def __init__(self, config, robotProto):
self.parent = baseCellBot.CellBot(config, robotProto)
self.config = config
self.robotProto = robotProto
# wheel speeds of the two different wheels, in tuple (left, right)
self.wheelSpeeds = SensorReading('wheelSpeeds')
def __init__(self, config, robotProto):
# reference to the global configuration object
self.config = config
self.robotProto = robotProto
# current heading on robot in degrees
self.heading = SensorReading('heading')
# speed
self.speed = SensorReading('speed')
# last queried location by tuple (latitude, longitude)
self.location = SensorReading('location')
# available sensor types
# self.sensorTypes = {}
# adds SensorType objects.
# self.addSensorTypes()
# previous spoken messages
self.previousMsg = ''
droid.startSensing()
droid.startLocating()
self.robotProto.StartSensorStream()
def __init__(self, config, robotProto):
# reference to the global configuration object
self.config = config
self.robotProto = robotProto
# current heading on robot in degrees
self.heading = SensorReading('heading')
# speed
self.speed = SensorReading('speed')
# last queried location by tuple (latitude, longitude)
self.location = SensorReading('location')
# available sensor types
# self.sensorTypes = {}
# adds SensorType objects.
# self.addSensorTypes()
# previous spoken messages
self.previousMsg = ''
droid.startSensing()
droid.startLocating()
self.robotProto.StartSensorStream()
def addReading(self, reading, timeseries=False):
if not timeseries:
del self.readings[:]
self.readings.append(SensorReading(reading))
class CellBot(object):
"""
Base class for robot interactions.
"""
##SETUP
# def addSensorTypes(self):
# """Adds the types of sensors this robot has. This base class will
# contain any sensors the phone possesses.
# As sensor implementations become more complicated, more processing
# will be required to set up sensors, which will go into this
# addSensorTypes() method, but hopefully mostly into init methods in
# each SensorType class.
# """
# self.sensorTypes['camera'] = sensorType.ImageSensorType()
# self.sensorTypes['gps'] = sensorType.GpsSensorType()
# self.startSensorStream(self.sensorTypes)
def __init__(self, config, robotProto):
# reference to the global configuration object
self.config = config
self.robotProto = robotProto
# current heading on robot in degrees
self.heading = SensorReading('heading')
# speed
self.speed = SensorReading('speed')
# last queried location by tuple (latitude, longitude)
self.location = SensorReading('location')
# available sensor types
# self.sensorTypes = {}
# adds SensorType objects.
# self.addSensorTypes()
# previous spoken messages
self.previousMsg = ''
droid.startSensing()
droid.startLocating()
self.robotProto.StartSensorStream()
##QUERIES
##ACTIONS
def setMaximumSpeed(self, speed):
"""Sets maximum speed of robot.
Args:
speed -- maximum speed
"""
self.speed.update(speed)
pass
def moveForward(self, distance=None):
"""Moves robot forward.
Args:
distance -- distance to travel.
if distance==None, move forward indefinitely
"""
pass
def moveBackward(self, distance=None):
"""Moves robot backward.
Args:
distance -- distance to travel.
if distance==None, move backward indefinitely
"""
pass
def turnLeft(self, angle=90):
"""Turns robot to the left.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
self.heading.update((self.heading - angle) % 360)
def turnRight(self, angle=90):
"""Turns robot to the right.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
self.heading.update((self.heading + angle) % 360)
def turnToHeading(self, heading):
"""Turns robot to face the given compass heading.
Robot should resume previous speed after completing turn.
Args:
heading -- compass direction in degrees. 0 == North, 90 == East, etc.
"""
self.heading.update(heading)
def stop(self):
"""Stops all robot motion."""
pass
def readLocation(self):
"""Returns the common form of the current location as reported by
GPS.
Returns:
dict: { 'locality': foo, 'admin_area': bar }
"""
# TODO: This never seems to work. Test outside.
location = droid.readLocation().result
addresses = droid.geocode(location['latitude'],
location['longitude']).result
return addresses[0]
def startAudioRecording(self, fileName):
"""Starts recording audio.
Args:
fileName -- file to use to save stored audio
"""
droid.makeToast("Starting audio recording")
droid.recorderStartMicrophone(fileName)
def stopAudioRecording(self):
"""Stops recording audio."""
droid.makeToast("Stopping audio recording")
droid.recorderStop()
def sing(self, song):
"""Outputs audio.
Args:
song -- audio stream to output
"""
pass
def speak(self, speech, override=False):
"""Outputs talk.
Args:
speech -- string of characters for android speech
override -- set to true to override the audioOn state
"""
# TODO: Move the muted state (audioOn) out of the config object.
if (self.config.audioOn and speech != self.previousMsg) or override:
droid.ttsSpeak(speech)
elif speech != self.previousMsg:
droid.makeToast(speech)
self.previousMsg = speech
def recognizeSpeech(self):
"""Launch the android cloud voice recognition framework and return
the result."""
droid.makeToast("Launching voice recognition")
return str(droid.recognizeSpeech().result)
def captureImage(self, fileName, camera=None):
"""Capture an image.
Args:
fileName -- save the image to this file
camera -- indicates which camera to use.
if camera == None, capture n images with all n cameras
"""
# TODO: Add support for more than one camera
droid.cameraCapturePicture(fileName)
def setVolume(self, newVolume):
"""Set the media volume (includes the synthesized voice).
Args:
newVolume -- a level between 0 and MaxMediaVolume
"""
try:
newVolume = int(newVolume)
except ValueError:
# We pass a nicer error message with raise ValueError below
pass
maxVolume = droid.getMaxMediaVolume().result
print "Current volume: %d" % droid.getMediaVolume().result
print "Max volume: %d" % droid.getMaxMediaVolume().result
if newVolume in range(maxVolume + 1):
droid.setMediaVolume(int(newVolume))
print "New volume: %d" % droid.getMediaVolume().result
else:
raise ValueError("New volume must be an integer between 0 and %d" %
maxVolume)
def shutdown(self, msg='Exiting'):
"""Android specific shutdown."""
self.robotProto.StopSensorStream()
droid.stopSensing()
time.sleep(1) # Fixing crash before exit on G1
droid.stopLocating()
sys.exit(msg)
##STATS
def log(self, foobar):
"""Outputs to log.
Args:
foobar -- text to be logged
"""
pass
from enum import Enum
import json
from sensorReading import SensorReading
class BaseUnitLa(Enum):
FARENHEIT = 'FARENHEIT'
CELCIUS = 'CELCIUS'
sr = SensorReading("foo", 1, SensorReading.BaseUnit.CELCIUS)
sr1 = SensorReading("foo", 1, None)
s = sr.to_json()
print(s)
js = '{"baseUnit": "CELCIUS","sensorId": "foo","temperature": 1}'
sr2 = SensorReading.from_json(js)
print(sr2.baseUnit)
class CellBot(object):
"""
Base class for robot interactions.
"""
##SETUP
# def addSensorTypes(self):
# """Adds the types of sensors this robot has. This base class will
# contain any sensors the phone possesses.
# As sensor implementations become more complicated, more processing
# will be required to set up sensors, which will go into this
# addSensorTypes() method, but hopefully mostly into init methods in
# each SensorType class.
# """
# self.sensorTypes['camera'] = sensorType.ImageSensorType()
# self.sensorTypes['gps'] = sensorType.GpsSensorType()
# self.startSensorStream(self.sensorTypes)
def __init__(self, config, robotProto):
# reference to the global configuration object
self.config = config
self.robotProto = robotProto
# current heading on robot in degrees
self.heading = SensorReading('heading')
# speed
self.speed = SensorReading('speed')
# last queried location by tuple (latitude, longitude)
self.location = SensorReading('location')
# available sensor types
# self.sensorTypes = {}
# adds SensorType objects.
# self.addSensorTypes()
# previous spoken messages
self.previousMsg = ''
droid.startSensing()
droid.startLocating()
self.robotProto.StartSensorStream()
##QUERIES
##ACTIONS
def setMaximumSpeed(self, speed):
"""Sets maximum speed of robot.
Args:
speed -- maximum speed
"""
self.speed.update(speed)
pass
def moveForward(self, distance=None):
"""Moves robot forward.
Args:
distance -- distance to travel.
if distance==None, move forward indefinitely
"""
pass
def moveBackward(self, distance=None):
"""Moves robot backward.
Args:
distance -- distance to travel.
if distance==None, move backward indefinitely
"""
pass
def turnLeft(self, angle=90):
"""Turns robot to the left.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
self.heading.update((self.heading - angle) % 360)
def turnRight(self, angle=90):
"""Turns robot to the right.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
self.heading.update((self.heading + angle) % 360)
def turnToHeading(self, heading):
"""Turns robot to face the given compass heading.
Robot should resume previous speed after completing turn.
Args:
heading -- compass direction in degrees. 0 == North, 90 == East, etc.
"""
self.heading.update(heading)
def stop(self):
"""Stops all robot motion."""
pass
def readLocation(self):
"""Returns the common form of the current location as reported by
GPS.
Returns:
dict: { 'locality': foo, 'admin_area': bar }
"""
# TODO: This never seems to work. Test outside.
location = droid.readLocation().result
addresses = droid.geocode(location['latitude'],
location['longitude']).result
return addresses[0]
def startAudioRecording(self, fileName):
"""Starts recording audio.
Args:
fileName -- file to use to save stored audio
"""
droid.makeToast("Starting audio recording")
droid.recorderStartMicrophone(fileName)
def stopAudioRecording(self):
"""Stops recording audio."""
droid.makeToast("Stopping audio recording")
droid.recorderStop()
def sing(self, song):
"""Outputs audio.
Args:
song -- audio stream to output
"""
pass
def speak(self, speech, override=False):
"""Outputs talk.
Args:
speech -- string of characters for android speech
override -- set to true to override the audioOn state
"""
# TODO: Move the muted state (audioOn) out of the config object.
if (self.config.audioOn and speech != self.previousMsg) or override:
droid.ttsSpeak(speech)
elif speech != self.previousMsg:
droid.makeToast(speech)
self.previousMsg = speech
def recognizeSpeech(self):
"""Launch the android cloud voice recognition framework and return
the result."""
droid.makeToast("Launching voice recognition")
return str(droid.recognizeSpeech().result)
def captureImage(self, fileName, camera=None):
"""Capture an image.
Args:
fileName -- save the image to this file
camera -- indicates which camera to use.
if camera == None, capture n images with all n cameras
"""
# TODO: Add support for more than one camera
droid.cameraCapturePicture(fileName)
def setVolume(self, newVolume):
"""Set the media volume (includes the synthesized voice).
Args:
newVolume -- a level between 0 and MaxMediaVolume
"""
try:
newVolume = int(newVolume)
except ValueError:
# We pass a nicer error message with raise ValueError below
pass
maxVolume = droid.getMaxMediaVolume().result
print "Current volume: %d" % droid.getMediaVolume().result
print "Max volume: %d" % droid.getMaxMediaVolume().result
if newVolume in range(maxVolume + 1):
droid.setMediaVolume(int(newVolume))
print "New volume: %d" % droid.getMediaVolume().result
else:
raise ValueError("New volume must be an integer between 0 and %d" %
maxVolume)
def shutdown(self, msg='Exiting'):
"""Android specific shutdown."""
self.robotProto.StopSensorStream()
droid.stopSensing()
time.sleep(1) # Fixing crash before exit on G1
droid.stopLocating()
sys.exit(msg)
##STATS
def log(self, foobar):
"""Outputs to log.
Args:
foobar -- text to be logged
"""
pass
class DifferentialDriveBot(object):
"""
Class for differential wheel drive robots. Composition of Cellbot base class.
"""
###SETUP
# def addSensorTypes(self):
# """Adds the types of sensors this robot has. This base class will
# contain any sensors the phone possesses.
# As sensor implementations become more complicated, more processing
# will be required to set up sensors, which will go into this
# addSensorTypes() method, but hopefully mostly into init methods in
# each SensorType class.
# """
# self.parent.addSensorTypes()
def __init__(self, config, robotProto):
self.parent = baseCellBot.CellBot(config, robotProto)
self.config = config
self.robotProto = robotProto
# wheel speeds of the two different wheels, in tuple (left, right)
self.wheelSpeeds = SensorReading('wheelSpeeds')
##QUERIES
##ACTIONS
def setWheelSpeeds(self, left, right):
"""Set wheel speeds.
Assumes two wheels -- only two wheels are needed to control turning.
Args:
left -- speed of left wheel
right -- speed of right wheel
"""
self.robotProto.SetWheelSpeeds(left, right)
self.wheelSpeeds.update((left, right))
def setMaximumSpeed(self, speed):
"""Sets maximum speed of robot.
Args:
speed -- maximum speed
"""
self.parent.setMaximumSpeed(speed)
def moveForward(self, distance=None):
"""Moves robot forward.
Args:
distance -- distance to travel.
if distance==None, move forward indefinitely
"""
self.parent.speed = left = right = self.config.currentSpeed * 10
self.setWheelSpeeds(left, right)
def moveBackward(self, distance=None):
"""Moves robot backward.
Args:
distance -- distance to travel.
if distance==None, move backward indefinitely
"""
self.parent.speed = left = right = self.config.currentSpeed * -10
self.setWheelSpeeds(left, right)
def turnLeft(self, angle=90):
"""Turns robot to the left.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
# self.parent.turnLeft(angle) # angle to be added to implementation
# divide speed by 5 as turning at max speed is uncontrollable
left = self.config.currentSpeed * -10 / 2
right = self.config.currentSpeed * 10 / 2
self.setWheelSpeeds(left, right)
def turnRight(self, angle=90):
"""Turns robot to the right.
Robot should resume previous speed after completing turn.
Args:
angle -- magnitude in degrees
"""
# self.parent.turnRight(angle) # angle to be added implementation
# divide speed by 4 as turning at max speed is uncontrollable
left = self.config.currentSpeed * 10 / 2
right = self.config.currentSpeed * -10 / 2
self.setWheelSpeeds(left, right)
def turnToHeading(self, heading):
"""Turns robot to face the given compass heading.
Robot should resume previous speed after completing turn.
Args:
heading -- compass direction in degrees. 0 == North, 90 == East, etc.
"""
self.parent.turnToHeading(heading)
self.orientToAzimuth(heading)
def orientToAzimuth(self, azimuth):
onTarget = False
stopTime = time.time() + 60
while not onTarget and time.time() < stopTime:
# TODO: Parent (baseCellBot.py) should support reading sensors and
# we should call into parent to do this.
results = droid.readSensors().result
if results is not None:
currentHeading = 57.2957795 * results['azimuth']
delta = azimuth - currentHeading
if math.fabs(delta) > 180:
if delta < 0:
adjustment = delta + 360
else:
adjustment = delta - 360
else:
adjustment = delta
adjustmentAbs = math.fabs(adjustment)
if adjustmentAbs < self.config.cardinalMargin:
self.setWheelSpeeds(0, 0)
time.sleep(2)
if adjustmentAbs < self.config.cardinalMargin:
onTarget = True
else:
adjustmentSpeed = min(((adjustmentAbs / 180) * 40 + 15),
50)
self.setWheelSpeeds(0, 0)
if adjustment > self.config.cardinalMargin:
self.setWheelSpeeds(adjustmentSpeed,
-1 * adjustmentSpeed)
elif adjustment < (self.config.cardinalMargin * -1):
self.setWheelSpeeds(-1 * adjustmentSpeed,
adjustmentSpeed)
# Let the robot run for an estimated number of seconds to turn in the intended direction
# We should have setting for this and/or allow some calibration for turning rate of the bot
time.sleep(adjustmentAbs / 180)
# Stop for a 1/2 second to take another compass reading
self.setWheelSpeeds(0, 0)
time.sleep(0.5)
else:
msg = "Could not start sensors."
# Loop finished because we hit target or ran out of time
if onTarget:
msg = "Goal achieved! Facing %d degrees, which is within the %d degree" \
"margin of %d!" % (currentHeading, self.config.cardinalMargin,
azimuth)
self.speak(msg)
self.setWheelSpeeds(0, 0)
else:
msg = "Ran out of time before hitting proper orientation."
self.speak(msg)
self.setWheelSpeeds(0, 0)
def stop(self):
"""Stops all robot motion."""
self.setWheelSpeeds(0, 0)
def readLocation(self):
"""Returns the current location as reported by GPS."""
return self.parent.readLocation()
def startAudioRecording(self, fileName):
"""Starts recording audio.
Args:
fileName -- file to use to save stored audio
"""
self.parent.startAudioRecording(fileName)
def stopAudioRecording(self):
"""Stops recording audio."""
self.parent.stopAudioRecording()
def sing(self, song):
"""Outputs audio.
Args:
song -- audio stream to output
"""
self.parent.sing(song)
def speak(self, speech, override=False):
"""Outputs talk.
Args:
speech -- string of characters for android speech
override -- set to true to override the audioOn state
"""
self.parent.speak(speech, override)
def recognizeSpeech(self):
"""Launch the android cloud voice recognition framework and return
the result."""
return self.parent.recognizeSpeech()
def captureImage(self, fileName, camera=None):
"""Capture an image.
Args:
fileName -- save the image to this file
camera -- indicates which camera to use.
if camera == None, capture n images with all n cameras
"""
self.parent.captureImage(fileName, camera)
def setVolume(self, newVolume):
"""Set the media volume (includes the synthesized voice).
Args:
newVolume -- a level between 0 and MaxMediaVolume
"""
self.parent.setVolume(newVolume)
def shutdown(self, msg='Exiting'):
"""Android specific shutdown."""
self.stop()
self.parent.shutdown(msg)
##STATS
def log(self, foobar):
"""Outputs to log.
Args:
foobar -- text to be logged
"""
self.parent.log(foobar)
