def InitUI(self):
blockAutorun = Block(self, 'Autorun')
self.bindAutorun = BindInput(blockAutorun,
hotkey=config.get_param('autorun_hk'),
isOneKey=True)
self.checkAutorun = wx.CheckBox(blockAutorun)
self.checkAutorun.SetValue(config.get_param('autorun_state'))
blockAutorun.add(self.bindAutorun)
blockAutorun.add(self.checkAutorun, label='Activated: ')
blockDwarfglitch = Block(self, 'Dwarf glitch')
self.bindDwarfglitch = BindInput(
blockDwarfglitch, hotkey=config.get_param('dwarfglitch_hk'))
self.checkDwarfglitch = wx.CheckBox(blockDwarfglitch)
self.checkDwarfglitch.SetValue(config.get_param('dwarfglitch_state'))
blockDwarfglitch.add(self.bindDwarfglitch)
blockDwarfglitch.add(self.checkDwarfglitch, label='Activated: ')
hbox2 = wx.BoxSizer(wx.HORIZONTAL)
self.applyBtn = wx.Button(self, label='Apply')
# # self.applyBtn.Enable(False)
hbox2.Add(self.applyBtn)
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(blockAutorun, flag=wx.ALL | wx.EXPAND, border=5)
vbox.Add(blockDwarfglitch, flag=wx.ALL | wx.EXPAND, border=5)
vbox.Add(hbox2, flag=wx.ALIGN_CENTER | wx.TOP | wx.BOTTOM, border=10)
self.SetSizer(vbox)
self.applyBtn.Bind(wx.EVT_BUTTON, self.OnApply)
def on_config(self, e):
self.autorunHK.disable()
dlg = SettingsDialog(self.frame)
dlg.ShowModal()
self.autorunHK.hkAutorun = config.get_param('autorun_hk')
self.autorunHK.hkDwarfglitch = config.get_param('dwarfglitch_hk')
self.autorunHK.enable(config.get_param('autorun_state'),
config.get_param('dwarfglitch_state'))
def inline_query(params,\
proxy_type=config.get_param('proxy_type'),\
proxy_url=config.get_param('proxy_url'),\
telegram_url=config.get_param('telegram_url'),\
bot_token=config.get_param('bot_token')):
proxies = {proxy_type: proxy_url}
telegram_method = telegram_url + bot_token + '/answerInlineQuery'
return requests.get(telegram_method, params=params, proxies=proxies)
def send_message(params,\
proxy_type=config.get_param('proxy_type'),\
proxy_url=config.get_param('proxy_url'),\
telegram_url=config.get_param('telegram_url'),\
bot_token=config.get_param('bot_token')):
proxies = {proxy_type: proxy_url}
telegram_method = telegram_url + bot_token + '/sendMessage'
return requests.get(telegram_method, params=params, proxies=proxies)
def update_message(params,\
proxy_type=config.get_param('proxy_type'),\
proxy_url=config.get_param('proxy_url'),\
telegram_url=config.get_param('telegram_url'),\
bot_token=config.get_param('bot_token')):
proxies = {proxy_type: proxy_url}
telegram_method = telegram_url + bot_token + '/editMessageReplyMarkup'
return requests.get(telegram_method, params=params, proxies=proxies)
def get_updates(params,\
proxy_type=config.get_param('proxy_type'),\
proxy_url=config.get_param('proxy_url'),\
telegram_url=config.get_param('telegram_url'),\
bot_token=config.get_param('bot_token')):
proxies = {proxy_type: proxy_url}
telegram_method = telegram_url + bot_token + '/getUpdates'
print(telegram_method)
return requests.get(telegram_method, params=params, proxies=proxies)
def servo_180(state):
servo_channel = config.get_param('servo_camera_channel')
if state:
gpio.set_servo_pulsewidth(servo_channel, servo_camera_front )
else:
gpio.set_servo_pulsewidth(servo_channel, servo_camera_back )
master.after(500, lambda: gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), 0))
def start_vision():
os.system('killall mplayer')
time.sleep(1)
print "start caputre"
os.system(capture_hd_image_cmd % config.get_param('ip'))
print "finish capture"
img_hd = cv2.imread("img.jpg")
print "get picture"
analyse_picture(config.get_param('matrix_calibration_camera'), config.get_param('coefficient_distortion'), img_hd)
pass
def __init__(self, frame):
self.frame = frame
self.autorunHK = autorun.AutoRunner(config.get_param('autorun_hk'),
config.get_param('dwarfglitch_hk'))
super().__init__()
self.set_icon(TRAY_ICON)
self.Bind(wx.adv.EVT_TASKBAR_LEFT_DOWN, self.on_config)
self.onGo = True
self.dayzState = None
if self.onGo:
wx.CallLater(1000, self.on_timer)
def on_timer(self):
if not self.onGo:
return
newState = proccheck.process_exists(PROCESS_NAME)
if self.dayzState != newState:
if newState:
self.autorunHK.enable(config.get_param('autorun_state'),
config.get_param('dwarfglitch_state'))
notify('Autorun is ready.')
elif not self.dayzState is None:
self.autorunHK.disable()
notify('Autoran is stopped.')
self.dayzState = newState
wx.CallLater(1000, self.on_timer)
def main():
global arm, gpio, master, running, sm
ip = config.get_param('control_ip')
arm = rpyc.connect(ip, 18861).root
gpio = pigpio.pi(ip)
master = Tk()
labels = init_ui(master)
t = gpioloop()
t.start()
t1 = gamepadloop()
t1.start()
t2 = dynamixelInfoPinger(labels, arm)
t2.start()
sm = ArmStateManager(arm, keys, gpio)
sm.start()
mainloop()
sm.running = False
running = False
t.join()
t1.join()
t2.join()
sm.join()
def main():
global luminosity, gpio, w, running, master
ip = config.get_param('ip')
gpio = pigpio.pi(ip)
master = Tk()
master.title('Pupper control')
master.geometry('500x500')
Button(master, text="START VISION", command=start_vision).grid(row=2, column=0)
master.bind("<KeyPress>", keydown)
master.bind("<KeyRelease>", keyup)
start_stream()
t = gpioloop()
t.start()
t1 = gamepadloop()
t1.start()
mainloop()
running = False
t.join()
t1.join()
def start_stream():
if not os.getenv('NO_CAMERA'):
os.system(start_stream_cmd % config.get_param('ip'))
time.sleep(1)
os.system('''i3-msg '[class="MPlayer"] floating enable' ''')
def keydown(e):
global x, y, z, r, light_state, light_value, rotated_servo
k = e.char
keys[e.char] = 1
if e.char == 'l':
if(light_state == True):
light_value = 50
light_state = False
else:
light_value = 0
light_state = True
elif e.char == 'm' and light_value <= 100:
light_value += 5
elif e.char == 'n' and light_value > 5:
light_value -= 5
gpio.set_PWM_dutycycle(5, light_value)
if e.char == 'p':
global val_servo
if(val_servo <= 2450):
val_servo += 50
gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), val_servo)
master.after(100, lambda: gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), 0))
if e.char == 'o':
global val_servo
if(val_servo >= 550):
val_servo -= 50
gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), val_servo)
master.after(100, lambda: gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), 0))
if e.char == 'k':
if rotated_servo:
gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), servo_camera_front)
val_servo = servo_camera_front
#gpio.hardware_PWM(19, 50, 100000) # 800Hz 25% dutycycle
else:
gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), servo_camera_back)
val_servo = servo_camera_back
#gpio.hardware_PWM(19, 50, 900000) # 800Hz 25% dutycycle
rotated_servo = not rotated_servo
master.after(500, lambda: gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), 0))
if e.char == 'j':
gpio.set_servo_pulsewidth(config.get_param('servo_camera_channel'), 0)
def __init__(self):
Thread.__init__(self)
self.speed = 0
self.state = 'stop'
self.target_x = 0
self.actual_x = 0
self.acceleration_ratio = config.get_param('acceleration_ratio')
self.motor_left_actual_speed = 0
self.motor_left_target_speed = 0
self.motor_right_actual_speed = 0
self.motor_right_target_speed = 0
self.states = {}
def check(self, directory, files):
# {{{
super(CheckerPath, self).check(directory, files)
# Get the correct path from the configuration file
pattern_str = get_param('patterns', 'path')
pat = re.compile(pattern_str)
LOG.debug("matching %s with %s",directory,pattern_str)
mat = pat.match(directory)
if mat:
result = True
else:
LOG.warn("Path '%s' does not match pattern '%s'")
result = False
return result
def run(self):
while running:
if 'w' in keys and 'd' in keys:
self.motor_left_target_speed = forward_mov_speed
self.motor_right_target_speed = forward_mov_speed/2
elif 'w' in keys and 'a' in keys:
self.motor_left_target_speed = forward_mov_speed/2
self.motor_right_target_speed = forward_mov_speed
elif 's' in keys and 'd' in keys:
self.motor_left_target_speed = -backwards_mov_speed
self.motor_right_target_speed = -backwards_mov_speed/2
elif 's' in keys and 'a' in keys:
self.motor_left_target_speed = -backwards_mov_speed/2
self.motor_right_target_speed = -backwards_mov_speed
elif 'w' in keys or 'forward' in pad_keys:
self.motor_left_target_speed = forward_mov_speed
self.motor_right_target_speed = forward_mov_speed
elif 'e' in keys:
self.motor_right_target_speed = forward_mov_speed
self.motor_left_target_speed = 0
elif 'q' in keys:
self.motor_left_target_speed = forward_mov_speed
self.motor_right_target_speed = 0
elif 's' in keys or 'backward' in pad_keys:
self.motor_left_target_speed = -backwards_mov_speed
self.motor_right_target_speed = -backwards_mov_speed
elif 'd' in keys or 'right' in pad_keys:
self.motor_left_target_speed = rotation_speed
self.motor_right_target_speed = -rotation_speed
elif 'a' in keys or 'left' in pad_keys:
self.motor_left_target_speed = -rotation_speed
self.motor_right_target_speed = rotation_speed
elif 'z' in keys:
self.motor_left_target_speed = -2*backwards_mov_speed
self.motor_right_target_speed = -2*backwards_mov_speed
elif 'f' in keys:
self.motor_left_target_speed = boost_forward_speed
self.motor_right_target_speed = boost_forward_speed
else:
self.motor_left_target_speed = 0
self.motor_right_target_speed = 0
dx_left = sign(int(self.motor_left_target_speed * 10) - int(self.motor_left_actual_speed * 10))
dx_right = sign(int(self.motor_right_target_speed * 10) - int(self.motor_right_actual_speed * 10))
self.motor_left_actual_speed += dx_left * self.acceleration_ratio
self.motor_right_actual_speed += dx_right * self.acceleration_ratio
# self.motor_left_actual_speed = self.motor_left_target_speed
# self.motor_right_actual_speed = self.motor_right_target_speed
self.motor_left_actual_speed = int(self.motor_left_actual_speed * config.get_param('speed_motor_left')/100.0)
self.motor_right_actual_speed = int(self.motor_right_actual_speed * config.get_param('speed_motor_right')/100.0)
if self.motor_left_actual_speed < 0:
write_pwm([config.get_param('motor_left_back_channel')], abs(self.motor_left_actual_speed))
write_pwm([config.get_param('motor_left_for_channel')], 0)
else:
write_pwm([config.get_param('motor_left_for_channel')], self.motor_left_actual_speed)
write_pwm([config.get_param('motor_left_back_channel')], 0)
if self.motor_right_actual_speed < 0:
write_pwm([config.get_param('motor_right_back_channel')], abs(self.motor_right_actual_speed))
write_pwm([config.get_param('motor_right_for_channel')], 0)
else:
write_pwm([config.get_param('motor_right_for_channel')], self.motor_right_actual_speed)
write_pwm([config.get_param('motor_right_back_channel')], 0)
time.sleep(1/60.0)
import json
import config
import main_functions
chat_id = config.get_param('chat_id')
print(chat_id)
if chat_id == '0':
exit(-1)
test_mess = 'Please respond the message'
# https://core.telegram.org/bots/api#deletemessage
# https://core.telegram.org/bots/api#forcereply
force_reply = {
'force_reply': True,
}
message_params_force_reply = {
'chat_id': chat_id,
'text': test_mess,
'reply_markup': json.dumps(force_reply)
}
answer = main_functions.send_message(message_params_force_reply)
print(answer.text)
running = True
label_vars = {}
keys = {}
pad_keys = {}
states = {}
grip_state = True
rotated_servo = False
master = None
light_state = True
light_value = 0
JOYSTICK_IGNORE_THRESHOLD = 32000
# Robot Moving speed
forward_mov_speed = config.get_param('for_speed')
backwards_mov_speed = config.get_param('back_speed')
rotation_speed = config.get_param('rotation_speed')
boost_forward_speed = config.get_param('boost_speed')
servo_camera_front = config.get_param('servo_camera_front')
servo_camera_back = config.get_param('servo_camera_back')
luminosity_step = 255/5
luminosity = luminosity_step
start_stream_cmd = "mplayer -fps 200 -demuxer h264es ffmpeg://tcp://%s:9999 > /dev/null &"
capture_hd_image_cmd = "nc %s 9000 > img.jpg"
def main(instance):
print 'waiting for connection to ' + instance + '...'
wait_for_host(get_param('ip'))
ui.main()
import json
import config
import main_functions
chat_id = config.get_param('chat_id')
print(chat_id)
if chat_id == '0':
exit(-1)
test_mess = config.get_param('sample_text')
# ******************************************************
key1 = {'text': 'key1', 'callback_data': 'key1'}
key2 = {'text': 'key2', 'callback_data': 'key2'}
key3 = {'text': 'key3', 'callback_data': 'key3'}
key4 = {'text': 'key4', 'callback_data': 'key4'}
key_switch = {
'text': 'switch_key',
'switch_inline_query_current_chat': 'some query'
}
key_row1 = [key1, key2]
key_row2 = [key3, key4]
key_row3 = [
key_switch,
]
inline_keyboard_markup = {'inline_keyboard': [key_row1, key_row2, key_row3]}
inline_keyboard_markup2 = {'inline_keyboard': [key_row2, key_row1]}
# https://core.telegram.org/bots/api#inlinekeyboardmarkup
# ******************************************************
print(json.dumps(inline_keyboard_markup))
