def setup(robot_config):
global StepPinForward
global StepPinBackward
global StepPinLeft
global StepPinRight
global sleeptime
global rotatetimes
sleeptime = robot_config.getfloat('l298n', 'sleeptime')
rotatetimes = robot_config.getfloat('l298n', 'rotatetimes')
log.debug("GPIO mode : %s", str(GPIO.getmode()))
GPIO.setwarnings(False)
GPIO.cleanup()
if robot_config.getboolean('tts', 'ext_chat'): #ext_chat enabled, add motor commands
extended_command.add_command('.set_rotate_time', set_rotate_time)
extended_command.add_command('.set_sleep_time', set_sleep_time)
# TODO passing these as tuples may be unnecessary, it may accept lists as well.
StepPinForward = tuple(map(int, robot_config.get('l298n', 'StepPinForward').split(',')))
StepPinBackward = tuple(map(int,robot_config.get('l298n', 'StepPinBackward').split(',')))
StepPinLeft = tuple(map(int,robot_config.get('l298n', 'StepPinLeft').split(',')))
StepPinRight = tuple(map(int,robot_config.get('l298n', 'StepPinRight').split(',')))
GPIO.setmode(GPIO.BOARD)
GPIO.setup(StepPinForward, GPIO.OUT)
GPIO.setup(StepPinBackward, GPIO.OUT)
GPIO.setup(StepPinLeft, GPIO.OUT)
GPIO.setup(StepPinRight, GPIO.OUT)
def setup(robot_config):
ffmpeg.setup(robot_config)
ffmpeg.setup = setupHUD
ffmpeg.setup(robot_config)
ffmpeg.startVideoCapture = startVideoCapture
extended_command.add_command('.hud', HUDChatHandler)
def setup(robot_config):
global module
global ser
module = mod_utils.import_module('hardware', 'serial_board')
ser = module.setup(robot_config)
if robot_config.getboolean('tts', 'ext_chat'): #ext_chat enabled, add motor commands
extended_command.add_command('.set', set_eeprom)
def setup(robot_config, chat_handler):
global main_chat_handler
# Any chat related setup code goes here
# Add a reboot command to the extended chat commands
if robot_config.getboolean('tts', 'ext_chat'):
import extended_command
extended_command.add_command('.reboot', reboot)
main_chat_handler = chat_handler
def setup(robot_config):
global tempDir
global client
global voice
global hwNum
global audio_config
global keyFile
global languageCode
global voicePitch
global voiceSpeakingRate
global ssmlEnabled
global randomVoices
global messenger
ssmlEnabled = robot_config.getboolean('google_cloud', 'ssml_enabled')
voice = robot_config.get('google_cloud', 'voice')
keyFile = robot_config.get('google_cloud', 'key_file')
languageCode = robot_config.get('google_cloud', 'language_code')
voicePitch = robot_config.getfloat('google_cloud', 'voice_pitch')
voiceSpeakingRate = robot_config.getfloat(
'google_cloud', 'voice_speaking_rate')
messenger = robot_config.getboolean('messenger', 'enable')
if robot_config.has_option('google_cloud', 'random_voices'):
randomVoices = robot_config.getboolean('google_cloud', 'random_voices')
else:
randomVoices = False
if robot_config.has_option('tts', 'speaker_num'):
hwNum = robot_config.get('tts', 'speaker_num')
else:
hwNum = robot_config.get('tts', 'hw_num')
client = texttospeech.TextToSpeechClient(
credentials=service_account.Credentials.from_service_account_file(
keyFile)
)
if randomVoices:
import extended_command
extended_command.add_command('.new_voice', new_voice)
audio_config = texttospeech.types.AudioConfig(
audio_encoding=texttospeech.enums.AudioEncoding.LINEAR16,
pitch=voicePitch,
speaking_rate=voiceSpeakingRate
)
tempDir = tempfile.gettempdir()
def setup(robot_config):
global client
global polly
global robot_voice
global users
global hw_num
global random_voice
global fallback_tts
global messenger
owner = robot_config.get('robot', 'owner')
owner_voice = robot_config.get('polly', 'owner_voice')
robot_voice = robot_config.get('polly', 'robot_voice')
random_voice = robot_config.getboolean('polly', 'random_voices')
if robot_config.has_option('tts', 'speaker_num'):
hw_num = robot_config.get('tts', 'speaker_num')
else:
hw_num = robot_config.get('tts', 'hw_num')
access_key = robot_config.get('polly', 'access_key')
secrets_key = robot_config.get('polly', 'secrets_key')
region_name = robot_config.get('polly', 'region_name')
messenger = robot_config.getboolean('messenger', 'enable')
client = boto3.Session(aws_access_key_id=access_key,
aws_secret_access_key=secrets_key,
region_name=region_name)
polly = boto3.client('polly',
aws_access_key_id=access_key,
aws_secret_access_key=secrets_key,
region_name=region_name)
users[owner] = owner_voice
users['jill'] = 'Amy'
if random_voice: # random voices enabled
if robot_config.getboolean(
'tts', 'ext_chat'): #ext_chat enabled, add voice command
import extended_command
extended_command.add_command('.new_voice', new_voice)
# Setup the fallback tts
fallback_tts = mod_utils.import_module('tts', 'espeak')
fallback_tts.setup(robot_config)
def setup(robot_config):
global camera_id
global infoServer
global video_port
global annotated
global colour
camera_id = robot_config.get('robot', 'camera_id')
infoServer = robot_config.get('misc', 'info_server')
video_port = getVideoPort()
cozmo.setup_basic_logging()
cozmo.robot.Robot.drive_off_charger_on_connect = False
extended_command.add_command('.annotate', set_annotated)
extended_command.add_command('.autodock', autodock)
extended_command.add_command('.color', set_colour)
extended_command.add_command('.colour', set_colour)
try:
thread.start_new_thread(cozmo.run_program, (run, ))
# thread.start_new_thread(cozmo.run_program, (run,), {'use_3d_viewer':True})
except KeyboardInterrupt as e:
pass
except cozmo.ConnectionError as e:
sys.exit("A connection error occurred: %s" % e)
while not coz:
try:
time.sleep(0.5)
print("not coz")
except (KeyboardInterrupt, SystemExit):
sys.exit()
if robot_config.has_section('cozmo'):
send_online_status = robot_config.getboolean('cozmo',
'send_online_status')
annotated = robot_config.getboolean('cozmo', 'annotated')
colour = robot_config.getboolean('cozmo', 'colour')
else:
send_online_status = True
if send_online_status:
print("Enabling online status")
schedule.repeat_task(10, updateServer)
def setup(robot_config):
global robotKey
global no_mic
global no_camera
global stream_key
global server
global x_res
global y_res
global ffmpeg_location
global v4l2_ctl_location
global audio_hw_num
global audio_device
global audio_codec
global audio_channels
global audio_bitrate
global audio_sample_rate
global video_codec
global video_bitrate
global video_filter
global video_device
global audio_input_format
global audio_input_options
global audio_output_options
global video_input_format
global video_input_options
global video_output_options
global brightness
global contrast
global saturation
robotKey = robot_config.get('robot', 'robot_key')
if robot_config.has_option('misc', 'video_server'):
server = robot_config.get('misc', 'video_server')
else:
server = robot_config.get('misc', 'server')
no_mic = robot_config.getboolean('camera', 'no_mic')
no_camera = robot_config.getboolean('camera', 'no_camera')
ffmpeg_location = robot_config.get('ffmpeg', 'ffmpeg_location')
v4l2_ctl_location = robot_config.get('ffmpeg', 'v4l2-ctl_location')
x_res = robot_config.getint('camera', 'x_res')
y_res = robot_config.getint('camera', 'y_res')
if not no_camera:
if robot_config.has_option('camera', 'brightness'):
brightness = robot_config.get('camera', 'brightness')
if robot_config.has_option('camera', 'contrast'):
contrast = robot_config.get('camera', 'contrast')
if robot_config.has_option('camera', 'saturation'):
saturation = robot_config.get('camera', 'saturation')
video_device = robot_config.get('camera', 'camera_device')
video_codec = robot_config.get('ffmpeg', 'video_codec')
video_bitrate = robot_config.get('ffmpeg', 'video_bitrate')
video_input_format = robot_config.get('ffmpeg', 'video_input_format')
video_input_options = robot_config.get('ffmpeg', 'video_input_options')
video_output_options = robot_config.get('ffmpeg', 'video_output_options')
if robot_config.has_option('ffmpeg', 'video_filter'):
video_filter = robot_config.get('ffmpeg', 'video_filter')
video_filter = '-vf %s' % video_filter
if robot_config.getboolean('tts', 'ext_chat'):
extended_command.add_command('.video', videoChatHandler)
extended_command.add_command('.brightness', brightnessChatHandler)
extended_command.add_command('.contrast', contrastChatHandler)
extended_command.add_command('.saturation', saturationChatHandler)
if not no_mic:
if robot_config.has_option('camera', 'mic_num'):
audio_hw_num = robot_config.get('camera', 'mic_num')
else:
log.warn("controller.conf is out of date. Consider updating.")
audio_hw_num = robot_config.get('camera', 'audio_hw_num')
if robot_config.has_option('camera', 'mic_device'):
audio_device = robot_config.get('camera', 'mic_device')
else:
audio_device = robot_config.get('camera', 'audio_device')
audio_codec = robot_config.get('ffmpeg', 'audio_codec')
audio_bitrate = robot_config.get('ffmpeg', 'audio_bitrate')
audio_sample_rate = robot_config.get('ffmpeg', 'audio_sample_rate')
audio_channels = robot_config.get('ffmpeg', 'audio_channels')
audio_input_format = robot_config.get('ffmpeg', 'audio_input_format')
audio_input_options = robot_config.get('ffmpeg', 'audio_input_options')
audio_output_options = robot_config.get('ffmpeg', 'audio_output_options')
if robot_config.getboolean('tts', 'ext_chat'):
extended_command.add_command('.audio', audioChatHandler)
if audio_input_format == "alsa":
extended_command.add_command('.mic', micHandler)
# resolve device name to hw num, only with alsa
if audio_input_format == "alsa":
if audio_device != '':
temp_hw_num = audio_util.getMicByName(audio_device.encode('utf-8'))
if temp_hw_num != None:
audio_hw_num = temp_hw_num
# format the device for hw number if using alsa
if audio_input_format == 'alsa':
audio_device = 'hw:' + str(audio_hw_num)
video_module = importlib.import_module('video.' + commandArgs.video)
else:
video_module = __import__("video." + commandArgs.video,
fromlist=[commandArgs.video])
# Setup the video encoding
video_module.setup(robot_config)
video_module.start()
#load the extended chat commands
if ext_chat:
log.info("Loading extended chat commands")
extended_command.setup(robot_config)
extended_command.move_handler = move_handler
move_handler = extended_command.move_auth
extended_command.add_command('.restart', restart_controller)
# Load a custom chat handler if enabled and exists
if commandArgs.custom_chat:
if os.path.exists('chat_custom.py'):
if (sys.version_info > (3, 0)):
chat_module = importlib.import_module('chat_custom')
else:
chat_module = __import__('chat_custom', fromlist=['chat_custom'])
chat_module.setup(robot_config, handle_chat_message)
else:
log.warning("Unable to find chat_custom.py")
# add auto wifi task
def setup(robot_config):
global forward_speed
global turn_speed
global coz
global volume
global charge_high
global charge_low
global stay_on_dock
coz = tts.tts_module.getCozmo()
mod_utils.repeat_task(30, check_battery, coz)
if robot_config.has_section('cozmo'):
forward_speed = robot_config.getint('cozmo', 'forward_speed')
turn_speed = robot_config.getint('cozmo', 'turn_speed')
volume = robot_config.getint('cozmo', 'volume')
charge_high = robot_config.getfloat('cozmo', 'charge_high')
charge_low = robot_config.getfloat('cozmo', 'charge_low')
stay_on_dock = robot_config.getfloat('cozmo', 'stay_on_dock')
if robot_config.getboolean(
'tts', 'ext_chat'): #ext_chat enabled, add motor commands
extended_command.add_command('.anim', play_anim)
extended_command.add_command('.forward_speed', set_forward_speed)
extended_command.add_command('.turn_speed', set_turn_speed)
extended_command.add_command('.vol', set_volume)
extended_command.add_command('.charge', set_charging)
extended_command.add_command('.stay', set_stay_on_dock)
coz.set_robot_volume(volume / 100) # set volume
def setup(robot_config):
global robotID
global no_mic
global no_camera
global messenger
global videoPort
global videoHost
global audioHost
global audioPort
global stream_key
global x_res
global y_res
global ffmpeg_location
global v4l2_ctl_location
global audio_hw_num
global audio_device
global audio_codec
global audio_channels
global audio_bitrate
global audio_sample_rate
global video_codec
global video_bitrate
global video_filter
global video_device
global audio_input_format
global audio_input_options
global audio_output_options
global video_input_format
global video_input_options
global video_output_options
global brightness
global contrast
global saturation
global server_override
robotID = robot_config.get('robot', 'robot_id')
no_mic = robot_config.getboolean('camera', 'no_mic')
no_camera = robot_config.getboolean('camera', 'no_camera')
messenger = robot_config.getboolean('messenger', 'enable')
ffmpeg_location = robot_config.get('ffmpeg', 'ffmpeg_location')
v4l2_ctl_location = robot_config.get('ffmpeg', 'v4l2-ctl_location')
stream_key = robot_config.get('robot', 'stream_key')
x_res = robot_config.get('camera', 'x_res')
y_res = robot_config.get('camera', 'y_res')
server_override = robot_config.getboolean('misc', 'server_override')
log.info("getting websocket relay host")
websocketRelayHost = networking.getWebsocketRelayHost()
if not no_camera:
if robot_config.has_option('camera', 'brightness'):
brightness = robot_config.get('camera', 'brightness')
if robot_config.has_option('camera', 'contrast'):
contrast = robot_config.get('camera', 'contrast')
if robot_config.has_option('camera', 'saturation'):
saturation = robot_config.get('camera', 'saturation')
videoHost = websocketRelayHost['host']
videoPort = networking.videoPort
log.debug("Relay host for video: %s:%s" % (videoHost, videoPort))
video_device = robot_config.get('camera', 'camera_device')
video_codec = robot_config.get('ffmpeg', 'video_codec')
video_bitrate = robot_config.get('ffmpeg', 'video_bitrate')
video_input_format = robot_config.get('ffmpeg', 'video_input_format')
video_input_options = robot_config.get('ffmpeg', 'video_input_options')
video_output_options = robot_config.get('ffmpeg',
'video_output_options')
if robot_config.has_option('ffmpeg', 'video_filter'):
video_filter = robot_config.get('ffmpeg', 'video_filter')
video_filter = '-vf %s' % video_filter
if robot_config.getboolean('tts', 'ext_chat'):
extended_command.add_command('.video', videoChatHandler)
extended_command.add_command('.brightness', brightnessChatHandler)
extended_command.add_command('.contrast', contrastChatHandler)
extended_command.add_command('.saturation', saturationChatHandler)
if not no_mic:
audio_hw_num = robot_config.get('camera', 'audio_hw_num')
audio_device = robot_config.get('camera', 'audio_device')
if audio_device != '':
temp_hw_num = audio_util.getMicByName(audio_device.encode('utf-8'))
if temp_hw_num != None:
audio_hw_num = temp_hw_num
audioHost = websocketRelayHost['host']
audioPort = networking.audioPort
log.debug("Relay host for audio: %s:%s" % (audioHost, audioPort))
audio_codec = robot_config.get('ffmpeg', 'audio_codec')
audio_bitrate = robot_config.get('ffmpeg', 'audio_bitrate')
audio_sample_rate = robot_config.get('ffmpeg', 'audio_sample_rate')
audio_channels = robot_config.get('ffmpeg', 'audio_channels')
audio_input_format = robot_config.get('ffmpeg', 'audio_input_format')
audio_input_options = robot_config.get('ffmpeg', 'audio_input_options')
audio_output_options = robot_config.get('ffmpeg',
'audio_output_options')
if robot_config.getboolean('tts', 'ext_chat'):
extended_command.add_command('.audio', audioChatHandler)
# format the device for hw number if using alsa
if audio_input_format == 'alsa':
audio_device = 'hw:' + str(audio_hw_num)
# load settings from site
if not server_override:
refreshFromOnlineSettings()
networking.appServerSocketIO.on('command_to_robot', onCommandToRobot)
networking.appServerSocketIO.on('robot_settings_changed',
onRobotSettingsChanged)
def setup(robot_config):
global forward_speed
global turn_speed
global server
global volume
global charge_high
global charge_low
global stay_on_dock
global annotated
global colour
global ffmpeg_location
global robotKey
robotKey = robot_config.get('robot', 'robot_key')
ffmpeg_location = robot_config.get('ffmpeg', 'ffmpeg_location')
if robot_config.has_option('misc', 'video_server'):
server = robot_config.get('misc', 'video_server')
else:
server = robot_config.get('misc', 'server')
if robot_config.has_section('cozmo'):
forward_speed = robot_config.getint('cozmo', 'forward_speed')
turn_speed = robot_config.getint('cozmo', 'turn_speed')
volume = robot_config.getint('cozmo', 'volume')
charge_high = robot_config.getfloat('cozmo', 'charge_high')
charge_low = robot_config.getfloat('cozmo', 'charge_low')
stay_on_dock = robot_config.getboolean('cozmo', 'stay_on_dock')
send_online_status = robot_config.getboolean('cozmo',
'send_online_status')
annotated = robot_config.getboolean('cozmo', 'annotated')
colour = robot_config.getboolean('cozmo', 'colour')
coz.camera.color_image_enabled = colour
else:
send_online_status = True
if robot_config.getboolean(
'tts', 'ext_chat'): #ext_chat enabled, add motor commands
extended_command.add_command('.anim', play_anim)
extended_command.add_command('.forward_speed', set_forward_speed)
extended_command.add_command('.turn_speed', set_turn_speed)
extended_command.add_command('.vol', set_volume)
extended_command.add_command('.charge', set_charging)
extended_command.add_command('.stay', set_stay_on_dock)
extended_command.add_command('.annotate', set_annotated)
extended_command.add_command('.color', set_colour)
extended_command.add_command('.colour', set_colour)
# if send_online_status:
# print("Enabling online status")
# schedule.repeat_task(10, updateServer)
coz.set_robot_volume(volume / 100) # set volume
def setup(config):
extended_command.add_command('.update', update_handler)
