def main():
print("Waiting for boot signal")
print(s.read())
print("Writing sway command")
s.write("".join(map(chr, [0x55, 0x0, 0x3, 0, 2, 72])))
print(s.read())
# print("Reading motor encoders")
# s.write("".join(map(chr, [0x55, 0x1, 0x12])))
# print(["0x%.02x " % ord(x) for x in s.read(12)])
server = OSCServer( ("192.168.123.75", 10000) )
server.timeout = 0
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler( "/rotate", rotate_callback )
server.addMsgHandler( "/bf", bf_callback )
try:
while 1:
server.handle_request()
except KeyboardInterrupt:
pass
server.close()
def main():
print("Waiting for boot signal")
print(s.read())
print("Writing sway command")
s.write("".join(map(chr, [0x55, 0x0, 0x3, 0, 2, 72]))) # equivalent to .join['U', '\x00', '\x03', '\x00', '\x02', 'H']
# between every elements in the list, put ""
# that will convert it as one string ''Ux00x03x00x02H''
print(s.read())
# print("Reading motor encoders")
# s.write("".join(map(chr, [0x55, 0x1, 0x12])))
# print(["0x%.02x " % ord(x) for x in s.read(12)])
server = OSCServer( ("192.168.123.75", 10000) )
server.timeout = 0
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler( "/rotate", rotate_callback )
server.addMsgHandler( "/bf", bf_callback )
try:
while 1:
server.handle_request()
except KeyboardInterrupt:
pass
server.close()
class ColorsIn:
# this method of reporting timeouts only works by convention
# that before calling handle_request() field .timed_out is
# set to False
def set_colors(self,path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
#print "Here's what we got : path:%s tags:%s args:%s source:%s"%(str(path),str(tags),str(args),str(source))
pixels = []
for i in range(0,len(args)/3):
pixel = (clamp(args[i*3]), clamp(args[i*3+1]), clamp(args[i*3+2]))
pixels.append( pixel )
#print "Pixels: %s"%str(pixels)
#print "Time: "+str((time.time()*1000) % 10000)
octoapi.write(pixels)
self.lastwrite=time.time()
self.server.lastpixels = pixels
def diff_colors(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
#print "Here's what we got : path:%s tags:%s args:%s source:%s"%(str(path),str(tags),str(args),str(source))
pixels = server.lastpixels
for i in range(0,len(args)/3):
pp = (args[i*3],args[i*3+1],args[i*3+2])
p = pixels[i]
pixels[i] = (clamp(p[0]+pp[0]), clamp(p[1]+pp[1]), clamp(p[2]+pp[2]))
#print "Pixels: %s"%str(pixels)
#print "Time: "+str((time.time()*1000) % 10000)
octoapi.write(pixels)
self.lastwrite=time.time()
self.server.lastpixels = pixels
def each_frame(self):
self.server.timed_out = False
while not self.server.timed_out:
if time.time() - self.lastwrite > CLEAR_TIME:
self.lastwrite = time.time()
octoapi.write([(0,0,0)]*24)
print "Clearing"
self.server.handle_request()
def start(self):
#server = OSCServer( ("128.174.251.39", 11661) )
self.server = OSCServer( ("localhost", 11661) )
self.server.timeout = 0
self.lastwrite = time.time()
self.server.handle_timeout = types.MethodType(handle_timeout, self.server)
self.server.lastpixels = [(0,0,0)]*24
self.server.addMsgHandler( "/setcolors", self.set_colors)
self.server.addMsgHandler( "/diffcolors", self.diff_colors)
while True:
self.each_frame()
self.server.close()
class OscServerThread(Thread): def __init__(self, host, stopEvent): Thread.__init__(self) self.server = OSCServer(host) self.stopEvent = stopEvent def setCallBacks(self, callBacks): for callBack in callBacks: self.server.addMsgHandler(callBack[0], callBack[1]) def run(self): while not self.stopEvent.is_set(): self.server.handle_request() self.server.close()
def main():
if len(sys.argv)>1:
OSC_ADDRESS = str(sys.argv[1])
else:
OSC_ADDRESS = OSC_ADDRESS_DEFAULT
if len(sys.argv)>2:
OSC_PORT = int(sys.argv[2])
else:
OSC_PORT = OSC_PORT_DEFAULT
if len(sys.argv)>3:
WIFI_INT = str(sys.argv[3])
else:
WIFI_INT = WIFI_INT_DEFAULT
#creates directory to store sounds
if not os.path.exists(sounddir):
os.makedirs(sounddir)
print("Sound directory: ",sounddir)
#example of use of pyosc,
#see: https://github.com/ptone/pyosc/blob/master/examples/knect-rcv.py
#we use here the WiFi interface provided on device en0
ipcmd = "ipconfig getifaddr %s"%WIFI_INT
print(ipcmd)
ipaddress = os.popen(ipcmd).read().rstrip()
print("IP address: ",ipaddress)
server = OSCServer((ipaddress, OSC_PORT))
server.timeout = 0
global run
run = True
print("Listening to OSC address",OSC_ADDRESS,"on port",OSC_PORT)
#python's way to add a method to an instance of a class
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler(OSC_ADDRESS, user_callback)
#sound query engine
try:
while run:
#sleep(1)
#call user script
each_frame(server)
except KeyboardInterrupt: #to quit program
print("\n")
pass
server.close()
class OscServerThread(Thread):
def __init__(self, host, stopEvent):
Thread.__init__(self)
self.server = OSCServer(host)
self.stopEvent = stopEvent
def setCallBacks(self, callBacks):
for callBack in callBacks:
self.server.addMsgHandler(callBack[0], callBack[1])
def run(self):
while not self.stopEvent.is_set():
self.server.handle_request()
self.server.close()
def main(opts):
server = OSCServer((opts.ip_addres, int(opts.port)))
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler("/user", user_callback)
server.addMsgHandler("/quit", quit_callback)
log_post('INFO: listening on to %s:%s' % (opts.ip_addres, opts.port))
spinner_ = spinner()
while run:
each_frame(server)
sys.stdout.write(spinner_.next())
sys.stdout.flush()
sleep(0.5)
sys.stdout.write('\b')
server.close()
def main(hostname="localhost",port="8000"):
server = OSCServer((hostname, int(port)))
server.timeout = 0
run = True
global message_count
message_count = 0
# this method of reporting timeouts only works by convention
# that before calling handle_request() field .timed_out is
# set to False
def handle_timeout(self):
self.timed_out = True
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
def user_callback(path, tags, args, source):
log("%s %s\n" % (path, args))
global message_count
message_count += 1
def quit_callback(path, tags, args, source):
#global run
run = False
server.addMsgHandler( "default", user_callback )
server.addMsgHandler( "/quit", quit_callback )
# user script that's called by the game engine every frame
def each_frame():
log("Messages received: %s\n" % message_count)
# clear timed_out flag
server.timed_out = False
# handle all pending requests then return
while not server.timed_out:
server.handle_request()
# simulate a "game engine"
print "Server running at %s:%s" % (hostname, port)
while run:
# do the game stuff:
sleep(1)
# call user script
each_frame()
server.close()
def main(hostname="localhost", port="8000"):
server = OSCServer((hostname, int(port)))
server.timeout = 0
run = True
global message_count
message_count = 0
# this method of reporting timeouts only works by convention
# that before calling handle_request() field .timed_out is
# set to False
def handle_timeout(self):
self.timed_out = True
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
def user_callback(path, tags, args, source):
log("%s %s\n" % (path, args))
global message_count
message_count += 1
def quit_callback(path, tags, args, source):
#global run
run = False
server.addMsgHandler("default", user_callback)
server.addMsgHandler("/quit", quit_callback)
# user script that's called by the game engine every frame
def each_frame():
log("Messages received: %s\n" % message_count)
# clear timed_out flag
server.timed_out = False
# handle all pending requests then return
while not server.timed_out:
server.handle_request()
# simulate a "game engine"
print "Server running at %s:%s" % (hostname, port)
while run:
# do the game stuff:
sleep(1)
# call user script
each_frame()
server.close()
class OscServer:
def __init__(self, port, cbks = None):
self.server = OSCServer( ("localhost", port) )
self.server.addDefaultHandlers()
self.thread = threading.Thread(target = self.server.serve_forever)
if cbks is not None:
for path, cbk in cbks:
self.on_msg(path, cbk)
def on_msg(self, path, f):
def go_zero(path, tags, args, source):
f()
def go_args(path, tags, args, source):
f(*args)
if f.func_code.co_argcount == 0:
go = go_zero
else:
go = go_args
self.server.addMsgHandler(path, go)
def start(self):
self.thread.start()
try :
while 1 :
time.sleep(10)
except KeyboardInterrupt :
print "\nClosing OSCServer."
self.server.close()
print "Waiting for Server-thread to finish"
self.thread.join()
print "Done"
def close(self):
self.server.close()
try:
self.thread.join()
except:
pass
print "Done"
class OscServer:
def __init__(self, port, cbks=None):
self.server = OSCServer(("localhost", port))
self.server.addDefaultHandlers()
self.thread = threading.Thread(target=self.server.serve_forever)
if cbks is not None:
for path, cbk in cbks:
self.on_msg(path, cbk)
def on_msg(self, path, f):
def go_zero(path, tags, args, source):
f()
def go_args(path, tags, args, source):
f(*args)
if f.func_code.co_argcount == 0:
go = go_zero
else:
go = go_args
self.server.addMsgHandler(path, go)
def start(self):
self.thread.start()
try:
while 1:
time.sleep(10)
except KeyboardInterrupt:
print "\nClosing OSCServer."
self.server.close()
print "Waiting for Server-thread to finish"
self.thread.join()
print "Done"
def close(self):
self.server.close()
try:
self.thread.join()
except:
pass
print "Done"
class OSCForwarder(threading.Thread):
def __init__(self, from_ip, from_port, to_ip, to_port):
super(OSCForwarder, self).__init__()
# create the server to listen to messages arriving at from_ip
self.server = OSCServer( (from_ip, from_port) )
self.server.addMsgHandler( 'default', self.callback )
# create the clieent to forward those message to to_ip
self.client = OSCClient()
self.client.connect( (to_ip, to_port) )
print '%s:%d --> %s:%d' % (from_ip, from_port, to_ip, to_port)
self.done_running = False
# start the server listening for messages
self.start()
# close must be called before app termination or the app might hang
def close(self):
# this is a workaround of a bug in the OSC server
# we have to stop the thread first, make sure it is done,
# and only then call server.close()
self.server.running = False
while not self.done_running:
time.sleep(.01)
self.server.close()
def run(self):
#print "Worker thread entry point"
self.server.serve_forever()
self.done_running = True
def callback(self, path, tags, args, source):
#print 'got:', path, args, 'from:', source
self.client.send( OSCMessage(path, args ) )
class OSCForwarder(threading.Thread):
def __init__(self, from_ip, from_port, to_ip, to_port):
super(OSCForwarder, self).__init__()
# create the server to listen to messages arriving at from_ip
self.server = OSCServer( (from_ip, from_port) )
self.server.addMsgHandler( 'default', self.callback )
# create the clieent to forward those message to to_ip
self.client = OSCClient()
self.client.connect( (to_ip, to_port) )
print '%s:%d --> %s:%d' % (from_ip, from_port, to_ip, to_port)
self.done_running = False
# start the server listening for messages
self.start()
# close must be called before app termination or the app might hang
def close(self):
# this is a workaround of a bug in the OSC server
# we have to stop the thread first, make sure it is done,
# and only then call server.close()
self.server.running = False
while not self.done_running:
time.sleep(.01)
self.server.close()
def run(self):
#print "Worker thread entry point"
self.server.serve_forever()
self.done_running = True
def callback(self, path, tags, args, source):
#print 'got:', path, args, 'from:', source
self.client.send( OSCMessage(path, args ) )
def main():
#incoming(HOST,PORT)
server = OSCServer(('127.0.0.1',42003))
client = OSC.OSCClient()
client.connect(('127.0.0.1',42002))
server.addDefaultHandlers()
server.addMsgHandler("/exo/hand/gesture",handler_func)
st = threading.Thread( target = server.serve_forever )
st.start()
try :
while 1 :
time.sleep(10)
except KeyboardInterrupt :
print "\nClosing OSCServer."
s.close()
print "Waiting for Server-thread to finish"
st.join()
print "Done"
server.close()
class KinectReceiver(avg.Publisher):
"""Class to process OSC messages from the kinect tracking system.
Subscribers will receive messages for each joint or kill,
containing either [skeleton_id, skeleton_joint] or [skeleton_id, 'kill')
"""
OSC_kinect_MessageID = avg.Publisher.genMessageID()
OSC_kinect_hand_MessageID = avg.Publisher.genMessageID()
def __init__(self, ip):
"""Initialize the server on localhost."""
avg.Publisher.__init__(self)
self.__active_skeleton_ids = []
try:
self.__server = OSCServer((ip, 27015))
self.__server.print_tracebacks = True
# TODO check the ThreadingOSCServer class as possible alternative
except OSCError:
print "############################################"
print "####### could not open OSCServer ###########"
print "############################################"
return
if self.__server is None:
print "OSC KINECT RECEIVER: server is not initialized"
return
print "Kinect receiver: ", self.__server
self.__server.handle_timeout = types.MethodType(
self.__handle_timeout, self.__server)
self.__server.timeout = 0
self.__server.addMsgHandler("/joint",
self.__on_osc_joint_message_received)
self.__server.addMsgHandler("/hand",
self.__on_osc_hand_message_received)
self.__server.addMsgHandler("/kill",
self.__on_osc_kill_message_received)
self.publish(self.OSC_kinect_MessageID)
self.publish(self.OSC_kinect_hand_MessageID)
def __handle_timeout(self, statusnachricht):
"""Handle server timeouts."""
self.__server.timed_out = True
def onFrame(self):
"""Stay active."""
self.__server.timed_out = False
# handle all pending requests than return
while not self.__server.timed_out:
self.__server.handle_request()
def run(self):
"""Start running the server."""
while True:
self.__server.handle_request()
self.__server.close()
def __on_osc_joint_message_received(self, addr, tags, data,
client_address):
"""Receives an OSC message, transforms the data and
notifies subscribers by sending a message (type: list) containing skeleton_id and
skeleton_joint (type: SkeletonJoint)
Args:
addr: the address (str e.g. /joint)
tags: tags (str with i for int32 and f for float, e.g. iiiifff)
data: tracking data, containing
id, convertMode, jointtype, trackingstate, and if trackingstate != OKTS_NOTTRACKED, x,y and z
client_address: client address as (ip, port) tuple
"""
# check if length could actually be a skeleton joint message
if len(data) < 4:
return
# initialize position values
x = 0
y = 0
z = 0
# only if joint is tracked, additional position values are given
if data[3] is not OSCJointTrackingState.OKTS_NOTTRACKED and len(
data) >= 7:
x = data[4]
y = data[5]
z = data[6]
# create the skeleton joint from received data
# joint_type = OSCKinectJoint(data[2])
joint_type = data[2]
skeleton_joint = SkeletonJoint(x, y, z, joint_type)
skeleton_joint.tracking_state = data[3]
# add skeletonID to active skeleton list
if data[0] not in self.__active_skeleton_ids:
self.__active_skeleton_ids.append(data[0])
# message for subscribers consists of skeletonID and joint
message = [data[0], skeleton_joint]
# send new skeleton_joint to subscriber
self.notifySubscribers(self.OSC_kinect_MessageID, [message])
def __on_osc_hand_message_received(self, addr, tags, data, client_address):
"""
received hand state events from oscserver and if this skeleton already exists
it norfies subscribers with message skeleton_id and list["left"/"right", value]
"""
if len(data) < 3:
return
if data[1] != "left" and data[1] != "right":
return
if data[0] in self.__active_skeleton_ids:
message = [data[0], (data[1], data[2])]
self.notifySubscribers(self.OSC_kinect_hand_MessageID, [message])
def __on_osc_kill_message_received(self, addr, tags, data, client_address):
"""
receives the kill event from oscserver and
reacts by sending out a message (list) ONCE that includes skeleton_id and 'kill'
"""
# kill will be received constantly, only send message once
# when skeletonID is still in active skeleton list
if data[0] in self.__active_skeleton_ids:
# message for subscribers consists of skeletonID and 'kill'
message = [data[0], 'kill']
# send message
self.notifySubscribers(self.OSC_kinect_MessageID, [message])
# remove skeletonID from active skeleton list
self.__active_skeleton_ids.remove(data[0])
pass
# self.send_response(301)
# self.end_headers()
# upfilecontent = query.get('upfile')
# print "filecontent", upfilecontent[0]
# self.wfile.write("<HTML>POST OK.<BR><BR>");
# self.wfile.write(upfilecontent[0]);
# except :
# pass
if __name__ == "__main__":
# will get better args
if sys.argv[1:]:
http_port = int(sys.argv[1])
else:
http_port = 8000
osc_host = "127.0.0.1"
osc_port = 12000
try:
sc = OSCServer((osc_host, osc_port))
client = OSCClient(sc)
server = HTTPServer(("", http_port), JSONHandler)
print "started http to OSC bridge..."
server.serve_forever()
except KeyboardInterrupt:
print "^C received, shutting down server"
server.socket.close()
sc.close()
process_run = Popen('./runtrace.sh', stdout=PIPE, stderr=PIPE, shell=True)
SERVER.addMsgHandler("/run", user_callback)
SERVER.addMsgHandler("/stop", quit_callback)
class KeyboardInterruptError(Exception):
pass
def process_frame():
SERVER.timed_out = False
while not SERVER.timed_out:
SERVER.handle_request()
while oscserver_run:
try:
process_frame()
time.sleep(0.1)
except KeyboardInterrupt:
oscserver_run = False
process_stop = Popen(['tmux', 'kill-server'],
stdout=PIPE,
stderr=PIPE,
shell=True)
SERVER.close()
clean_screen()
class Server():
"""Listener to collect results of Keykit server.
(Adaption of OSC package example.)
"""
def __init__(self, server_adr):
self.server = OSCServer(server_adr)
self.server.socket.settimeout(3)
self.run = True
self.timed_out = False
# funny python's way to add a method to an instance of a class
# import types
# self.server.handle_timeout = types.MethodType(
# self.handle_timeout, self.server)
# or
self.server.handle_timeout = self.handle_timeout
# Handler
self.server.addMsgHandler("/quit", self.quit_callback)
self.server.addMsgHandler("/keykit/pyconsole/out", self.print_callback)
self.server.addMsgHandler("/keykit/pyconsole/err", self.err_callback)
self.server.addMsgHandler(
"/keykit/pyconsole/start",
self.print_callback)
self.server.addMsgHandler("/keykit/pyconsole/lsdir", self.dir_callback)
def handle_timeout(self, server=None):
self.timed_out = True
def each_frame(self):
# clear timed_out flag
self.timed_out = False
# handle all pending requests then return
while not self.timed_out and self.run:
self.server.handle_request()
# Line reached after each socket read
sleep(.05)
def start(self):
# print("Wait on client input...")
sys.stdout.write("%s" % (MY_PROMPT))
sys.stdout.flush()
while self.run:
self.each_frame()
# Line reached after each socket timeout
sleep(1)
def stop(self):
self.run = False
# Invoke shutdown. Socket still wait on timeout...
try:
import socket
self.server.socket.shutdown(socket.SHUT_RDWR)
except socket.error:
pass
self.server.close()
# Callbacks
def quit_callback(self, path, tags, args, source):
self.run = False
def print_callback(self, path, tags, args, source, textColor=ColorOut):
current_input = readline.get_line_buffer()
# Add Tab at every input line
out = args[0].replace("\n", "\n\t")
# Delete current input, insert output and add input again.
# \r : Carriage return, \033[K : Delete everything after the cursor.
sys.stdout.write("\r\033[K")
sys.stdout.write(
"\t%s%s%s\n%s%s" %
(textColor,
out,
ColorReset,
MY_PROMPT,
current_input))
sys.stdout.flush()
def err_callback(self, path, tags, args, source):
""" Same as print_callback but mark output as error. """
self.print_callback(path, tags, args, source, ColorWarn)
def dir_callback(self, path, tags, args, source):
""" Store current working dir for tab completion.
This is mainly releated to chdir() and lsdir().
"""
lsdir_string_part = args[0]
if lsdir_string_part[0] == "^":
self.keykit_lsdir_string = lsdir_string_part
else:
self.keykit_lsdir_string += lsdir_string_part
if self.keykit_lsdir_string[-1] == "$":
try:
lsdir = []
# Convert string into list of files. Second argument flags
# directories.
# Example string: ^["foldername"=1,"filename"=0]$
re_entries = '".+?"=[01][,\]]'
entries = re.finditer(re_entries, self.keykit_lsdir_string)
for entry in entries:
sname = entry.group()[1:-4]
bFolder = entry.group()[-2] == "1"
lsdir.append((sname, bFolder))
self.keykit_lsdir = lsdir
except:
sys.stderr.write("(dir_callback) Unable to fetch folder content.")
self.keykit_lsdir = []
class OptiTrackReceiver(avg.Publisher):
OSC_optitrack_MessageID = avg.Publisher.genMessageID()
OSC_optitrack_KillMessageID = avg.Publisher.genMessageID()
def __init__(self, ip="", port="5103"):
avg.Publisher.__init__(self)
try:
rigidbody_format = config.optitrack_osc_format
self.__index_id = rigidbody_format.index("id")
self.__index_x = rigidbody_format.index("x")
self.__index_y = rigidbody_format.index("y")
self.__index_z = rigidbody_format.index("z")
self.__index_roll = rigidbody_format.index("roll")
self.__index_pitch = rigidbody_format.index("pitch")
self.__index_yaw = rigidbody_format.index("yaw")
self.__index_name = rigidbody_format.index("name")
self.__index_quat_1 = rigidbody_format.index("quat_1")
self.__index_quat_2 = rigidbody_format.index("quat_2")
self.__index_quat_3 = rigidbody_format.index("quat_3")
self.__index_quat_4 = rigidbody_format.index("quat_4")
self.__osc_format_length = len(rigidbody_format)
self.__server = OSCServer((ip, int(port)))
# TODO check the ThreadingOSCServer class as possible alternative
print "Optitrack:", self.__server
self.__server.handle_timeout = types.MethodType(
self.__handle_timeout, self.__server
)
self.__server.timeout = 0
self.__server.addMsgHandler(
"/tracking/optitrack/rigidbodies", self.__on_osc_rigidbody_message_received
)
self.__server.addMsgHandler(
"/kill", self.__on_osc_kill_message_received
)
self.publish(self.OSC_optitrack_MessageID)
self.publish(self.OSC_optitrack_KillMessageID)
except OSCError:
print "############################################"
print "####### could not open OSCServer ###########"
print "############################################"
return
def __handle_timeout(self, status):
"""Handle server timeouts."""
self.__server.timed_out = True
def onFrame(self):
"""Stay active."""
self.__server.timed_out = False
# handle all pending requests than return
while not self.__server.timed_out:
self.__server.handle_request()
def run(self):
"""Start running the server."""
while True:
self.__server.handle_request()
self.__server.close()
def __on_osc_rigidbody_message_received(self, addr, tags, data, client_address):
"""b
Receives an OSC message, transforms the data and
notifies subscribers by sending a message (type: list) containing skeleton_id and
skeleton_joint (type: SkeletonJoint)
Args:
addr: the address (str e.g. /tracking/optitrack/rigidbodies)
tags: tags (str with i for int32 and f for float, e.g. iiiifff)
data: tracking data, containing
id (0), position in space (1-3), and orientation in space (4-6)
client_address: client address as (ip, port) tuple
"""
# check if length could actually be a rigid body message
if len(data) < self.__osc_format_length:
return
data[self.__index_x] = data[self.__index_x] * 100
data[self.__index_y] = config.display_height_cm - data[self.__index_y] * 100
data[self.__index_z] = data[self.__index_z] * 100
# create RigidBody tuple
rb = RigidBody(
id=data[self.__index_id],
name=data[self.__index_name],
position=Point3D(data[self.__index_x], data[self.__index_y], data[self.__index_z]),
orientation=(data[self.__index_roll], data[self.__index_pitch], data[self.__index_yaw]),
orientation_quat=(data[self.__index_quat_1], data[self.__index_quat_2], data[self.__index_quat_3], data[self.__index_quat_4]),
markers=None,
mrk_ids=None,
mrk_sizes=None,
mrk_mean_error=None
)
# send new rigidbody to subscriber
self.notifySubscribers(self.OSC_optitrack_MessageID, [rb])
def __on_osc_kill_message_received(self, addr, tags, data, client_address):
"""
receives the kill event from oscserver and
reacts ??
"""
self.notifySubscribers(self.OSC_optitrack_KillMessageID, data)
class Osc(object):
def __init__(self, listen_port=7331, timeout=4, timeout_fade_duration=4):
# create an OSC server and bind it to listen on port 7331
self.server = OSCServer(("", listen_port))
self.server.timeout = 0
self.server.handle_timeout = types.MethodType(
lambda x: self.handle_timeout(), self.server)
# Create handlers for "/rgb" and "/hsv". This causes a packet to "/rgb" to call self.set_rgb()
# and a packet to "/hsv" to call self.set_hsv(), with the arguments path, tags, args, source
self.server.addMsgHandler("/rgbw",
lambda p, t, a, s: self.set_rgbw(p, t, a, s))
self.server.addMsgHandler("/rgb",
lambda p, t, a, s: self.set_rgb(p, t, a, s))
self.server.addMsgHandler("/r",
lambda p, t, a, s: self.set_r(p, t, a, s))
self.server.addMsgHandler("/g",
lambda p, t, a, s: self.set_g(p, t, a, s))
self.server.addMsgHandler("/b",
lambda p, t, a, s: self.set_b(p, t, a, s))
self.server.addMsgHandler("/w",
lambda p, t, a, s: self.set_w(p, t, a, s))
self.server.addMsgHandler("/hsv",
lambda p, t, a, s: self.set_hsv(p, t, a, s))
self.server.addMsgHandler("/h",
lambda p, t, a, s: self.set_h(p, t, a, s))
self.server.addMsgHandler("/s",
lambda p, t, a, s: self.set_s(p, t, a, s))
self.server.addMsgHandler("/v",
lambda p, t, a, s: self.set_v(p, t, a, s))
# Initialize variables
self.color = Color(0.0, 0.0, 0.0, 0.0)
self.opacity = 0.0
self.timeout = timeout
self.timeout_fade_duration = timeout_fade_duration
# Setup our animation queue
self.anim_queue = AnimationQueue()
# The last time we got a message on our socket
self.last_msg_time = time.time()
# Close the socket on exit
def cleanup(self):
self.server.close()
def got_a_packet(self):
self.opacity = 1.0
self.last_msg_time = time.time()
self.anim_queue.clear()
# Set the current color in either RGB or HSV colorspace
def set_rgbw(self, path, tags, args, source):
self.color.setRGBW(*args)
self.got_a_packet()
def set_rgb(self, path, tags, args, source):
self.color.setRGB(*args)
self.got_a_packet()
def set_r(self, path, tags, args, source):
print path, tags, args, source
self.color.setR(args[0])
self.got_a_packet()
def set_g(self, path, tags, args, source):
self.color.setG(args[0])
self.got_a_packet()
def set_b(self, path, tags, args, source):
self.color.setB(args[0])
self.got_a_packet()
def set_w(self, path, tags, args, source):
self.color.setB(args[0])
self.got_a_packet()
def set_hsv(self, path, tags, args, source):
self.color.setHSV(*args)
self.got_a_packet()
def set_h(self, path, tags, args, source):
self.color.setH(args[0])
self.got_a_packet()
def set_s(self, path, tags, args, source):
self.color.setS(args[0])
self.got_a_packet()
def set_v(self, path, tags, args, source):
self.color.setV(args[0])
self.got_a_packet()
# This gets called when we have no more packets waiting to be processed
def handle_timeout(self):
self.timed_out = True
# This function retrieves the next color from the Audio object
def next(self, color_in):
# process any messages we might have waiting for us. We do this by calling handle_request() until
# handle_timeout() gets called, at which point we stop:
self.timed_out = False
while not self.timed_out:
self.server.handle_request()
# If we've not received a message for `timeout` seconds, slowly ease back to 1.0 power
if self.last_msg_time + self.timeout < time.time(
) and self.opacity != 0.0:
# Ease slowly from the current value of self.opacity to 0.0
self.anim_queue.push(
ease(self.opacity, 0.0, self.timeout_fade_duration, sin_ease))
# This ensures that once the animation is done, we stay at 0.0, and also that we
# don't keep on animating over and over again (e.g. the if statement directly above
# doesn't keep on activating over and over again)
self.opacity = 0.0
# If we're easing back to 0.0 after a client disconnect, then this animation does something.
# If we're receiving packets like normal, this animation does nothing, it just returns self.opacity
animated_opacity = self.anim_queue.animate(default_value=self.opacity)
# Mix between color_in and our stored self.color
return color_in * (1.0 -
animated_opacity) + animated_opacity * self.color
def main(robotIP, PORT = 9559):
myBroker = ALBroker("myBroker", #needed for subscribers and to construct naoqi modules
"0.0.0.0",
0,
robotIP,
PORT)
meanx = 0.21835
meany = 0.035625
global ReactToTouch, go_to_center, global_time
global server, client
client = OSCClient()
client.connect(("192.168.0.5",1234))
global motionProxy, jointNames
motionProxy = ALProxy("ALMotion", robotIP, PORT)
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
motionProxy.setStiffnesses("Body",0)
motionProxy.setStiffnesses(jointNames,1)
#motionProxy.openHand("LHand")
#motionProxy.closeHand("LHand")
maxSpeedFraction = 0.3
for i in range(1):
motionProxy.angleInterpolationWithSpeed(jointNames, p[i], maxSpeedFraction)
time.sleep(1.0)
minx = -999
maxx = 999
miny = -999
maxy = 999
# Copy from inverse kinematics
effector = "LArm"
space = motion.FRAME_ROBOT
axisMask = almath.AXIS_MASK_VEL # just control position
isAbsolute = False
# Since we are in relative, the current position is zero
currentPos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
center = currentPos
# Define the changes relative to the current position
dx = 0.03 # translation axis X (meters)
dy = -0.04 # translation axis Y (meters)
dz = 0.03 # translation axis Z (meters)
dwx = 0.00 # rotation axis X (radians)
dwy = 0.00 # rotation axis Y (radians)
dwz = 0.00 # rotation axis Z (radians)
targetPos = [dx, dy, dz, dwx, dwy, dwz]
# Go to the target and back again
path = [targetPos]
times = [1.5] # seconds
motionProxy.positionInterpolation(effector, space, path,
axisMask, times, isAbsolute)
dz=0.00
currentPos = motionProxy.getPosition(effector, space, True)
offx = 0.034
offy = 0.02
xy=[1345+103-(currentPos[0]+offx)*400/(0.07), (currentPos[1]+offy)*400/(0.07)+11-87-45]
#print xy
input('Press 1 to begin: ')
k=2.5
L=0.5
n=10
speed = 0.15
#Initialize listener
ReactToTouch = ReactToTouch("ReactToTouch")
center = motionProxy.getPosition(effector, space, True)
print "center: " + str(center[0]) + ", " + str(center[1])
try:
while 1:#for i in range(n):
if go_to_center:
if random.random()<0.95:
k=max(0.9,k-0.15)
speed = 0.4
go_to_center = False
#print 'going to center!'
# Get current Position & define target position
if random.random()<0.8:
currentPos = motionProxy.getPosition(effector, space, True)
maxx = min(maxx,abs(currentPos[0]-meanx))
maxy = min(maxy,abs(currentPos[1]-meany))
#targetPos = currentPos
targetPos[0] = center[0]
targetPos[1] = center[1]
targetPos[2] = center[2]
#print 'new target'
#print targetPos
# Move to position, being able to interrupt
motionProxy.setPosition(effector, space, targetPos, speed, axisMask)
#Try it twice, because it doesn't seem to get there
'''currentPos = motionProxy.getPosition(effector, space, True)
motionProxy.positionInterpolation(effector, space, [currentPos],
axisMask, [0.51], isAbsolute)
targetPos = [currentPos[0]-center[0], currentPos[1]-center[1], currentPos[2]-center[2], 0.0, 0.0, 0.0]
path = [targetPos]
print targetPos
motionProxy.positionInterpolation(effector, space, path,
axisMask, [0.51], isAbsolute)
print "sleeping 2 seconds"'''
global_time = time.time()
else:
speed = 0.18
# False learning
if random.random()<0.15:
k=max(0.85,k-0.15)
# Generate next target x,y
x = k*random.random()*L-L/2 + center[0]
y = k*random.random()*L-L/2 + center[1]
# Get current Position & define target position
#currentPos = motionProxy.getPosition(effector, space, True)
#targetPos = currentPos
targetPos[0] = x#min(max(x,meanx-maxx),meanx+maxx)
targetPos[1] = y#min(max(y,meany-maxy),meany+maxy)
targetPos[2] = center[2]
#print 'new target'
#print targetPos
# Move to position, being able to interrupt
motionProxy.setPosition(effector, space, targetPos, speed, axisMask)
now = time.time()
go_to_center = False
while time.time()-now < times[0] and not go_to_center:
#time.sleep(0.1)
currentPos = motionProxy.getPosition(effector, space, True)
offx = 0.034
offy = 0.04
xy=[1345+97-(currentPos[0]+offx)*400/(0.07), (currentPos[1]+offy)*400/(0.07)+107-87-45]
#print xy
sendOSC('/xy',xy)
time.sleep(0.01)
print 'out of the loop'
"""else:
#currentPos = motionProxy.getPosition(effector, space, True)
#center[0] -= targetPos[0]
#center[1] -= targetPos[1]
"""
print 'Done!'
server = OSCServer( ("" , 2222) )
server.addMsgHandler("/move", move)
while 1:
server.handle_request()
except KeyboardInterrupt:
print "closing all OSC connections... and exit"
motionProxy.rest()
myBroker.shutdown()
server.close()
motionProxy.rest()
class Kinect:
"""Manages connection to Kinect, and saves and processes coordinates"""
@staticmethod
def retrieve(joints=None, max_port=5555):
""" Retrieves a singleton Kinect instance, and creates it if it doesn't exist. """
global kinect_instance
if kinect_instance is None:
kinect_instance = Kinect(joints, max_port)
return kinect_instance
def __init__(self, joints=None, max_port=5555):
if joints is None:
self.joints = ['righthand', 'lefthand', 'rightfoot', 'leftfoot', 'head', 'torso']
else:
self.joints = joints
self.coords = {k:(0.,0.,0.) for k in self.joints}
self.prev_coords = {k:(0.,0.,0.) for k in self.joints}
self.joint_speed = {k:False for k in self.joints}
self.speed_piano = {'lefthand':{X:0, Y:0}, 'righthand':{X:0, Y:0}}
self.kinect_client = OSCClient()
self.max_client = OSCClient()
self.server = OSCServer(('127.0.0.1', 12345))
self.kinect_client.connect(('127.0.0.1', 12346))
self.max_client.connect(('127.0.0.1', max_port))
self.server.addMsgHandler('default', self.process_message)
self.flipped = False
self.speed = 0.
self.speed_ramp = 0.
sprout(self.server.serve_forever)
sprout(self._remind_synapse)
#sprout(self._calc_speed)
def __enter__(self):
return self
def __exit__(self, _type, value, traceback):
self.server.close()
self.kinect_client.close()
self.max_client.close()
def process_message(self, addr, tags, data, source):
"""process data coming in from Synapse, happens about every 0.03 seconds"""
if addr[-9:] == '_pos_body':
if self.flipped:
if addr[:5] == '/left':
addr = '/right' + addr[5:]
data[X] = -data[X]
elif addr[:6] == '/right':
addr = '/left'+addr[6:]
data[X] = -data[X]
self.coords[addr[1:-9]] = data
def _remind_synapse(self):
"""Send Synapse an OSC message to ask it to continue polling the required joints"""
while True:
for track in self.joints:
self.sendToKinect('/'+track+'_trackjointpos', 1)
time.sleep(1)
def calc_speed(self):
"""Calculate speed of movement, at 0.06 second intervals"""
self.calculating_speed = True
while self.calculating_speed:
total_speed = 0.
for joint, v in self.coords.items():
magnitude = Magnitude(v)
prev_magnitude = Magnitude(self.prev_coords[joint])
speed = abs(magnitude - prev_magnitude)
if joint in ('lefthand', 'righthand'):
speed_x = Distance(SubVector(self.prev_coords[joint], X),
SubVector(self.coords[joint], X))
speed_y = Distance(SubVector(self.prev_coords[joint], Y),
SubVector(self.coords[joint], Y))
self.speed_piano[joint][X] += (speed_x - self.speed_piano[joint][X]) * 0.5
self.speed_piano[joint][Y] += (speed_y - self.speed_piano[joint][Y]) * 0.5
total_speed += speed
total_speed /= len(self.coords)
self.speed = total_speed
self.speed_ramp = self.speed_ramp + (self.speed - self.speed_ramp) * 0.125
self.prev_coords = copy.copy(self.coords)
time.sleep(0.06)
@property
def area(self):
return Area( self.coords['head'],
self.coords['lefthand'],
self.coords['leftfoot'],
self.coords['rightfoot'],
self.coords['righthand'] ) / 1000000.
@property
def facing(self):
return self.coords['rightfoot'][X] >= self.coords['leftfoot'][X]
def hand_down(self, hand):
return self.coords[hand][Y] < 0 and self.hand_over_piano(hand)
def hand_up(self, hand):
return self.coords[hand][Y] >= 0 or not self.hand_over_piano(hand)
def hand_over_piano(self, hand):
return Magnitude(SubVector(self.coords[hand], Y,Z)) > 350
def hand_hit(self, hand):
"""waits for a hit from the specified hand"""
if self.hand_down(hand):
wait_for(self.hand_up, (hand,))
wait_for(self.hand_down, (hand,))
return self.coords[hand][X]
def joint_moved_x(self, prev_x, joint, hit_location):
"""used to wait for a change in joint in X dimension"""
if self.hand_up(joint):
return True
if hit_location is not None and abs(hit_location - self.coords[joint][X]) < 140:
return False
return abs(prev_x - self.coords[joint][X]) > 70
def hand_slide(self, hand, hit_location):
x = self.coords[hand][X]
wait_for(self.joint_moved_x, (x, hand, hit_location))
if self.hand_up(hand):
return False
return self.coords[hand][X]
def get_coord(self, joint):
if joint == 'leftshoulder':
return -250, 200, -50
elif joint == 'rightshoulder':
return 250, 200, -50
else:
return self.coords[joint]
def sendToKinect(self, address, items):
self._sendMsg(self.kinect_client, address, items)
def sendToMax(self, address, items):
self._sendMsg(self.max_client, address, items)
@staticmethod
def _sendMsg(client, address, items):
m = OSCMessage()
m.setAddress(address)
m.append(items)
client.send(m)
class LiveRawAPI(object):
"""
This is close to live's API objects as possible
Of course, they are designed to be manipulated from a patcher,
not real code, so a bit more wrapping is in order.
To keep everything minimal, this is done in a subclass.
"""
_incoming = None
_handled = True
_received = False
debug = False
def __init__(self,
there_host="localhost",
there_port=7400,
here_host="localhost",
here_port=7401,
debug=False,
*args, **kwargs):
super(LiveRawAPI, self).__init__(*args, **kwargs)
self.oscserver = OSCServer((here_host, here_port))
self.oscclient = OSCClient()
self.oscclient.connect((there_host, there_port))
self.oscserver.addMsgHandler('/response', self._handle_response)
self._incoming = []
def raw_query(self, *args):
"""Posts a query, waits for a response. Returns it.
Note that state is fragile here, so you'd better be sure that there
will be a response, or it will hang waiting."""
self.oscclient.send(OSCMessage('/query', args))
return self.handle_request()
def raw_call(self, *args):
"""Posts a call, returns nothing.
Note that state is fragile here, so you'd better be sure that there
will be no response, or you won't know what returned what."""
self.oscclient.send(OSCMessage('/query', ['path', 'getpath']))
def _handle_response(self, path, tags, args, source):
"""private callback to handle OSC responses. Sets state."""
if self.debug: print "callback", path, args, source
self._incoming.append(args)
self._received = True
def handle_request(self):
"""hack to handle asynchronous calls:
1 try to get something returned and tacked onto the class.
2 Return it and reset.
This is completely f****d at the momenl I can't make timeouts work in any usable fashion."""
try:
self.oscserver.handle_request()
while self._received:
self._received = False
self.oscserver.handle_request()
_incoming = self._incoming
return _incoming
finally:
self._incoming = []
self._received = False
def close(self):
self.oscserver.close()
### more structured access involves navigating places with the path object
def goto(self, *args):
resp = self.raw_query('path', 'goto', *args)
prefix, path = resp[1], resp[2:]
#sanity check that we are getting the right message
assert prefix=='path'
self.path = path
def path(self, *args):
return self.goto(*args)
def getchildren(self):
resp = self.raw_query('path', 'getchildren')
return resp[1:]
def getcount(self):
resp = self.raw_query('path', 'getcount')
return resp[1:]
# OSC Communication
# - receiving OSC Messages in Python
from OSC import OSCServer
import time, threading
recvAddress = ('127.0.0.1', 9001)
oscServer = OSCServer(recvAddress)
def oscTestHandler(addr, tags, data, source):
print "Received '/oscTest %s'" % data
oscServer.addMsgHandler("/oscTest", oscTestHandler)
print "\nWaiting for messages from SuperCollider. Use ctrl-C to quit."
oscServerThread = threading.Thread( target = oscServer.serve_forever )
oscServerThread.start()
try :
while 1 :
time.sleep(5)
except KeyboardInterrupt :
print "\nClosing OSCServer."
oscServer.close()
print "Waiting for Server-thread to finish"
oscServerThread.join()
print "Done"
# RPi.GPIO Layout verwenden (wie Pin-Nummern)
GPIO.setmode(GPIO.BOARD)
for _button in button_map:
GPIO.setup(_button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) # PUD_DOWN, because we use a pull down resistor, use RISING in next line then!
GPIO.add_event_detect(_button, GPIO.RISING, callback=button_press, bouncetime=args.bouncetime)
client.connect( (args.ip, args.port) )
notifications.addMsgHandler( "/stopped", remote_stopped_callback )
notifications.addMsgHandler( "/playing", remote_started_callback )
notifications.addMsgHandler( "/files", remote_files_callback )
print "StaalPiPlayer Button Client ready!"
print "\tListening for player with:",notifications
print "\tSending commands to player with:",client
while True:
try:
notifications.serve_forever()
except Exception, e:
time.sleep(5)
pass
except Exception, e:
pass
finally:
GPIO.cleanup()
client.send( OSCMessage("/stop" ) )
notifications.close()
pass
class OscInput(BaseComponent):
config_name = 'osc_inputs'
def __init__(self, options={}):
BaseComponent.__init__(self, options)
# attributes
self.osc_server = None
self.connected = False
self.running = False
self.osc_map = None
self.threaded = self.getOption('threaded', True)
self.thread = None
def __del__(self):
self.destroy()
def setup(self, event_manager=None):
BaseComponent.setup(self, event_manager)
self.msgEventMapping = self.getOption('output_events', {})
self.autoAddrToEvent = 'auto' in self.msgEventMapping and self.msgEventMapping[
'auto']
# events
self.connectEvent = self.getOutputEvent('connect')
self.disconnectEvent = self.getOutputEvent('disconnect')
self.messageEvent = self.getOutputEvent(
'message', dummy=False) # can be None if not configured
if self.getOption('autoStart', True):
self.start()
def destroy(self):
self.msgEventMapping = None
self.event_manager = None
self.stop()
def start(self):
if self._connect():
self.running = True
def stop(self):
if self.connected:
self._disconnect()
self.running = False
def update(self):
if self.connected:
if not self.threaded:
self._processIncomingMessages()
def _processIncomingMessages(self):
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 50
count = 0
# clear timed_out flag
self.osc_server.timed_out = False
# handle all pending requests then return
# NOTE; if you get weird bugs because self.osc_server is None,
# one of handled OSC messages probably triggered the destruction
# of this component. This should not happen until after this update
# loop is finished, so destructive operations should be queued for later
while self.osc_server.timed_out == False and count < limit:
try:
self.osc_server.handle_request()
count += 1
except Exception as exc:
self.logger.error(
"Something went wrong while handling incoming OSC messages:"
)
self.logger.error(exc)
def port(self):
return self.getOption('port', DEFAULT_PORT)
def host(self):
return self.getOption('ip', DEFAULT_IP)
def _connect(self):
if self.connected:
self.logger.warning('already connected')
return False
try:
self.osc_server = OSCServer((self.host(), self.port()))
except Exception as err:
# something went wrong, cleanup
self.connected = False
self.osc_server = None
# notify
self.logger.error(
"{0}\n\tOSC Server could not start @ {1}:{2}".format(
err, self.host(), str(self.port())))
# abort
return False
# register time out callback
self.osc_server.handle_timeout = self._onTimeout
self.osc_server.addMsgHandler('default', self._onOscMsg)
# set internal connected flag
self.connected = True
# notify
self.connectEvent(self)
self.logger.info("OSC Server running @ {0}:{1}".format(
self.host(), str(self.port())))
if self.threaded:
self._threadStopFlag = False
self.thread = threading.Thread(target=self._threadMethod, args=())
self.thread.start()
self.logger.info("started separate OSC-listener thread")
return True
def _disconnect(self):
if self.threaded:
self._threadStopFlag = True
self.logger.info("stopping separate OSC-listener thread...")
while self.thread and self.thread.isAlive():
pass
self.logger.info('done')
self.thread = None
if self.osc_server:
self.osc_server.close()
self.connected = False
self.osc_server = None
self.disconnectEvent(self)
self.logger.info('OSC Server ({0}:{1}) stopped'.format(
self.host(), str(self.port())))
def _onTimeout(self):
if self.osc_server:
self.osc_server.timed_out = True
def _onOscMsg(self, addr, tags=[], data=[], client_address=''):
# skip touch osc touch-up events
# if len(data) == 1 and data[0] == 0.0:
# return
self.logger.debug('osc-in {0}:{1} {2} [{3}] from {4}'.format(
self.host(), self.port(), addr,
", ".join(map(lambda x: str(x), data)), client_address))
if self.messageEvent:
self.messageEvent(addr, tags, data, client_address)
# trigger events based on incoming messages if configured
if addr in self.msgEventMapping:
self.logger.debug('triggering output event: {0}'.format(
self.msgEventMapping[addr]))
self.event_manager.fire(self.msgEventMapping[addr])
elif self.autoAddrToEvent:
self.logger.debug('triggering auto-output event: {0}'.format(addr))
self.event_manager.fire(addr)
def _threadMethod(self):
while not self._threadStopFlag:
self._processIncomingMessages()
class Kinect(threading.Thread):
kRightHand = "/righthand"
kLeftHand = "/lefthand"
kRightElbow = "/rightelbow"
kLeftElbow = "/leftelbow"
kRightFoot = "/rightfoot"
kLeftFoot = "/leftfoot"
kRightKnee = "/rightknee"
kLeftKnee = "/leftknee"
kHead = "/head"
kTorso = "/torso"
kLeftShoulder = "/leftshoulder"
kRightShoulder = "/rightshoulder"
kLeftHip = "/lefthip"
kRightHip = "/righthip"
kClosestHand = "/closesthand"
# position coordinate system type
kBody = '_pos_body'
kWorld = '_pos_world'
kScreen = '_pos_screen'
kPosNum = {kBody: 1, kWorld: 2, kScreen: 3}
def __init__(self, remote_ip=None, pos_type=kBody):
super(Kinect, self).__init__()
self.pos_type = pos_type
# Synapse is running on a remote machine:
if remote_ip:
listen_ip = socket.gethostbyname(socket.gethostname())
listen_port = 12345
send_ip = remote_ip
send_port = 12321
# Synapse is running locally on this machine, using localhost
else:
listen_ip = 'localhost'
listen_port = 12345
send_ip = 'localhost'
send_port = 12346
self.server = OSCServer((listen_ip, listen_port))
self.server.addMsgHandler('/tracking_skeleton',
self.callback_tracking_skeleton)
self.server.addMsgHandler('default', self.callback_ignore)
# create the client, which sends control messages to Synapse
self.client = OSCClient()
self.client.connect((send_ip, send_port))
# member vars
self.active_joints = {}
self.last_heartbeat_time = 0
self.done_running = False
# start the server listening for messages
self.start()
core.register_terminate_func(self.close)
# close must be called before app termination or the app might hang
def close(self):
# this is a workaround of a bug in the OSC server
# we have to stop the thread first, make sure it is done,
# and only then class server.close()
self.server.running = False
while not self.done_running:
time.sleep(.01)
self.server.close()
def run(self):
print "Worker thread entry point"
self.server.serve_forever()
self.done_running = True
def add_joint(self, joint):
self.server.addMsgHandler(joint + self.pos_type, self.callback)
self.active_joints[joint] = np.array([0.0, 0.0, 0.0])
def remove_joint(self, joint):
self.server.delMsgHandler(joint + self.pos_type)
del self.active_joints[joint]
def on_update(self):
now = time.time()
send_heartbeat = now - self.last_heartbeat_time > 3.0
if send_heartbeat:
self.last_heartbeat_time = now
try:
for j in self.active_joints:
if send_heartbeat:
self.client.send(
OSCMessage(j + "_trackjointpos",
Kinect.kPosNum[self.pos_type]))
except Exception as x:
print x, 'sending to', self.client.client_address
def get_joint(self, joint):
return np.copy(self.active_joints[joint])
def callback_ignore(self, path, tags, args, source):
pass
def callback(self, path, tags, args, source):
#print path, args
joint_name = path.replace(self.pos_type, "")
self.active_joints[joint_name] = np.array(args)
def callback_tracking_skeleton(self, path, tags, args, source):
pass
class XAirClient:
"""
Handles the communication with the X-Air mixer via the OSC protocol
"""
_CONNECT_TIMEOUT = 0.5
_WAIT_TIME = 0.02
_REFRESH_TIMEOUT = 5
XAIR_PORT = 10024
last_cmd_addr = ''
last_cmd_time = 0
info_response = []
def __init__(self, address, state):
self.state = state
self.server = OSCServer(("", 0))
self.server.addMsgHandler("default", self.msg_handler)
self.client = OSCClient(server = self.server)
self.client.connect((address, self.XAIR_PORT))
thread.start_new_thread(self.run_server, ())
def validate_connection(self):
self.send('/xinfo')
time.sleep(self._CONNECT_TIMEOUT)
if len(self.info_response) > 0:
print 'Successfully connected to %s with firmware %s at %s.' % (self.info_response[2],
self.info_response[3], self.info_response[0])
else:
print 'Error: Failed to setup OSC connection to mixer. Please check for correct ip address.'
exit()
def run_server(self):
try:
self.server.serve_forever()
except KeyboardInterrupt:
self.client.close()
self.server.close()
exit()
def msg_handler(self, addr, tags, data, client_address):
if time.time() - self.last_cmd_time < self._WAIT_TIME and addr == self.last_cmd_addr:
#print 'Ignoring %s' % addr
self.last_cmd_addr = ''
else:
#print 'OSCReceived("%s", %s, %s)' % (addr, tags, data)
if addr.endswith('/fader') or addr.endswith('/on') or addr.startswith('/config/mute') or addr.startswith('/fx/'):
self.state.received_osc(addr, data[0])
elif addr == '/xinfo':
self.info_response = data[:]
def refresh_connection(self):
try:
while True:
if self.client != None:
self.send("/xremote")
time.sleep(self._REFRESH_TIMEOUT)
except KeyboardInterrupt:
exit()
def send(self, address, param = None):
if self.client != None:
msg = OSCMessage(address)
if param != None:
# when sending values, ignore ACK response
self.last_cmd_time = time.time()
self.last_cmd_addr = address
if isinstance(param, list):
msg.extend(param)
else:
msg.append(param)
else:
# sending parameter request, don't ignore response
self.last_cmd_time = 0
self.last_cmd_addr = ''
self.client.send(msg)
def step_impl(context, message):
listen = OSCServer(("127.0.0.1", 4589))
listen.timeout = 0 #infinite timeout
listen.addMsgHandler("/err", listen_handler)
listen.close()
class OscReader:
def __init__(self, host="127.0.0.1", port=8080, manager=None, threaded=False, autoStart=True):
# params
self.manager = manager
self.host = host
self.port = port
self.threaded = threaded
# attrs
self._kill = False
self.oscServer = None
self.thread = None
if autoStart:
self.start()
def setup(self):
if self.oscServer != None:
self.destroy()
ColorTerminal().output("Starting OSC server with host {0} and port {1}".format(self.host, self.port))
self.oscServer = OSCServer((self.host, self.port))
self.oscServer.handle_timeout = self.handleTimeout
self.oscServer.addMsgHandler('/marker', self.oscMarkerHandler)
self.oscServer.addMsgHandler('/rigidbody', self.oscRigidBodyHandler)
ColorTerminal().success("Server running")
def destroy(self):
if self.oscServer == None:
return
self.oscServer.close()
self.oscServer = None
def update(self):
if self.oscServer == None:
return
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 10
count = 0
# clear timed_out flag
self.oscServer.timed_out = False
# handle all pending requests then return
while not self.oscServer.timed_out and count < limit:
self.oscServer.handle_request()
count += 1
def oscMarkerHandler(self, addr, tags, data, client_address):
if self.manager:
self.manager.processMarkersData([data[0]])
def oscRigidBodyHandler(self, addr, tags, data, client_address):
# readers can interface with the mocap data manager directly (most efficient)
if self.manager:
self.manager.processRigidBodyJson(data[0])
def handleTimeout(self):
if self.oscServer != None:
self.oscServer.timed_out = True
def start(self):
if not self.threaded:
self.setup()
return
if self.thread and self.thread.isAlive():
ColorTerminal().warn("OscReader - Can't start while a thread is already running")
return
self._kill = False
# threaded loop method will call setup
self.thread = threading.Thread(target=self.threaded_loop)
self.thread.start()
def stop(self):
if self.threaded:
# threaded loop method will call destroy
self._kill = True
else:
self.destroy()
def threaded_loop(self):
self.setup()
while not self._kill:
self.update()
self.destroy()
print args
print source
print mDirection
print '-----------'
if mDirection == 'forward' and msgVal == 1:
moveRover.forward(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'backward' and msgVal == 1:
moveRover.backward(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'right' and msgVal == 1:
moveRover.right(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'left' and msgVal == 1:
moveRover.left(config.getint('motor_params', 'DEFAULT_SPEED'))
else:
moveRover.stop()
directions = ['forward', 'backward', 'right', 'left']
#Message Handlers and Callback functions
for direction in directions:
oscSrv.addMsgHandler("/move/" + direction, move)
print "\n listening on port: %s" % config.get('osc_srv', 'PORT')
try:
while True:
oscSrv.handle_request()
except KeyboardInterrupt:
print "Quit"
oscSrv.close()
class OscReceiver(MessageReceiverInterface):
"""A class for receiving Osc messages and passing them to its subscribers"""
def __init__(self, others, protos, ip="127.0.0.1", port=8888):
MessageReceiverInterface.__init__(self)
self.oscServerIp = ip
self.oscServerPort = port
self.oscMasterIp = None
self.oscMasterPort = None
## this is a dict of names to receivers
## like: 'sms' -> SmsReceiver_instance
## keys are used to match against osc requests
self.allReceivers = others
## to enable osc forwarding, add osc server as subscriber to all receivers
for k in self.allReceivers:
self.allReceivers[k].addSubscriber((self.oscServerIp,self.oscServerPort))
## this is a dict of (ip,port) -> prototype
## like: (192.168.2.5, 8888) -> megavoice
self.allPrototypes = protos
def _oscHandler(self, addr, tags, stuff, source):
addrTokens = addr.lstrip('/').split('/')
## /LocalNet/{Add,Remove}/Type -> port-number
if ((addrTokens[0].lower() == "localnet")
and (addrTokens[1].lower() == "add")):
ip = getUrlStr(source).split(":")[0]
port = int(stuff[0])
self.allPrototypes[(ip,port)] = addrTokens[2]
if (addrTokens[3].lower() in self.allReceivers):
print "adding "+ip+":"+str(port)+" to "+addrTokens[3].lower()+" receivers"
self.allReceivers[addrTokens[3].lower()].addSubscriber((ip,port))
## if adding osc listener need to setup osc master
if((addrTokens[3].lower().startswith('osc'))
and (not self.oscMasterIp is None)
and (not self.oscMasterPort is None)):
print ("adding osc master")
try:
oscSubscribeMessage = OSCMessage()
oscSubscribeMessage.setAddress("/LocalNet/Add/"+addrTokens[2]+"/Osc")
oscSubscribeMessage.append(str(self.oscServerPort).encode('utf-8'), 'b')
self.oscClient.connect((self.oscMasterIp, int(self.oscMasterPort)))
self.oscClient.sendto(oscSubscribeMessage, (self.oscMasterIp, int(self.oscMasterPort)))
self.oscClient.connect((self.oscMasterIp, int(self.oscMasterPort)))
except OSCClientError:
print ("no connection to "+self.oscMasterIp+":"+str(self.oscMasterPort))
elif ((addrTokens[0].lower() == "localnet")
and (addrTokens[1].lower() == "remove")):
ip = getUrlStr(source).split(":")[0]
port = int(stuff[0])
if (addrTokens[2].lower() in self.allReceivers):
print "removing "+ip+":"+str(port)+" from "+addrTokens[2].lower()+" receivers"
self.allReceivers[addrTokens[2].lower()].removeSubscriber((ip,port))
## only remove from list of prototypes when not in any receiver...
inSomeSubscriber = False
for k in self.allReceivers:
inSomeSubscriber |= self.allReceivers[k].hasSubscriber((ip,port))
if ((not inSomeSubscriber) and ((ip,port) in self.allPrototypes)):
print("removing "+self.allPrototypes[(ip,port)]+" @ "+ip+":"+str(port)
+" from list of prototypes")
del self.allPrototypes[(ip,port)]
## /LocalNet/ListReceivers -> port-number
elif ((addrTokens[0].lower() == "localnet")
and (addrTokens[1].lower().startswith("listreceiver"))):
ip = getUrlStr(source).split(":")[0]
port = int(stuff[0])
## send list of receivers to client
msg = OSCMessage()
msg.setAddress("/LocalNet/Receivers")
msg.append(",".join(self.allReceivers.keys()))
try:
self.oscClient.connect((ip, port))
self.oscClient.sendto(msg, (ip, port))
self.oscClient.connect((ip, port))
except OSCClientError:
print ("no connection to "+ip+":"+str(port)
+", can't send list of receivers")
## /LocalNet/ListReceivers -> port-number
elif ((addrTokens[0].lower() == "localnet")
and (addrTokens[1].lower().startswith("listprototype"))):
ip = getUrlStr(source).split(":")[0]
port = int(stuff[0])
## send list of prototypes to client
msg = OSCMessage()
msg.setAddress("/LocalNet/Prototypes")
msg.append(",".join(self.allPrototypes.values()))
try:
self.oscClient.connect((ip, port))
self.oscClient.sendto(msg, (ip, port))
self.oscClient.connect((ip, port))
except OSCClientError:
print ("no connection to "+ip+":"+str(port)
+", can't send list of prototypes")
## /AEffectLab/{local}/{type} -> msg
elif (addrTokens[0].lower() == "aeffectlab"):
oscTxt = stuff[0].decode('utf-8')
print "forwarding "+addr+" : "+oscTxt+" to my osc subscribers"
## send to all subscribers
addr = "/AEffectLab/"+addrTokens[1]+"/"+addrTokens[2]
self.sendToAllSubscribers(oscTxt, addr)
## setup osc server
def setup(self, db, osc, loc):
self.database = db
self.oscClient = osc
self.location = loc
self.name = "osc"
self.oscServer = OSCServer((self.oscServerIp,self.oscServerPort))
## handler
self.oscServer.addMsgHandler('default', self._oscHandler)
## start server
self.oscThread = Thread( target = self.oscServer.serve_forever )
self.oscThread.start()
## return
return True
## setup master ip,port
def setupMaster(self,ip,port):
self.oscMasterIp = ip
self.oscMasterPort = int(port)
## update osc server
def update(self):
pass
## end oscReceiver
def stop(self):
self.oscServer.close()
self.oscThread.join()
class OscInput(BaseComponent):
config_name = 'osc_inputs'
def __init__(self, options = {}):
BaseComponent.__init__(self, options)
# attributes
self.osc_server = None
self.connected = False
self.running = False
self.osc_map = None
self.threaded = self.getOption('threaded', True)
self.thread = None
def __del__(self):
self.destroy()
def setup(self, event_manager=None):
BaseComponent.setup(self, event_manager)
self.msgEventMapping = self.getOption('output_events', {})
self.autoAddrToEvent = 'auto' in self.msgEventMapping and self.msgEventMapping['auto']
# events
self.connectEvent = self.getOutputEvent('connect')
self.disconnectEvent = self.getOutputEvent('disconnect')
self.messageEvent = self.getOutputEvent('message', dummy=False) # can be None if not configured
if self.getOption('autoStart', True):
self.start()
def destroy(self):
self.msgEventMapping = None
self.event_manager = None
self.stop()
def start(self):
if self._connect():
self.running = True
def stop(self):
if self.connected:
self._disconnect()
self.running = False
def update(self):
if self.connected:
if not self.threaded:
self._processIncomingMessages()
def _processIncomingMessages(self):
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 50
count = 0
# clear timed_out flag
self.osc_server.timed_out = False
# handle all pending requests then return
# NOTE; if you get weird bugs because self.osc_server is None,
# one of handled OSC messages probably triggered the destruction
# of this component. This should not happen until after this update
# loop is finished, so destructive operations should be queued for later
while self.osc_server.timed_out == False and count < limit:
try:
self.osc_server.handle_request()
count += 1
except Exception as exc:
self.logger.error("Something went wrong while handling incoming OSC messages:")
self.logger.error(exc)
def port(self):
return self.getOption('port', DEFAULT_PORT)
def host(self):
return self.getOption('ip', DEFAULT_IP)
def _connect(self):
if self.connected:
self.logger.warning('already connected')
return False
try:
self.osc_server = OSCServer((self.host(), self.port()))
except Exception as err:
# something went wrong, cleanup
self.connected = False
self.osc_server = None
# notify
self.logger.error("{0}\n\tOSC Server could not start @ {1}:{2}".format(err, self.host(), str(self.port())))
# abort
return False
# register time out callback
self.osc_server.handle_timeout = self._onTimeout
self.osc_server.addMsgHandler('default', self._onOscMsg)
# set internal connected flag
self.connected = True
# notify
self.connectEvent(self)
self.logger.info("OSC Server running @ {0}:{1}".format(self.host(), str(self.port())))
if self.threaded:
self._threadStopFlag = False
self.thread = threading.Thread(target=self._threadMethod, args=())
self.thread.start()
self.logger.info("started separate OSC-listener thread")
return True
def _disconnect(self):
if self.threaded:
self._threadStopFlag = True
self.logger.info("stopping separate OSC-listener thread...")
while self.thread and self.thread.isAlive():
pass
self.logger.info('done')
self.thread = None
if self.osc_server:
self.osc_server.close()
self.connected = False
self.osc_server = None
self.disconnectEvent(self)
self.logger.info('OSC Server ({0}:{1}) stopped'.format(self.host(), str(self.port())))
def _onTimeout(self):
if self.osc_server:
self.osc_server.timed_out = True
def _onOscMsg(self, addr, tags=[], data=[], client_address=''):
# skip touch osc touch-up events
# if len(data) == 1 and data[0] == 0.0:
# return
self.logger.debug('osc-in {0}:{1} {2} [{3}] from {4}'.format(self.host(), self.port(), addr, ", ".join(map(lambda x: str(x), data)), client_address))
if self.messageEvent:
self.messageEvent(addr, tags, data, client_address)
# trigger events based on incoming messages if configured
if addr in self.msgEventMapping:
self.logger.debug('triggering output event: {0}'.format(self.msgEventMapping[addr]))
self.event_manager.fire(self.msgEventMapping[addr])
elif self.autoAddrToEvent:
self.logger.debug('triggering auto-output event: {0}'.format(addr))
self.event_manager.fire(addr)
def _threadMethod(self):
while not self._threadStopFlag:
self._processIncomingMessages()
class Kinect(threading.Thread):
def __init__(self, remote_ip = None):
super(Kinect, self).__init__()
core.register_terminate_func(self.close)
# Synapse is running on a remote machine:
if remote_ip:
listen_ip = socket.gethostbyname(socket.gethostname())
listen_port = 12345
send_ip = remote_ip
send_port = 12321
# Synapse is running locally on this machine, using localhost
else:
listen_ip = 'localhost'
listen_port = 12345
send_ip = 'localhost'
send_port = 12346
self.server = OSCServer( (listen_ip, listen_port) )
self.server.addMsgHandler( '/tracking_skeleton', self.callback_tracking_skeleton )
self.server.addMsgHandler( 'default', self.callback_ignore )
# create the client, which sends control messages to Synapse
self.client = OSCClient()
self.client.connect( (send_ip, send_port) )
# member vars
self.active_joints = {}
self.last_heartbeat_time = 0
self.done_running = False
# start the server listening for messages
self.start()
# close must be called before app termination or the app might hang
def close(self):
# this is a workaround of a bug in the OSC server
# we have to stop the thread first, make sure it is done,
# and only then class server.close()
self.server.running = False
while not self.done_running:
time.sleep(.01)
self.server.close()
def run(self):
print "Worker thread entry point"
self.server.serve_forever()
self.done_running = True
def add_joint(self, joint):
self.server.addMsgHandler(joint + '_pos_body', self.callback)
self.active_joints[joint] = np.array([0.0, 0.0, 0.0])
def remove_joint(self, joint):
self.server.delMsgHandler(joint + '_pos_body')
del self.active_joints[joint]
def on_update(self):
now = time.time()
send_heartbeat = now - self.last_heartbeat_time > 3.0
if send_heartbeat:
self.last_heartbeat_time = now
try:
for j in self.active_joints:
if send_heartbeat:
#print 'heartbeat:', j
self.client.send( OSCMessage(j + "_trackjointpos", 1) )
except Exception as x:
print x, 'sending to', self.client.client_address
def get_joint(self, joint) :
return np.copy(self.active_joints[joint])
def callback_ignore(self, path, tags, args, source):
pass
def callback(self, path, tags, args, source):
#print path, args
joint_name = path.replace("_pos_body", "")
self.active_joints[joint_name] = np.array(args)
def callback_tracking_skeleton(self, path, tags, args, source):
pass
class LiveRawAPI(object):
"""
This is close to live's API objects as possible
Of course, they are designed to be manipulated from a patcher,
not real code, so a bit more wrapping is in order.
To keep everything minimal, this is done in a subclass.
"""
_incoming = None
_handled = True
_received = False
debug = False
def __init__(self,
there_host="localhost",
there_port=7400,
here_host="localhost",
here_port=7401,
debug=False,
*args,
**kwargs):
super(LiveRawAPI, self).__init__(*args, **kwargs)
self.oscserver = OSCServer((here_host, here_port))
self.oscclient = OSCClient()
self.oscclient.connect((there_host, there_port))
self.oscserver.addMsgHandler('/response', self._handle_response)
self._incoming = []
def raw_query(self, *args):
"""Posts a query, waits for a response. Returns it.
Note that state is fragile here, so you'd better be sure that there
will be a response, or it will hang waiting."""
self.oscclient.send(OSCMessage('/query', args))
return self.handle_request()
def raw_call(self, *args):
"""Posts a call, returns nothing.
Note that state is fragile here, so you'd better be sure that there
will be no response, or you won't know what returned what."""
self.oscclient.send(OSCMessage('/query', ['path', 'getpath']))
def _handle_response(self, path, tags, args, source):
"""private callback to handle OSC responses. Sets state."""
if self.debug: print "callback", path, args, source
self._incoming.append(args)
self._received = True
def handle_request(self):
"""hack to handle asynchronous calls:
1 try to get something returned and tacked onto the class.
2 Return it and reset.
This is completely f****d at the momenl I can't make timeouts work in any usable fashion."""
try:
self.oscserver.handle_request()
while self._received:
self._received = False
self.oscserver.handle_request()
_incoming = self._incoming
return _incoming
finally:
self._incoming = []
self._received = False
def close(self):
self.oscserver.close()
### more structured access involves navigating places with the path object
def goto(self, *args):
resp = self.raw_query('path', 'goto', *args)
prefix, path = resp[1], resp[2:]
#sanity check that we are getting the right message
assert prefix == 'path'
self.path = path
def path(self, *args):
return self.goto(*args)
def getchildren(self):
resp = self.raw_query('path', 'getchildren')
return resp[1:]
def getcount(self):
resp = self.raw_query('path', 'getcount')
return resp[1:]
class OscReader:
def __init__(self,
host="127.0.0.1",
port=8080,
manager=None,
threaded=False,
autoStart=True):
# params
self.manager = manager
self.host = host
self.port = port
self.threaded = threaded
# attrs
self._kill = False
self.oscServer = None
self.thread = None
if autoStart:
self.start()
def setup(self):
if self.oscServer != None:
self.destroy()
ColorTerminal().output(
"Starting OSC server with host {0} and port {1}".format(
self.host, self.port))
self.oscServer = OSCServer((self.host, self.port))
self.oscServer.handle_timeout = self.handleTimeout
self.oscServer.addMsgHandler('/marker', self.oscMarkerHandler)
self.oscServer.addMsgHandler('/rigidbody', self.oscRigidBodyHandler)
ColorTerminal().success("Server running")
def destroy(self):
if self.oscServer == None:
return
self.oscServer.close()
self.oscServer = None
def update(self):
if self.oscServer == None:
return
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 10
count = 0
# clear timed_out flag
self.oscServer.timed_out = False
# handle all pending requests then return
while not self.oscServer.timed_out and count < limit:
self.oscServer.handle_request()
count += 1
def oscMarkerHandler(self, addr, tags, data, client_address):
if self.manager:
self.manager.processMarkersData([data[0]])
def oscRigidBodyHandler(self, addr, tags, data, client_address):
# readers can interface with the mocap data manager directly (most efficient)
if self.manager:
self.manager.processRigidBodyJson(data[0])
def handleTimeout(self):
if self.oscServer != None:
self.oscServer.timed_out = True
def start(self):
if not self.threaded:
self.setup()
return
if self.thread and self.thread.isAlive():
ColorTerminal().warn(
"OscReader - Can't start while a thread is already running")
return
self._kill = False
# threaded loop method will call setup
self.thread = threading.Thread(target=self.threaded_loop)
self.thread.start()
def stop(self):
if self.threaded:
# threaded loop method will call destroy
self._kill = True
else:
self.destroy()
def threaded_loop(self):
self.setup()
while not self._kill:
self.update()
self.destroy()
class liveScriptWindow(Frame):
def __init__(self, parent):
Frame.__init__(self, parent)
self.exitFlag = False
self.parent = parent
self.ck_ctl = ck_ctl
self.is_locked = False
self.is_muted = False
self.lock_timer = None
self.offset_time = 0.0
self.current_song_name = ""
self.tempo = 120.0
self.signature_numerator = 4
self.signature_denominator = 4
self.song_saved = True
self.arrQueue = []
self.undoables = 0
self.first_run = True
self.setlist_window = None
self.filler_words = ['slot','sl','scene','ch','channel','track']
self.xpos = 870
self.ypos = 420
self.ls = ls(self)
self.setlist = []
self.setlist_file = "setlist.txt"
self.setlist_window = ls_setlist_window(self)
self.setlist_xpos = 150
self.setlist_ypos = 350
if ck_ctl:
self.control_panel = ck_control_panel(self)
self.control_panel_xpos = 0
self.control_panel_ypos = 0
self.prefs_file = "prefs.txt"
self.load_prefs()
parent.wm_title("LiveScript")
parent.geometry("720x400+" + str(self.xpos) + "+" + str(self.ypos) )
parent.configure(bg="black")
self.font_big = Font(family="Ariel", size=24)
self.font_med = Font(family="Ariel", size=18)
label_title = Label(parent, text="Name:", bg="black", fg="white")
label_title.grid(row=0, column=0, sticky=E)
self.sv = StringVar()
self.sv.trace("w", lambda name, index, mode, sv=self.sv: self.text_changed())
self.entry_title = Entry(parent, width=22,exportselection=False, bg="black", fg="lightblue", font=self.font_big, insertbackground="white", textvariable = self.sv, borderwidth=0)
self.entry_title.grid(row=0, column=1,sticky=W)
self.label_count = Label(parent, text="0/0", bg="black", fg="white", font=self.font_med)
self.label_count.grid(row=0, column=2, sticky=S)
self.button_add = Button(parent, text="Add", command=self.scene_add,bg="#003366", fg="white", width=5)
self.button_add.grid(row=0, column=3, sticky=S)
self.button_del = Button(parent, text="Delete", command=self.scene_del,bg="#664433", fg="white", width=5)
self.button_del.grid(row=0, column=4, padx=6, sticky=S)
self.listbox_setlist = Listbox(parent, height=18,width=15,exportselection=False, bg="black", fg="white")
self.listbox_setlist.grid(row=0, column=5, columnspan=2, rowspan=5, sticky=NW, pady=12)
label_desc = Label(parent, text="Info:", bg="black", fg="white")
label_desc.grid(row=1, column=0, sticky=E)
self.sv2 = StringVar()
self.sv2.trace("w", lambda name, index, mode, sv=self.sv2: self.text_changed())
self.entry_desc = Entry(parent, width=22,exportselection=False, bg="black", fg="blue", font=self.font_big, insertbackground="white", textvariable = self.sv2, borderwidth=0)
self.entry_desc.grid(row=1, column=1,sticky=NW)
self.button_reload = Button(parent, text="Reload", command=self.reload,bg="#664433", fg="white", width=8)
self.button_reload.grid(row=1, column=2, sticky=W, padx=0)
self.button_move_up = Button(parent, text="Up", command=self.scene_up,bg="#333333", fg="white", width=5)
self.button_move_up.grid(row=1, column=3, padx=6, pady=10)
self.button_move_down = Button(parent, text="Down", command=self.scene_down,bg="#333333", fg="white", width=5)
self.button_move_down.grid(row=1, column=4, padx=6, pady=10)
self.button_undo = Button(parent, text="Undo", command=self.undo,bg="#003366", fg="white")
self.button_undo.grid(row=2, column=0, sticky=N)
self.text_scroll = Scrollbar(parent)
self.text_script = Text(parent, height=14, width=50, bg="#333333", selectbackground="blue", fg="white", insertbackground="white", wrap=WORD)
self.text_script.grid(row=2, column=1, rowspan=2,sticky=W)
self.text_scroll.grid(row=2,column=2, sticky=N+S+W,rowspan=2)
self.text_script.config(yscrollcommand=self.text_scroll.set)
self.text_scroll.config(command=self.text_script.yview)
self.text_script.tag_configure("even",background="#222222")
self.text_script.tag_configure("odd",background="#000000")
self.text_script.tag_configure("sel",bgstipple="@solid.xbm", borderwidth=1) #background="#cc0000",
self.button_prev = Button(parent, text="Previous", command=self.prevScene,bg="#003366", fg="white", width=13, height=3)
self.button_prev.grid(row=2, column=3, columnspan=2, sticky=N)
self.button_undo_all = Button(parent, text="Undo\nAll", command=self.undo_all,bg="#003366", fg="white")
self.button_undo_all.grid(row=3, column=0, sticky=N, pady=20)
self.button_undo_all = Button(parent, text="Undo\n+\nRedo", command=self.undo_redo,bg="#003366", fg="white")
self.button_undo_all.grid(row=3, column=0, sticky=S)
self.button_next = Button(parent, text="Next", command=self.nextScene,bg="#003366", fg="white", height=9, width=13)
self.button_next.grid(row=3, column=3, columnspan=2, sticky=S, pady=6)
label_next = Label(parent, text="Next:", bg="black", fg="white")
label_next.grid(row=4, column=0, sticky=E)
self.label_next_title = Label(parent, text="(next scene)", bg="black", fg="#FF6666", font=self.font_big, width=21, anchor=W)
self.label_next_title.grid(row=4, column=1, sticky=W)
self.button_save = Button(parent, text="Save", command=self.saveSong,bg="green", fg="black", width=8)
self.button_save.grid(row=4, column=2)
self.button_mute = Button(parent, text="Mute", command=self.mute,bg="#333333", fg="white", width=13)
self.button_mute.grid(row=4, column=3, columnspan=2)
self.button_setlist = Button(parent, text="Setlist\nManager", command=self.setlist_window.open,bg="#003366", fg="white", width=13)
self.button_setlist.grid(row=4, column=5, sticky=N)
label_info2 = Label(parent, text="Info:", bg="black", fg="white")
label_info2.grid(row=5, column=0, sticky=E)
self.label_next_info = Label(parent, text="(next desc)", bg="black", fg="red", font=self.font_big, width=21, anchor=W)
self.label_next_info.grid(row=5, column=1, sticky=NW)
self.button_send = Button(parent, text="Send", command=self.sendBox,bg="#003366", fg="white", width=8)
self.button_send.grid(row=5, column=2)
#self.liveTime = Label(parent, text="0")
#self.liveTime.pack(side="top",anchor="n")
self.button_play = Button(parent, text="Play", command=lambda: self.ls.playback(['foo','play'],True),bg="#003366", fg="white", width=5)
self.button_play.grid(row=5, column=3)
self.button_stop = Button(parent, text="Stop", command=lambda: self.ls.playback(['foo','stop'],True),bg="#003366", fg="white", width=5)
self.button_stop.grid(row=5, column=4)
if ck_ctl:
self.button_stop = Button(parent, text="Ctl", command=self.control_panel.open,bg="#003366", fg="white", width=5)
self.button_stop.grid(row=5, column=5)
self.server = OSCServer( ("localhost", 9000) )
self.server.timeout = 0
self.timed_out = False
self.server.addMsgHandler( "/livescript/next", self.nextScene )
self.server.addMsgHandler( "/live/sync", self.update_sync )
self.server.addMsgHandler( "/live/error", self.live_error )
for crap in ['master/devices','startup','track/devices','track/device/param','return/devices','track/volume','track/select','track/send','tempo','metronome','play','track/state']:
self.server.addMsgHandler( "/live/" + crap, self.foo )
self.server.handle_timeout = types.MethodType(self.handle_timeout, self.server)
self.client = OSCClient()
self.client.connect( ("localhost", 9001) )
self.scene_index = 0
self.song_index = -1
self.arrSong = []
self.arrScene = []
#self.setPath = "songs/"
self.load_set()
#def setlist_window_remove(self):
# self.setlist_window.destroy()
# self.setlist_window = None
def foo(self,*args):
pass
def text_changed(self,*args):
self.button_save.configure(bg="red",text="Save Me")
def mute(self,*args):
if self.is_muted:
self.is_muted = False
self.button_mute.configure(bg="#333333",text="Mute", fg="white")
else:
self.is_muted = True
self.button_mute.configure(bg="red",text="Muted!")
def update_sync(self,path, tags, args, source):
network_lag = .01
self.offset_time = args[2] - time.clock() + network_lag
self.tempo = args[1]
live_time = (time.clock() + self.offset_time ) / (self.signature_numerator / (self.tempo / 60.0))
print(str(live_time)[0:5] + " time:" + str(args))
def live_error(self,path, tags, args, source):
print("live error! " + str(args))
def load_prefs(self):
if os.path.isfile(self.prefs_file):
f = open(self.prefs_file,'r+')
prefs_data = json.load(f)
print("loading from prefs file")
f.close()
print(prefs_data)
for pref in prefs_data:
print(str(pref) + ":" + str(prefs_data[pref]))
setattr(self, pref, prefs_data[pref])
else:
print("creating new prefs file")
self.save_prefs()
#prefs_data = json.loads('{"setlist_file":"setlist.txt"}')
#prefs_data = {"setlist_file":"setlist.txt",}
#json.dumps(prefs_data)
def save_prefs(self):
saveable_prefs = ['setlist_file','tempo','xpos','ypos','setlist_xpos','setlist_ypos','control_panel_xpos','control_panel_ypos']
print("window at:" + str(self.parent.winfo_x()) + " x " + str(self.parent.winfo_y()))
self.xpos = self.parent.winfo_x()
self.ypos = self.parent.winfo_y()
# if os.path.isfile(self.prefs_file):
f = open(self.prefs_file,'w')
print("saving to prefs file")
# else:
# print("creating new prefs file!")
# f = open(self.prefs_file,'a')
dict_prefs = {}
for pref in saveable_prefs:
dict_prefs[pref] = getattr(self,pref)
f.write(json.dumps(dict_prefs))
f.close()
def load_set(self):
if os.path.isfile(self.setlist_file):
f = open(self.setlist_file,'r')
setlist = json.load(f)
print("loading from set file")
else:
print("creating new set file")
f = open(self.setlist_file,'a')
setlist = "empty set,"
#ex.prefs = json.loads('{"mod":0}')
#json.dump(ex.prefs, f)
f.close()
self.setlist = setlist #.split('\n')
#ls.text_script.insert(END,ls.setlist)
self.listbox_setlist.delete(0, END)
self.setlist = []
for song in setlist: #.split('\n'):
#song = song.split(",")
self.setlist.append(song)
self.listbox_setlist.insert(END,song[0])
self.listbox_setlist.selection_set(0)
#print("setlist:" + str(self.setlist))
def handle_timeout(self,server):
self.timed_out = True
def saveSong(self):
self.arrSong[self.scene_index] = self.entry_title.get() + "," + self.entry_desc.get() + "," + self.text_script.get("1.0",END).replace('\n',',').replace('\r','').strip(',').strip(' ')
#songFile = self.setPath + self.current_song_name + ".csv"
songFile = self.setlist[self.song_index][1]
f = open(songFile,'w')
f.write('\n'.join(self.arrSong))
print("saving to ",songFile)
f.close()
self.button_save.configure(bg="green",text="Saved")
self.text_script.edit_modified(False)
self.song_saved = True
def loadSong(self):
songFile = self.setlist[self.song_index][1]
if os.path.isfile(songFile):
f = open(songFile,'r+')
self.arrSong = f.read().split('\n') #json.load(f) we gonna json this bitch yet?
#print("loading from song file" + str(self.arrSong))
else:
print("creating new song file")
f = open(songFile,'a')
self.arrSong = ["empty"]
#ex.prefs = json.loads('{"mod":0}')
#json.dump(ex.prefs, f)
f.close()
#ls.text_script.insert(END,ls.setlist)
#ls.listbox_setlist.clear()
self.scene_index = 0
self.song_saved = True
self.button_save.configure(bg="green", text="Saved")
self.refreshScene()
def scene_del(self,*arg):
if len(self.arrSong) > 1:
self.arrSong.pop(self.scene_index)
if self.scene_index > 0:
self.scene_index -= 1
self.song_saved = False
self.button_save.configure(bg="red",text="Save Me")
self.refreshScene()
def scene_add(self,*arg):
new_scene = "New Scene,New Info"
self.arrSong.insert(self.scene_index+1,new_scene)
self.scene_index += 1
self.song_saved = False
self.button_save.configure(bg="red",text="Save Me")
self.refreshScene()
def scene_up(self,*arg):
if self.scene_index < len(self.arrSong) - 1:
self.arrSong.insert(self.scene_index + 1,self.arrSong.pop(self.scene_index))
self.scene_index += 1
self.song_saved = False
self.button_save.configure(bg="red",text="Save Me")
self.refreshScene()
def scene_down(self,*arg):
if self.scene_index > 0:
self.arrSong.insert(self.scene_index - 1,self.arrSong.pop(self.scene_index))
self.scene_index -= 1
self.song_saved = False
self.button_save.configure(bg="red",text="Save Me")
self.refreshScene()
def nextScene(self,*arg):
if not self.is_locked:
self.scene_index += 1
if self.scene_index >= len(self.arrSong):
print("end of song")
if self.song_index + 1 < len(self.setlist):
self.song_index += 1
else:
self.song_index = 0
self.scene_index = 0
self.current_song_name = self.setlist[self.song_index][0]
self.listbox_setlist.select_clear(0,END)
self.listbox_setlist.selection_set(self.song_index)
self.loadSong()
else:
self.refreshScene()
else:
self.locker(False)
def reload(self,*arg):
#self.locker(False)
self.scene_index = 0
self.loadSong()
def prevScene(self):
if self.scene_index < 1 :
self.scene_index = len(self.arrSong)
self.scene_index = self.scene_index - 1
self.refreshScene()
def quit(self):
self.server.close()
self.parent.destroy()
def locker(self,lock = False, lock_bars = 0):
if lock:
self.button_next.configure(bg = "red", text="Locked")
#print("timer",lock_bars ,self.tempo ,self.signature_numerator,lock_bars * (self.signature_numerator / (self.tempo / 60.0))+ .1)
self.lock_timer = Timer(lock_bars * (self.signature_numerator / (self.tempo / 60.0))+ .1, self.locker)
self.lock_timer.start()
else:
self.button_next.configure(bg = "#003366", text="Next")
if self.lock_timer != None:
self.lock_timer.cancel() #= None
print("lock",lock)
self.is_locked = lock
def refreshScene(self):
print("-----------AND SCENE---------------------------")
self.arrScene = self.arrSong[self.scene_index].split(",")
if self.scene_index < (len(self.arrSong) - 1):
nxt = self.arrSong[self.scene_index + 1].split(",")
else:
nxt = ["END OF SONG","(load next song)"]
self.label_count.configure(text=str(self.scene_index +1) + "/" + str(len(self.arrSong)))
self.text_script.delete('1.0', END)
tag = "even"
for line in self.arrScene[2:len(self.arrScene)]:
self.text_script.insert(END,line+"\n",tag)
tag = "even" if tag == "odd" else "odd"
self.entry_title.delete(0, END)
self.entry_title.insert(END,self.arrScene[0])
self.entry_desc.delete(0, END)
self.entry_desc.insert(END,self.arrScene[1])
self.label_next_title.configure(text=nxt[0])
self.label_next_info.configure(text=nxt[1])
"""
for lsCmd in self.arrScene[2:len(self.arrScene)]:
lsCmd = re.sub('\[([^\]]+)\]','',re.sub('[\s]+', ' ',lsCmd.lower().strip()))
arrCmd = lsCmd.split(" ")
#if there is a delay command make sure it's the last element
delayCmds = [i for i, s in enumerate(arrCmd) if '+' in s]
if delayCmds:
barDelay = arrCmd.pop(delayCmds[0])
print( "delay " + str(barDelay) + "bars: " + str(arrCmd))
arrCmd.append(barDelay)
try:
result = getattr(self, 'ls_'+arrCmd[0])(arrCmd)
except Exception, e:
print('404! ' + str(e) + "\n" + str(arrCmd))
"""
self.text_script.edit_modified(False)
if self.song_saved:
self.button_save.configure(bg="green", text="Saved")
self.sendBox()
def sendBox(self):
try:
txtScene = self.text_script.selection_get()
whole_box = False
except:
# txtScene = ""
#if len(txtScene) < 1:
txtScene = self.text_script.get("1.0",END)
whole_box = True
if not self.is_muted or not whole_box:
print("processing:",txtScene)
else:
print("(muted)")
wait_time = 0
self.undoables = 0
if self.first_run:
self.first_run = False
return #dont send the patch at startup
else:
txtScene = re.sub('\[([^\]]+)\]','',txtScene.lower()) #remove comments and extra breaks, lower case
for lsCmd in txtScene.split("\n"):
lsCmd = re.sub('[\s]+', ' ',lsCmd.strip()) #remove extra space
#lsCmd = re.sub('\[([^\]]+)\]','',re.sub('[\s]+', ' ',lsCmd.lower().strip()))
#arrCmd = lsCmd.split(" ")
arrCmd = shlex.split(lsCmd)
if len(arrCmd) < 2:
#print("no valid cmd")
continue
oscm = None
#if there is a delay command only use the first one (they can be nested this way but that's dumb)
delayCmds = [[i,s] for i, s in enumerate(arrCmd) if (s[0] == '+')]
if delayCmds:
print(["delay",delayCmds])
if delayCmds[0][1][-1] == 'b': #if the last character is a b then the number is for beats, not bars
delayCmd = ['beats',int(delayCmds[0][1][1:-1])]
else:
delayCmd = ['bars',int(delayCmds[0][1][1:])]
arrCmd.pop(delayCmds[0][0])
#print( "delay " + str(barDelay) + "bars: " + str(arrCmd))
#arrCmd.append(barDelay)
try:
if arrCmd[0] not in ["fade","playback","lock"]:
self.undoables += 1
if not self.is_muted or not whole_box and oscm !='\n':
oscm = getattr(self.ls, arrCmd[0])(arrCmd[1:])
if arrCmd[0].lower() == 'wait':
wait_time += arrCmd[1]
if oscm is not None:
if delayCmds and whole_box and not self.is_muted:
#oscm.append(barDelay,'k')
secPerBeat = 1 / (self.tempo / 60.0)
secPerBar = self.signature_numerator * secPerBeat
live_time = (time.clock() + self.offset_time ) / (self.signature_numerator / (self.tempo / 60.0))
pctToNextBar = (1 - (live_time - int(live_time)))
secToNextBeat = (pctToNextBar * self.signature_numerator - int(pctToNextBar * self.signature_numerator)) * secPerBeat
secToNextBar = pctToNextBar * secPerBar
#secToNextBar = (self.signature_numerator - (live_time % self.signature_numerator)) * secPerBar / self.signature_numerator
if delayCmd[0] == 'beats':
secDelay = delayCmd[1] * secPerBeat + secToNextBeat + .01
else:
secDelay = delayCmd[1] * secPerBar + secToNextBar + .01
schTime = (time.clock() + self.offset_time + secDelay ) / (self.signature_numerator / (self.tempo / 60.0))
print(str(live_time)[0:5]+ " delay " + str( delayCmd[1]) + delayCmd[0] + str(oscm) + " del=" + str(schTime)[0:5] + " sec=" + str(secDelay)[:5] + " snb=" + str(secToNextBar)[:5])
self.q(oscm,secDelay)
#self.arrQueue.append([oscm,time.clock() + secDelay])
#Timer(secDelay, self.send, [oscm]).start()
else:
if not self.is_muted or not whole_box:
self.arrQueue.append([oscm,time.clock() + wait_time])
#self.send( oscm )
except Exception, e:
print('cmd err! ' + str(e) + str(arrCmd))
def main(stdcr):
stdscr = curses.initscr()
stdscr.nodelay(1)
activeLight = False
activeVideoOn = False
activeVideoOff = False
lastButtonCar = 1
sentButtonCar = 0
timerButtonCar = 0
connected = False
raspberryAddress = '192.168.0.197', 7100
milluminAddress = '192.168.1.21', 5000
milluminAddress2 = '192.168.1.22', 5000
while not connected:
try:
server = OSCServer(raspberryAddress)
server.timeout = 0
# Creamos el objeto "Cliente"
client = OSCClient()
client2 = OSCClient()
# Realizamos la conexion
# client.connect( milluminAddress )
# client2.connect( milluminAddress2 )
connected = True
except:
print("No se encuentra el servidor OSC. Reintentando...")
time.sleep(5)
# funny python's way to add a method to an instance of a class
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler("/1/lightPlus", callback_lightOn)
server.addMsgHandler("/1/lightMinus", callback_lightOff)
server.addMsgHandler("/1/videoOn1", callback_videoOn1)
server.addMsgHandler("/1/videoOn1eng", callback_videoOn1eng)
server.addMsgHandler("/1/videoOn2", callback_videoOn2)
server.addMsgHandler("/1/videoOn2eng", callback_videoOn2eng)
server.addMsgHandler("/1/videoOn3", callback_videoOn3)
server.addMsgHandler("/1/videoOn4", callback_videoOn4)
server.addMsgHandler("/1/videoStop", callback_videoStop)
GPIO.setmode(GPIO.BCM)
GPIO.setup(17, GPIO.OUT) ## GPIO 17 como salida (bajar luz)
GPIO.setup(27, GPIO.OUT) ## GPIO 27 como salida (subir luz)
GPIO.setup(
22, GPIO.IN,
pull_up_down=GPIO.PUD_UP) ## GPIO 23 como entrada (boton iniciar show)
time_stamp = time.time() - 30
# simulate a "game engine"
while True:
while not connected:
try:
server = OSCServer(raspberryAddress)
server.timeout = 0
# Creamos el objeto "Cliente"
client = OSCClient()
client2 = OSCClient()
# Realizamos la conexion
client.connect(milluminAddress)
client2.connect(milluminAddress2)
connected = True
except:
# print("No se encuentra el servidor OSC. Reintentando...")
stdscr.addstr(
"No se encuentra el servidor OSC. Reintentando..." + ' ')
stdscr.refresh()
# return curser to start position
stdscr.move(0, 0)
time.sleep(5)
try:
stdscr.move(0, 0)
c = stdscr.getch()
if c != -1:
# print numeric value
stdscr.addstr(str(c) + ' ')
stdscr.refresh()
# return curser to start position
stdscr.move(0, 0)
# do the game stuff:
if activeLight:
GPIO.output(17, False)
else:
GPIO.output(17, True)
# print GPIO.input(22)
if (GPIO.input(22) == 0) and (lastButtonCar == 1):
timerButtonCar = time.time()
lastButtonCar = 0
# print "Inicio Pulso"
elif (GPIO.input(22) == 0) and (lastButtonCar
== 0) and (not sentButtonCar):
delta = time.time() - timerButtonCar
if delta > 1.0:
msg = OSCMessage()
msg.setAddress("/millumin/action/launchorStopColumn")
msg.append(9.0)
#client.send(msg) # now we dont need to tell the client the address anymore
#client2.send(msg) # now we dont need to tell the client the address anymore
sentButtonCar = True
# print "Lanzando mapping coche"
stdscr.addstr("Lanzando mapping coche..." + ' ')
stdscr.refresh()
# return curser to start position
stdscr.move(0, 0)
elif (GPIO.input(22) == 1) and (lastButtonCar == 0):
timerButtonCar = time.time()
lastButtonCar = 1
# print "Fin pulso"
elif (GPIO.input(22) == 1) and (lastButtonCar
== 1) and (sentButtonCar):
if (time.time() - timerButtonCar > 1.0):
# print "Reseteando boton de coche"
sentButtonCar = False
each_frame(server)
except KeyboardInterrupt:
#client.close()
#client2.close()
server.close()
GPIO.cleanup()
class Kinect:
"""Manages connection to Kinect, and saves and processes coordinates"""
@staticmethod
def retrieve(joints=None, max_port=5555):
""" Retrieves a singleton Kinect instance, and creates it if it doesn't exist. """
global kinect_instance
if kinect_instance is None:
kinect_instance = Kinect(joints, max_port)
return kinect_instance
def __init__(self, joints=None, max_port=5555):
if joints is None:
self.joints = [
'righthand', 'lefthand', 'rightfoot', 'leftfoot', 'head',
'torso'
]
else:
self.joints = joints
self.coords = {k: (0., 0., 0.) for k in self.joints}
self.prev_coords = {k: (0., 0., 0.) for k in self.joints}
self.joint_speed = {k: False for k in self.joints}
self.speed_piano = {
'lefthand': {
X: 0,
Y: 0
},
'righthand': {
X: 0,
Y: 0
}
}
self.kinect_client = OSCClient()
self.max_client = OSCClient()
self.server = OSCServer(('127.0.0.1', 12345))
self.kinect_client.connect(('127.0.0.1', 12346))
self.max_client.connect(('127.0.0.1', max_port))
self.server.addMsgHandler('default', self.process_message)
self.flipped = False
self.speed = 0.
self.speed_ramp = 0.
sprout(self.server.serve_forever)
sprout(self._remind_synapse)
#sprout(self._calc_speed)
def __enter__(self):
return self
def __exit__(self, _type, value, traceback):
self.server.close()
self.kinect_client.close()
self.max_client.close()
def process_message(self, addr, tags, data, source):
"""process data coming in from Synapse, happens about every 0.03 seconds"""
if addr[-9:] == '_pos_body':
if self.flipped:
if addr[:5] == '/left':
addr = '/right' + addr[5:]
data[X] = -data[X]
elif addr[:6] == '/right':
addr = '/left' + addr[6:]
data[X] = -data[X]
self.coords[addr[1:-9]] = data
def _remind_synapse(self):
"""Send Synapse an OSC message to ask it to continue polling the required joints"""
while True:
for track in self.joints:
self.sendToKinect('/' + track + '_trackjointpos', 1)
time.sleep(1)
def calc_speed(self):
"""Calculate speed of movement, at 0.06 second intervals"""
self.calculating_speed = True
while self.calculating_speed:
total_speed = 0.
for joint, v in self.coords.items():
magnitude = Magnitude(v)
prev_magnitude = Magnitude(self.prev_coords[joint])
speed = abs(magnitude - prev_magnitude)
if joint in ('lefthand', 'righthand'):
speed_x = Distance(SubVector(self.prev_coords[joint], X),
SubVector(self.coords[joint], X))
speed_y = Distance(SubVector(self.prev_coords[joint], Y),
SubVector(self.coords[joint], Y))
self.speed_piano[joint][X] += (
speed_x - self.speed_piano[joint][X]) * 0.5
self.speed_piano[joint][Y] += (
speed_y - self.speed_piano[joint][Y]) * 0.5
total_speed += speed
total_speed /= len(self.coords)
self.speed = total_speed
self.speed_ramp = self.speed_ramp + (self.speed -
self.speed_ramp) * 0.125
self.prev_coords = copy.copy(self.coords)
time.sleep(0.06)
@property
def area(self):
return Area(self.coords['head'], self.coords['lefthand'],
self.coords['leftfoot'], self.coords['rightfoot'],
self.coords['righthand']) / 1000000.
@property
def facing(self):
return self.coords['rightfoot'][X] >= self.coords['leftfoot'][X]
def hand_down(self, hand):
return self.coords[hand][Y] < 0 and self.hand_over_piano(hand)
def hand_up(self, hand):
return self.coords[hand][Y] >= 0 or not self.hand_over_piano(hand)
def hand_over_piano(self, hand):
return Magnitude(SubVector(self.coords[hand], Y, Z)) > 350
def hand_hit(self, hand):
"""waits for a hit from the specified hand"""
if self.hand_down(hand):
wait_for(self.hand_up, (hand, ))
wait_for(self.hand_down, (hand, ))
return self.coords[hand][X]
def joint_moved_x(self, prev_x, joint, hit_location):
"""used to wait for a change in joint in X dimension"""
if self.hand_up(joint):
return True
if hit_location is not None and abs(hit_location -
self.coords[joint][X]) < 140:
return False
return abs(prev_x - self.coords[joint][X]) > 70
def hand_slide(self, hand, hit_location):
x = self.coords[hand][X]
wait_for(self.joint_moved_x, (x, hand, hit_location))
if self.hand_up(hand):
return False
return self.coords[hand][X]
def get_coord(self, joint):
if joint == 'leftshoulder':
return -250, 200, -50
elif joint == 'rightshoulder':
return 250, 200, -50
else:
return self.coords[joint]
def sendToKinect(self, address, items):
self._sendMsg(self.kinect_client, address, items)
def sendToMax(self, address, items):
self._sendMsg(self.max_client, address, items)
@staticmethod
def _sendMsg(client, address, items):
m = OSCMessage()
m.setAddress(address)
m.append(items)
client.send(m)
sys.stdout.write(RED)
print '\n waiting for Phone TouchOSC App...\n'
sys.stdout.write(RESET)
# Create virtual environment -------------------------------------------------------------------------------------------
# first we create the arrow to show current position of the servo
measuringArrow = arrow(pos=(0, -10, 0),
axis=(0, 10, 0),
shaftwidth=0.4,
headwidth=0.6)
# and now the labels
angleLabel = label(text='angle: 90', pos=(0, 5, 0), height=15, box=false)
angle0 = label(text='0', pos=(-10, -10, 0), height=15, box=false)
angle45 = label(text='45', pos=(-7.5, -2.5, 0), height=15, box=false)
angle90 = label(text='90', pos=(0, 1, 0), height=15, box=false)
angle135 = label(text='135', pos=(7.5, -2.5, 0), height=15, box=false)
angle180 = label(text='180', pos=(10, -10, 0), height=15, box=false)
# Main -----------------------------------------------------------------------------------------------------------------
while True:
Conrol = get_Conrol() # get path control string from Phone touchOSC
server = OSCServer(
(serverAdr, serverPort)) # define OSC server on computer
client = OSCClient() # define OSC client on Phone touchOSC
client.connect((clientAdr, clientPort)) # connect to client
server.addMsgHandler(
Conrol, servo_call) # use the control path and process message
server.handle_request() # handle request
rate(20) # refresh rate required for VPython
server.close() # close the server, start over again and again.
#print "hello"
msg = args[0]
print msg
outlet.push_sample([str(msg)])
server.addMsgHandler("/OSC-Marker-Stream", user_callback)
def quit_callback(path, tags, args, source):
# don't do this at home (or it'll quit blender)
global run
run = False
# user script that's called by the game engine every frame
def each_frame():
# clear timed_out flag
server.timed_out = False
# handle all pending requests then return
while not server.timed_out:
server.handle_request()
# simulate a "game engine"
while run:
sleep(0.001)
each_frame()
server.close()
class StretchIO(object):
def __init__(self, send, listen=("0.0.0.0", 12340)):
self.server = OSCServer(listen)
self.server.timeout = 0.0
self.server.timed_out = False
def timeout(self):
self.timed_out = True
self.server.handle_timeout = types.MethodType(timeout, self.server)
self.client = OSCClient()
self.client.connect(send)
self.__fader_state = [8, 8, 8, 8]
self.__fader_cb = None
self.__toggle_cb = None
for i in range(1, 5):
self.led(i, 0.)
self.toggle(i, 0.)
self.fader(i, self.__fader_state[i - 1])
self.server.addMsgHandler('/1/toggle' + str(i), self.osc_handler)
self.server.addMsgHandler('/1/fader' + str(i), self.osc_handler)
def step(self):
self.server.timed_out = False
while not self.server.timed_out:
self.server.handle_request()
def send(self, m):
try:
self.client.send(m)
except OSCClientError:
sys.stdout.write('Send Fail: {0} \r'.format(m))
sys.stdout.flush()
def close(self):
self.server.close()
def set_toggle_handler(self, cb):
""" Register the function to be called when we press the toggle.
<cb> should be a functio with the signature
cb(button_number, button_state)
"""
self.__toggle_cb = cb
def set_fader_handler(self, cb):
self.__fader_cb = cb
def osc_handler(self, path, tags, args, source):
paths = path.split('/')
# paths looks like this for 'auto' touchOSC elements ['', '1', 'toggle1']
if len(paths) < 3:
return
match = re.match('([a-zA-Z]+)(\d+)', paths[2])
if not match:
print 'osc path match failed'
return
if len(args) < 1:
print 'handler has no arguments'
return
parts = match.groups()
name = parts[0]
num = int(parts[1])
state = args[0]
if name == 'fader':
self.__fader_state[num - 1] = state
if name == 'toggle' and self.__toggle_cb is not None:
self.__toggle_cb(num, state)
elif name == 'fader' and self.__fader_cb is not None:
self.__fader_cb(num, state)
def led(self, led_num, value):
m = OSCMessage('/1/led{0:d}'.format(led_num))
m.append(value)
if value > 1.0: value = 1.0
if value < 0.0: value = 0.0
self.send(m)
def toggle(self, toggle_num, value):
m = OSCMessage('/1/toggle{0:d}'.format(toggle_num))
m.append(1 if value else 0)
self.send(m)
def fader(self, fader_num, value):
m = OSCMessage('/1/fader{0:d}'.format(fader_num))
m.append(float(value))
self.send(m)
def fader_state(self, i):
"""
<i> is the index from zero (unlike the setters, that index from 1)
"""
return self.__fader_state[i]
print "with addr : %s" % addr
print "typetags %s" % tags
print "data %s" % stuff
print "---"
# Hookup handlers
server.addMsgHandler("/1/elbow", elbow)
server.addMsgHandler("/1/head", head)
server.addMsgHandler("/1/btn", btn)
# Main
print "\nRegistered Callback Functions:"
for addr in server.getOSCAddressSpace():
print addr
print "\nStarting OSCServer. Use Ctrl-C to quit."
st = threading.Thread( target = server.serve_forever )
st.start()
try:
while 1:
#print "Waiting..."
sleep(5)
except KeyboardInterrupt:
print "\nClosing OSCServer."
server.close()
print "Waiting for Server thread to finish."
st.join()
print "Done!"
# self.end_headers()
# upfilecontent = query.get('upfile')
# print "filecontent", upfilecontent[0]
# self.wfile.write("<HTML>POST OK.<BR><BR>");
# self.wfile.write(upfilecontent[0]);
# except :
# pass
if __name__ == '__main__':
# will get better args
if sys.argv[1:]:
http_port = int(sys.argv[1])
else:
http_port = 8000
osc_host = "127.0.0.1"
osc_port = 12000
try:
sc = OSCServer( (osc_host,osc_port) )
client = OSCClient(sc)
server = HTTPServer(('', http_port), JSONHandler)
print 'started http to OSC bridge...'
server.serve_forever()
except KeyboardInterrupt:
print '^C received, shutting down server'
server.socket.close()
sc.close()