def main():
global myMessenger, msgTryTimer
global extProcCall, iksResolver
global ipkSpawner
extProcCall = extprocall.ProcConduit()
iksResolver = iksresolver.IKSResolver()
ipkSpawner = ipkspawner.IPKSpawner()
PyREEM.onUserLogOn = userLogon
PyREEM.onUserLogOff = userLogoff
PyREEM.onTimer = timerActions
PyREEM.onTimerLapsed = timerLapsedActions
PyREEM.onRemoteCommand = remoteCommandActions
PyREEM.onSystemShutdown = systemShutdownActions
PyREEM.onPowerPluggedChange = powerPlugChangeActions
PyREEM.onBatteryChargeChange = batteryChargeChangeActions
PyREEM.onNodeStatusUpdate = nodeStatusUpdate
myMessenger = messenger.Messenger()
if not myMessenger.checkin():
msgTryTimer = PyREEM.addTimer( 10*60, -1, 10*60 )
PyREEM.say( constants.INTRO_TEXT )
PyREEM.setLowPowerThreshold( 20 )
def purgearchive(self):
if len(self.archive) == 0:
PyREEM.say("No archived message to be deleted.")
return
self.archive = []
tinstate.updateStatus(constants.ARCHIVE_MESSAGES, True)
PyREEM.say("All archived message have been deleted.")
def purgearchive( self ):
if len(self.archive) == 0:
PyREEM.say( "No archived message to be deleted." )
return
self.archive = []
tinstate.updateStatus( constants.ARCHIVE_MESSAGES, True )
PyREEM.say( "All archived message have been deleted." )
def batteryChargeChangeActions( batpc, isplugged, time_remain ):
global myMessenger
if batpc < 20 and not isplugged:
PyREEM.say( "I'm low on battery, please put me back on main power." )
if myMessenger:
myMessenger.updatestatus( "I have only %d percent battery power left!" % batpc )
def systemShutdownActions(): global myMessenger global extProcCall PyREEM.say( 'I am going off line. Goodbye.' ) myMessenger.checkout() extProcCall.fini()
def play( self ):
if not self.action_finishes:
print "still playing action '%s'" % self.name
return
if self.text:
self.action_finishes = False
PyREEM.say( text )
def play(self):
if not self.action_finishes:
print "still playing action '%s'" % self.name
return
if self.text:
self.action_finishes = False
PyREEM.say(text)
def powerPlugChangeActions( isplugged ):
global myMessenger
text = ""
if isplugged:
text = "I'm on main power."
else:
text = "I'm on battery power."
PyREEM.say( text )
if myMessenger:
myMessenger.updatestatus( text )
def startDataRecording( self, mode, filename = "" ):
cmd = 'rosbag record -b 1024 '
str = ''
if mode & constants.REC_CAM:
#cmd = cmd + '-e "/(.*)_stereo/(left|right)/image_rect_color" '
cmd = cmd + '-e "/stereo/left/image" ' # record only one camera data
str = '_cam'
#if mode & constants.REC_KINECT:
#cmd = cmd + '"/camera/rgb/image_rect_color" "/camera/depth_registered/image_rect" '
#str = '_kinect'
if mode & constants.REC_SCAN:
cmd = cmd + '-e "/scan$" -e "/hokuyo/LAS_01" '
str = str + '_laser'
if mode & constants.REC_IMU: #temp disable for now.
cmd = cmd + '"/mobile_base_controller/odom" '
str = str + '_imu'
if mode & constants.REC_JOINTS:
cmd = cmd + '"/joint_states" '
str = str + '_joint'
if mode & constants.REC_TF:
cmd = cmd + '"/tf" '
str = str + '_tf'
if mode & constants.REC_SONAR:
cmd = cmd + '"/sonar_torso" "/sonar_base" '
str = str + '_sonar'
if mode & constants.REC_IR:
cmd = cmd + '"/ir_base" '
str = str + '_ir'
if filename == "":
cmd = cmd + '--duration=1m --split -O %s/%s%s_data.bag' % \
(RECORDED_DATA_DIR, time.strftime( "%Y%m%d_%H%M", time.localtime()), str)
else:
cmd = cmd + '--duration=1m --split -O %s/%s.bag' % \
(RECORDED_DATA_DIR, filename)
if self.recording:
self.killProc( self.recording )
self.recording = self.spawnProc( cmd )
PyREEM.say( "Start data recording!" )
def startDataRecording(self, mode, filename=""):
cmd = 'rosbag record -b 1024 '
str = ''
if mode & constants.REC_CAM:
#cmd = cmd + '-e "/(.*)_stereo/(left|right)/image_rect_color" '
cmd = cmd + '-e "/stereo/left/image" ' # record only one camera data
str = '_cam'
#if mode & constants.REC_KINECT:
#cmd = cmd + '"/camera/rgb/image_rect_color" "/camera/depth_registered/image_rect" '
#str = '_kinect'
if mode & constants.REC_SCAN:
cmd = cmd + '-e "/scan$" -e "/hokuyo/LAS_01" '
str = str + '_laser'
if mode & constants.REC_IMU: #temp disable for now.
cmd = cmd + '"/mobile_base_controller/odom" '
str = str + '_imu'
if mode & constants.REC_JOINTS:
cmd = cmd + '"/joint_states" '
str = str + '_joint'
if mode & constants.REC_TF:
cmd = cmd + '"/tf" '
str = str + '_tf'
if mode & constants.REC_SONAR:
cmd = cmd + '"/sonar_torso" "/sonar_base" '
str = str + '_sonar'
if mode & constants.REC_IR:
cmd = cmd + '"/ir_base" '
str = str + '_ir'
if filename == "":
cmd = cmd + '--duration=1m --split -O %s/%s%s_data.bag' % \
(RECORDED_DATA_DIR, time.strftime( "%Y%m%d_%H%M", time.localtime()), str)
else:
cmd = cmd + '--duration=1m --split -O %s/%s.bag' % \
(RECORDED_DATA_DIR, filename)
if self.recording:
self.killProc(self.recording)
self.recording = self.spawnProc(cmd)
PyREEM.say("Start data recording!")
def announcemsg( self, mesgs ):
if len( mesgs ) == 0:
PyREEM.say( "There is no message to be announced" )
return
curTime = time.localtime()
for i in mesgs:
if i.created_at.tm_yday == curTime.tm_yday:
sayTime = time.strftime( "Message received at %H hour %M minute", i.created_at )
else:
sayTime = time.strftime( "Message received at %H hour %M minute on %A %B %d", i.created_at )
if i.sender in self.useraliases:
frmWho = "From %s," % self.useraliases[ i.sender ]
else:
frmWho = "From %s," % i.sender
PyREEM.say( "%s %s %s" % (sayTime, frmWho, i.text) )
PyREEM.say( "Message announcement is complete." )
def announcemsg(self, mesgs):
if len(mesgs) == 0:
PyREEM.say("There is no message to be announced")
return
curTime = time.localtime()
for i in mesgs:
if i.created_at.tm_yday == curTime.tm_yday:
sayTime = time.strftime(
"Message received at %H hour %M minute", i.created_at)
else:
sayTime = time.strftime(
"Message received at %H hour %M minute on %A %B %d",
i.created_at)
if i.sender in self.useraliases:
frmWho = "From %s," % self.useraliases[i.sender]
else:
frmWho = "From %s," % i.sender
PyREEM.say("%s %s %s" % (sayTime, frmWho, i.text))
PyREEM.say("Message announcement is complete.")
def stopDataRecording( self ):
if self.recording:
self.killProc( self.recording )
self.recording = None
PyREEM.say( "Stopped data recording!" )
def userLogoff( name ): PyREEM.say( '%s has logged off.' % name ) tinstate.updateStatus( constants.USER_PRESENT, len(PyREEM.listCurrentUsers()) == 0)
def userLogon( name ): PyREEM.say( '%s has logged on.' % name ) tinstate.updateStatus( constants.USER_PRESENT, False )
def stopDataRecording(self):
if self.recording:
self.killProc(self.recording)
self.recording = None
PyREEM.say("Stopped data recording!")