motor3A, GPIO.HIGH)
  1096. GPIO.output(Motor3Enable, GPIO.HIGH)
  1097.  
  1098. GPIO.output(Motor1B, GPIO.HIGH)
  1099. GPIO.output(Motor1Enable, GPIO.HIGH)
  1100.  
  1101. GPIO.output(Motor2A, GPIO.HIGH)
  1102. GPIO.output(Motor2Enable, GPIO.HIGH)
  1103.  
  1104. GPIO.output(Motor4A, GPIO.HIGH)
  1105. GPIO.output(Motor4Enable, GPIO.HIGH)
  1106.  
  1107. time.sleep(0.3)
  1108.  
  1109. GPIO.output(Motor3A, GPIO.LOW)
  1110. GPIO.output(Motor1B, GPIO.LOW)
  1111. GPIO.output(Motor2A, GPIO.LOW)
  1112. GPIO.output(Motor4A, GPIO.LOW)
  1113.  
  1114. def runPololu(direction):
  1115. drivingSpeed = commandArgs.driving_speed
  1116. if direction == 'F':
  1117. motors.setSpeeds(drivingSpeed, drivingSpeed)
  1118. time.sleep(0.3)
  1119. motors.setSpeeds(0, 0)
  1120. if direction == 'B':
  1121. motors.setSpeeds(-drivingSpeed, -drivingSpeed)
  1122. time.sleep(0.3)
  1123. motors.setSpeeds(0, 0)
  1124. if direction == 'L':
  1125. motors.setSpeeds(-drivingSpeed, drivingSpeed)
  1126. time.sleep(0.3)
  1127. motors.setSpeeds(0, 0)
  1128. if direction == 'R':
  1129. motors.setSpeeds(drivingSpeed, -drivingSpeed)
  1130. time.sleep(0.3)
  1131. motors.setSpeeds(0, 0)
  1132.  
  1133. def handleStartReverseSshProcess(args):
  1134. print "starting reverse ssh"
  1135. appServerSocketIO.emit("reverse_ssh_info", "starting")
  1136.  
  1137. returnCode = subprocess.call(["/usr/bin/ssh",
  1138. "-X",
  1139. "-i", commandArgs.reverse_ssh_key_file,
  1140. "-N",
  1141. "-R", "2222:localhost:22",
  1142. commandArgs.reverse_ssh_host])
  1143.  
  1144. appServerSocketIO.emit("reverse_ssh_info", "return code: " + str(returnCode))
  1145. print "reverse ssh process has exited with code", str(returnCode)
  1146.  
  1147.  
  1148. def handleEndReverseSshProcess(args):
  1149. print "handling end reverse ssh process"
  1150. resultCode = subprocess.call(["killall", "ssh"])
  1151. print "result code of killall ssh:", resultCode
  1152.  
  1153. def onHandleCommand(*args):
  1154. thread.start_new_thread(handle_command, args)
  1155.  
  1156. def onHandleExclusiveControl(*args):
  1157. thread.start_new_thread(handle_exclusive_control, args)
  1158.  
  1159. def onHandleChatMessage(*args):
  1160. thread.start_new_thread(handle_chat_message, args)
  1161.  
  1162. def onHandleUserSocketChatMessage(*args):
  1163. thread.start_new_thread(handle_user_socket_chat_message, args)
  1164.  
  1165. processing = [];
  1166. deleted = [];
  1167. def onHandleChatMessageRemoved(*args):
  1168. if args[0]['message_id'] in processing and args[0] not in deleted:
  1169. deleted.append(args[0]['message_id'])
  1170.  
  1171. def onHandleAppServerConnect(*args):
  1172. print
  1173. print "chat socket.io connect"
  1174. print
  1175. identifyRobotID()
  1176.  
  1177.  
  1178. def onHandleAppServerReconnect(*args):
  1179. print
  1180. print "app server socket.io reconnect"
  1181. print
  1182. identifyRobotID()
  1183.  
  1184.  
  1185. def onHandleAppServerDisconnect(*args):
  1186. print
  1187. print "app server socket.io disconnect"
  1188. print
  1189.  
  1190.  
  1191.  
  1192.  
  1193. def onHandleChatConnect(*args):
  1194. print
  1195. print "chat socket.io connect"
  1196. print
  1197. identifyRobotID()
  1198.  
  1199. def onHandleChatReconnect(*args):
  1200. print
  1201. print "chat socket.io reconnect"
  1202. print
  1203. identifyRobotID()
  1204.  
  1205. def onHandleChatDisconnect(*args):
  1206. print
  1207. print "chat socket.io disconnect"
  1208. print
  1209.  
  1210. def onHandleControlDisconnect(*args):
  1211. print
  1212. print "control socket.io disconnect"
  1213. print
  1214. newControlHostPort = getControlHostPort() #Reget control port will start if it closed for whatever reason
  1215. if controlHostPort['port'] != newControlHostPort['port']: #See if the port is not the same as before
  1216. print "restart: control host port changed"
  1217. sys.exit(1) #Auto restart script will restart if the control port is not the same (which is unlikely)
  1218.  
  1219. #from communication import socketIO
  1220. controlSocketIO.on('command_to_robot', onHandleCommand)
  1221. controlSocketIO.on('disconnect', onHandleControlDisconnect)
  1222.  
  1223. appServerSocketIO.on('exclusive_control', onHandleExclusiveControl)
  1224. appServerSocketIO.on('connect', onHandleAppServerConnect)
  1225. appServerSocketIO.on('reconnect', onHandleAppServerReconnect)
  1226. appServerSocketIO.on('disconnect', onHandleAppServerDisconnect)
  1227.  
  1228. if commandArgs.tts_delay_enabled:
  1229. userSocket.on('message_removed', onHandleChatMessageRemoved)
  1230.  
  1231. if commandArgs.woot_room != '':
  1232. userSocket.on('chat_message_with_name', onHandleUserSocketChatMessage)
  1233.  
  1234. if commandArgs.enable_chat_server_connection:
  1235. chatSocket.on('chat_message_with_name', onHandleChatMessage)
  1236. chatSocket.on('connect', onHandleChatConnect)
  1237. chatSocket.on('reconnect', onHandleChatReconnect)
  1238. chatSocket.on('disconnect', onHandleChatDisconnect)
  1239.  
  1240.  
  1241. def startReverseSshProcess(*args):
  1242. thread.start_new_thread(handleStartReverseSshProcess, args)
  1243.  
  1244. def endReverseSshProcess(*args):
  1245. thread.start_new_thread(handleEndReverseSshProcess, args)
  1246.  
  1247. appServerSocketIO.on('reverse_ssh_8872381747239', startReverseSshProcess)
  1248. appServerSocketIO.on('end_reverse_ssh_8872381747239', endReverseSshProcess)
  1249.  
  1250. #def myWait():
  1251. # socketIO.wait()
  1252. # thread.start_new_thread(myWait, ())
  1253.  
  1254.  
  1255. if commandArgs.type == 'motor_hat':
  1256. if motorsEnabled:
  1257. # create a default object, no changes to I2C address or frequency
  1258. mh = Adafruit_MotorHAT(addr=0x60)
  1259. #mhArm = Adafruit_MotorHAT(addr=0x61)
  1260.  
  1261.  
  1262. def turnOffMotors():
  1263. # pi hat motors
  1264. mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
  1265. mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
  1266. mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
  1267. mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
  1268.  
  1269.  
  1270. def turnOffMotorsMDD10():
  1271. # mdd10 motors
  1272. p1.start(0)
  1273. p2.start(0)
  1274.  
  1275.  
  1276.  
  1277. if commandArgs.type == 'motor_hat':
  1278. if motorsEnabled:
  1279. atexit.register(turnOffMotors)
  1280. motorA = mh.getMotor(1)
  1281. motorB = mh.getMotor(2)
  1282.  
  1283. def ipInfoUpdate():
  1284. appServerSocketIO.emit('ip_information',
  1285. {'ip': subprocess.check_output(["hostname", "-I"]), 'robot_id': robotID})
  1286.  
  1287.  
  1288. # true if it's on the charger and it needs to be charging
  1289. def isCharging():
  1290. print "is charging current value", chargeValue
  1291.  
  1292. # only tested for motor hat robot currently, so only runs with that type
  1293. if commandArgs.type == "motor_hat":
  1294. print "RPi.GPIO is in sys.modules"
  1295. if chargeValue < 99: # if it's not full charged already
  1296. print "charge value is low"
  1297. return GPIO.input(chargeIONumber) == 1 # return whether it's connected to the dock
  1298.  
  1299. return False
  1300.  
  1301.  
  1302.  
  1303. def sendChargeState():
  1304. charging = isCharging()
  1305. chargeState = {'robot_id': robotID, 'charging': charging}
  1306. appServerSocketIO.emit('charge_state', chargeState)
  1307. print "charge state:", chargeState
  1308.  
  1309. def sendChargeStateCallback(x):
  1310. sendChargeState()
  1311.  
  1312. if commandArgs.type == 'motor_hat':
  1313. GPIO.add_event_detect(chargeIONumber, GPIO.BOTH)
  1314. GPIO.add_event_callback(chargeIONumber, sendChargeStateCallback)
  1315.  
  1316.  
  1317.  
  1318. def identifyRobotID():
  1319. """tells the server which robot is using the connection"""
  1320. print "sending identify robot id messages"
  1321. if commandArgs.enable_chat_server_connection:
  1322. chatSocket.emit('identify_robot_id', robotID);
  1323. appServerSocketIO.emit('identify_robot_id', robotID);
  1324.  
  1325.  
  1326. def setSpeedBasedOnCharge():
  1327. global dayTimeDrivingSpeedActuallyUsed
  1328. global nightTimeDrivingSpeedActuallyUsed
  1329. if chargeValue < 30:
  1330. multiples = [0.2, 1.0]
  1331. multiple = random.choice(multiples)
  1332. dayTimeDrivingSpeedActuallyUsed = int(float(commandArgs.day_speed) * multiple)
  1333. nightTimeDrivingSpeedActuallyUsed = int(float(commandArgs.night_speed) * multiple)
  1334. else:
  1335. dayTimeDrivingSpeedActuallyUsed = commandArgs.day_speed
  1336. nightTimeDrivingSpeedActuallyUsed = commandArgs.night_speed
  1337.  
  1338.  
  1339. def updateChargeApproximation():
  1340.  
  1341. global chargeValue
  1342.  
  1343. username = getpass.getuser()
  1344. path = "/home/pi/charge_state_%s.txt" % username
  1345.  
  1346. # read charge value
  1347. # assume it is zero if no file exists
  1348. if os.path.isfile(path):
  1349. file = open(path, 'r')
  1350. try:
  1351. chargeValue = float(file.read())
  1352. print "error reading float from file", path
  1353. except:
  1354. chargeValue = 0
  1355. file.close()
  1356. else:
  1357. print "setting charge value to zero"
  1358. chargeValue = 0
  1359.  
  1360. chargePerSecond = 1.0 / secondsToCharge
  1361. dischargePerSecond = 1.0 / secondsToDischarge
  1362.  
  1363. if GPIO.input(chargeIONumber) == 1:
  1364. chargeValue += 100.0 * chargePerSecond * chargeCheckInterval
  1365. else:
  1366. chargeValue -= 100.0 * dischargePerSecond * chargeCheckInterval
  1367.  
  1368. if chargeValue > 100.0:
  1369. chargeValue = 100.0
  1370. if chargeValue < 0:
  1371. chargeValue = 0.0
  1372.  
  1373. # write new charge value
  1374. file = open(path, 'w')
  1375. file.write(str(chargeValue))
  1376. file.close()
  1377.  
  1378. print "charge value updated to", chargeValue
  1379.  
  1380.  
  1381.  
  1382. #setMotorsToIdle()
  1383.  
  1384.  
  1385. waitCounter = 0
  1386.  
  1387.  
  1388.  
  1389. if platform.system() == 'Darwin':
  1390. pass
  1391. #ipInfoUpdate()
  1392. elif platform.system() == 'Linux':
  1393. ipInfoUpdate()
  1394.  
  1395.  
  1396. lastInternetStatus = False
  1397.  
  1398.  
  1399. def waitForAppServer():
  1400. while True:
  1401. appServerSocketIO.wait(seconds=1)
  1402.  
  1403. def waitForControlServer():
  1404. while True:
  1405. controlSocketIO.wait(seconds=1)
  1406.  
  1407. def waitForChatServer():
  1408. while True:
  1409. chatSocket.wait(seconds=1)
  1410.  
  1411. def waitForUserServer():
  1412. while True:
  1413. userSocket.wait(seconds=1)
  1414.  
  1415. def startListenForAppServer():
  1416. thread.start_new_thread(waitForAppServer, ())
  1417.  
  1418. def startListenForControlServer():
  1419. thread.start_new_thread(waitForControlServer, ())
  1420.  
  1421. def startListenForChatServer():
  1422. thread.start_new_thread(waitForChatServer, ())
  1423.  
  1424. def startListenForUserServer():
  1425. thread.start_new_thread(waitForUserServer, ())
  1426.  
  1427.  
  1428. startListenForControlServer()
  1429. startListenForAppServer()
  1430.  
  1431. if commandArgs.enable_chat_server_connection:
  1432. startListenForChatServer()
  1433.  
  1434. if commandArgs.tts_delay_enabled or commandArgs.woot_room != '':
  1435. startListenForUserServer()
  1436.  
  1437. meboDeadCounter = 0
  1438. def isMeboConnected():
  1439. try:
  1440. urllib2.urlopen('http://192.168.99.1/ajax/command.json', timeout=1)
  1441. return True
  1442. except urllib2.URLError as err:
  1443. return False
  1444.  
  1445. while True:
  1446. time.sleep(1)
  1447.  
  1448. if meboDeadCounter == 10:
  1449. meboStatus = isMeboConnected()
  1450. if meboStatus:
  1451. print "Mebo still reachable."
  1452. meboDeadCounter = 0
  1453. else:
  1454. os.system("sudo killall /bin/bash python ffmpeg")
  1455.  
  1456. if (waitCounter % chargeCheckInterval) == 0:
  1457. if commandArgs.type == 'motor_hat':
  1458. updateChargeApproximation()
  1459. sendChargeState()
  1460. if commandArgs.slow_for_low_battery:
  1461. setSpeedBasedOnCharge()
  1462.  
  1463. if (waitCounter % 60) == 0:
  1464. if commandArgs.slow_for_low_battery:
  1465. if chargeValue < 30:
  1466. say("battery low, %d percent" % int(chargeValue))
  1467.  
  1468.  
  1469. if (waitCounter % 17) == 0:
  1470. if not isCharging():
  1471. if commandArgs.slow_for_low_battery:
  1472. if chargeValue <= 25:
  1473. say("need to charge")
  1474.  
  1475.  
  1476. if (waitCounter % 1000) == 0:
  1477.  
  1478. internetStatus = isInternetConnected()
  1479. if internetStatus != lastInternetStatus:
  1480. if internetStatus:
  1481. say("ok")
  1482. else:
  1483. say("missing internet connection")
  1484. lastInternetStatus = internetStatus
  1485.  
  1486.  
  1487. if (waitCounter % 10) == 0:
  1488. if commandArgs.auto_wifi:
  1489. if commandArgs.secret_key is not None:
  1490. configWifiLogin(commandArgs.secret_key)
  1491.  
  1492.  
  1493. if (waitCounter % 60) == 0:
  1494. if platform.system() == 'Linux':
  1495. ipInfoUpdate()
  1496.  
  1497.  
  1498. waitCounter += 1
  1499. meboDeadCounter += 1
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