def run(self, steps_taken, angle=None):
direction = self.get_stabilized_bearing()
update_direction = angle if angle is not None else direction
if direction == -1:
if (time.time() - self.start) > 5:
self.start = time.time()
print("[LOCALIZATION] Not receiving compass readings")
tts("ERROR, Check connection with Arduino... Reset when ready")
if direction >= 0:
# Update stabilized bearing
if time.time() - self.start > 5:
self.start = time.time()
self.stabilized_bearing = direction
if self.new_data:
# Update incoming data
self.process_new_data()
if steps_taken > 0 and direction > 0:
print("[LOCALIZATION] %d steps taken in %.2f" % (steps_taken, update_direction))
# Update x, y
self.calculate_new_position(steps_taken, direction=update_direction)
if self.is_plot:
# Update plot
if (time.time() - self.start) > 1/self.FPS:
start = time.time()
self.plot(self.linex, self.rotate_x)
self.plot(self.liney, self.rotate_y)
self.plot(self.linez, self.rotate_z)
self.plot(self.lineh[0], self.heading)
self.fig.canvas.draw()
def timeout_handler():
global app
try:
os.kill(int(app.serial_pid), signal.SIGUSR1)
print("[MAIN] Killed serial process %s" % app.serial_pid)
tts("Error...timeout on serial data. Check Arduino connection and reset when ready")
except Exception as e:
pass # Process may have terminated already
connect_picomms(platform=app.platform_)
def main():
MATRIX = {
18: {
4: False,
17: False,
22: False
},
23: {
4: False,
17: False,
22: False
},
24: {
4: False,
17: False,
22: False
},
25: {
4: False,
17: False,
22: False
}
}
setup()
tts("Software ready! Please enter building number")
try:
while (True):
for j in COL:
GPIO.output(j, 0)
for i in ROW:
if (GPIO.input(i) == 0):
if not MATRIX[i][j]:
MATRIX[i][j] = True
time.sleep(0.1)
key = KEY((i, j))
handler(key)
while (GPIO.input(i) == 0):
pass
#else:
# Key is already pressed
# pass
else:
MATRIX[i][j] = False
pass
GPIO.output(j, 1)
except KeyboardInterrupt as e:
GPIO.cleanup()
except Exception as e:
print e
def passing_var(audio_input, passing):
if audio_input in keyword_list and passing == 0:
programs.tts(response)
if arg == '-t':
command(input("> ").lower())
else:
reg_input = audio.record(command_seconds, 1)
if reg_input is not None and reg_input != False:
passing_var(reg_input, 1)
elif reg_input == "invalid input":
audio.tts(reg_input)
elif audio_input in running_list and passing == 0:
command(audio_input)
elif audio_input not in keyword_list and passing == 0:
listen()
elif passing == 1:
command(audio_input)
def say_(self, cmd):
""" Say command """
result = eval(cmd, globals(), self.slots)
MSG = "{}: {}".format(self.name, result)
print(MSG)
if self.client:
data = {
'msg': result,
'spk': self.name,
'webclient_sid': self.webclient_sid
}
self.client.emit('say', data, namespace="/cv")
if self.tts:
stop_listening()
tts(result)
start_listening()
else:
pass
def reply_msg_by_content_type(self, msg):
# print msg
user_id = msg['user']['id']
content_type = msg['content']['type']
msg_type_id = msg['msg_type_id']
msg_id = msg['msg_id']
data = ''
scr_name = ''
if msg_type_id == 0 and content_type == 11:
return
try:
scr_name = msg['content']['user']['name']
except Exception:
try:
scr_name = msg['user']['name']
except Exception:
pass
if content_type == 0 and scr_name == 'self':
return
has_scr_name = False
if scr_name != 'unknown' and scr_name != '':
scr_name = '@' + scr_name + "\n"
has_scr_name = True
is_at_me = True
if msg_type_id == 3:
is_at_me = False
if 'detail' in msg['content']:
my_names = self.get_group_member_name(msg['user']['id'], self.my_account['UserName'])
if my_names is None:
my_names = {}
if 'NickName' in self.my_account and self.my_account['NickName']:
my_names['nickname2'] = self.my_account['NickName']
if 'RemarkName' in self.my_account and self.my_account['RemarkName']:
my_names['remark_name2'] = self.my_account['RemarkName']
is_at_me = False
for detail in msg['content']['detail']:
if detail['type'] == 'at':
for k in my_names:
# print detail['value']
if my_names[k] and my_names[k] == detail['value']:
is_at_me = True
break
try:
data = msg['content']['desc']
except Exception:
data = msg['content']['data']
if content_type == 0:
self.auto_switch(msg)
if self.robot_switch != True:
return
videos_key = [u'视频', u'mp4']
for key in videos_key:
if key in data:
self.send_file(user_id)
return
girls_key = [u'美女', u'girl', u'来张', u'来个']
for key in girls_key:
if key in data:
self.send_girl(user_id)
return
songs_key = [u'音乐', u'mp3', u'歌曲']
for key in songs_key:
if key in data:
data = data.replace(key, '')
self.send_song(data, user_id)
return
apks_key = [u'app', u'apk', u'下载']
for key in apks_key:
if key in data:
data = data.replace(key, '')
self.send_apk(data, user_id)
return
films_key = [u'电影', u'种子', u'迅雷', u'磁力']
for key in films_key:
if key in data:
data = data.replace(key, '')
self.send_film(data, user_id)
return
if is_at_me:
# print data
reply = self.tuling_auto_reply(user_id, data)
if has_scr_name:
reply = scr_name + reply
self.send_msg_by_uid(reply.encode('utf-8'), user_id)
elif content_type == 4:
return
pcm = mp3topcm(os.path.join(self.temp_pwd, self.get_voice(msg_id)))
tts_data = tts('1d2678900f734aa0a23734ace8aec5b1', pcm)
try:
msg['content']['data'] = tts_data
except Exception:
tts_data = u"无法识别"
# print u'[语音识别:]'+ tts_data
self.auto_switch(msg)
if self.robot_switch != True:
return
if scr_name == 'unknown' or scr_name != '':
scr_name = ''
reply = u'语音识别:' + tts_data + '\n\n' + scr_name
reply += self.tuling_auto_reply(user_id, tts_data)
# print reply
self.send_msg_by_uid(reply, user_id);
elif content_type == 3:
self.auto_switch(msg)
if self.robot_switch != True:
return
self.send_img(user_id)
elif content_type == 11 or content_type == 6:
self.auto_switch(msg)
if self.robot_switch != True:
return
self.send_img(user_id)
elif content_type == 7:
self.auto_switch(msg)
if self.robot_switch != True:
return
self.send_msg_by_uid(self.tuling_auto_reply(user_id, u'已经转帐给你'), user_id);
elif content_type == 13:
self.auto_switch(msg)
if self.robot_switch != True:
return
self.send_file(user_id)
else:
self.auto_switch(msg)
if self.robot_switch != True:
return
def action_on_transit(val, action):
""" Do something upon transition to next state ONCE"""
global send
# print("Action : "),
# print(action)
if action is Action.APPEND:
tts(AFFIRMS[action], (val, ))
send += str(val)
print(send)
elif action is Action.CLEAR:
tts(AFFIRMS[action])
print(send)
clear_send()
elif action is Action.DOWNLOAD_MAP:
tts(AFFIRMS[action])
print(send)
os.write(pipe_out, "*" + "\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.CONFIRM_START_BUILDING:
tts(AFFIRMS[action], (send, ))
print(send)
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.CONFIRM_START_LEVEL:
tts(AFFIRMS[action], (send, ))
print(send)
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.CONFIRM_START:
print(send)
tts(AFFIRMS[action], (send, ))
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.CONFIRM_END_BUILDING:
tts(AFFIRMS[action], (send, ))
print(send)
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.CONFIRM_END_LEVEL:
tts(AFFIRMS[action], (send, ))
print(send)
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.CONFIRM_END:
tts(AFFIRMS[action], (send, ))
print(send)
os.write(pipe_out, send + "\n")
os.kill(int(pid), signal.SIGUSR2)
clear_send()
elif action is Action.INCR:
print(send)
os.write(pipe_out, "++\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.DECR:
print(send)
os.write(pipe_out, "--\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.PLAY_MUSIC:
print(send)
args = shlex.split("omxplayer --vol -2000 good_life_remix.mp3")
process = subprocess.Popen(args)
elif action is Action.QUIT:
print(send)
os.write(pipe_out, "q\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.NULL:
pass
elif action is Action.NAV:
os.write(pipe_out, "NAVIGATE\n")
os.kill(int(pid), signal.SIGUSR2)
pass
elif action is Action.START:
tts(AFFIRMS[action])
pass
elif action is Action.GET_INSTR:
os.write(pipe_out, "GET_INSTR\n")
os.kill(int(pid), signal.SIGUSR2)
pass
elif action is Action.GET_PREV:
os.write(pipe_out, "GET_PREV\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.STEP_ON:
tts(AFFIRMS[action])
os.write(pipe_out, "STEP_ON\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.STEP_OFF:
tts(AFFIRMS[action])
os.write(pipe_out, "STEP_OFF\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.REACHED:
tts(AFFIRMS[action])
os.write(pipe_out, "USER_CHECKPOINT_REACHED\n")
os.kill(int(pid), signal.SIGUSR2)
elif action is Action.CONFIRM_RESET:
tts(AFFIRMS[action])
pass
elif action is Action.CANCEL_RESET:
tts(AFFIRMS[action])
pass
else:
raise Exception("Unrecognized action!")
def issue_instruction(self): """ Only issue instruction after interval""" tts(self.instruction) self.instruction = ""
def run_once_on_transition(self, userinput):
""" Run once upon transition to new state"""
print("[MAIN] TRANSITION : " + str(self.state))
if self.state is State.END:
tts("Shutting down.")
pass
elif self.state is State.ACCEPT_START_BUILDING:
# tts("Please enter building")
if self.transition is Transitions.KEY_NODE:
try:
self.start_building = int(userinput)
except Exception as e:
print e
pass
elif self.state is State.ACCEPT_START_LEVEL:
# tts("Please enter level")
if self.transition is Transitions.KEY_NODE:
try:
self.start_level = int(userinput)
self.PathFinder = PathFinder()
except ValueError as e:
print("[MAIN] Error! Wrong building and level entered")
tts("Please enter a valid building and level")
except Exception as e:
print(e)
pass
elif self.state is State.ACCEPT_START:
# tts("Please enter start node")
if self.transition is Transitions.KEY_NODE:
try:
self.curr_start_node = int(userinput)
except Exception as e:
print '[MAIN] AEND exception'
print e
pass
elif self.state is State.ACCEPT_END_BUILDING:
# tts("Please enter building")
if self.transition is Transitions.KEY_NODE:
try:
self.end_building = int(userinput)
except Exception as e:
print e
pass
elif self.state is State.ACCEPT_END_LEVEL:
# tts("Please enter level")
if self.transition is Transitions.KEY_NODE:
try:
self.end_level = int(userinput)
self.PathFinder = PathFinder()
except ValueError as e:
print("[MAIN] Error! Wrong building and level entered")
tts("Please enter a valid building and level")
except Exception as e:
print(e)
pass
elif self.state is State.ACCEPT_END:
# tts("Please enter end destination")
if self.transition is Transitions.KEY_NODE:
try:
self.curr_end_node = int(userinput)
(self.combined_start_node, self.combined_end_node) = self.combine_node_from_building_and_level()
(x, y) = self.PathFinder.get_coordinates_from_node(self.combined_start_node)
if x is None and y is None:
print("[MAIN] Error! Invalid start node given, please try again")
tts("Error, invalid start, please enter again")
else:
bearing = self.Localization.stabilized_bearing
self.PathFinder.update_coordinate(x, y, bearing)
self.Localization.update_coordinates(x, y)
self.update_steps()
self.PathFinder.update_source_and_target(self.combined_start_node, self.combined_end_node)
print("[MAIN] Source : %d, Dest: %d" % (self.combined_start_node, self.combined_end_node))
print("[MAIN] Current location: %.2f, %.2f, %.2f" % (self.PathFinder.get_x_coordinate(), self.PathFinder.get_y_coordinate(), self.Localization.stabilized_bearing))
except Exception as e:
print e
pass
pass
elif self.state is State.NAVIGATING:
print("[MAIN] Transition for State.NAVIGATING")
bearing = self.Localization.stabilized_bearing
(x, y) = self.PathFinder.get_coordinates_from_node(self.curr_start_node)
if self.transition is Transitions.KEY_GET_PREV:
tts("Previous " + str(self.PathFinder.get_prev_visited_node()))
elif self.transition is Transitions.SW_REACHED_NODE:
print("[MAIN] %s triggered " % (str(self.transition)))
elif self.transition is Transitions.KEY_REACHED_NODE:
# When user press 6
new_coord = self.PathFinder.get_next_coordinates()
if new_coord[0] is not None and new_coord[1] is not None:
self.Localization.update_coordinates(new_coord[0], new_coord[1])
self.PathFinder.update_coordinate(new_coord[0], new_coord[1], self.Localization.stabilized_bearing)
else:
print("[MAIN] Error! Invalid new coordinates for reached node")
elif self.transition is Transitions.KEY_GET_INSTR:
self.get_instruction()
elif self.transition is Transitions.KEY_DECR or self.transition is Transitions.KEY_INCR:
angle = self.PathFinder.get_angle_to_next_node()
self.update_steps(angle)
elif self.transition is Transitions.KEY_RESTART:
print("[MAIN] Restarting. Press start building and level")
pass
elif self.transition is Transitions.KEY_STEP_ON:
self.is_stepcounter_on = True
elif self.transition is Transitions.KEY_STEP_OFF:
self.is_stepcounter_on = False
else:
print("[MAIN] Error unrecognized transition: %s" % str(self.transition))
pass
elif self.state is State.REACHED:
print("[MAIN] Transition for State.REACHED")
# self.curr_reached_node_instr = self.PathFinder.get_audio_reached(self.curr_end_node)
if self.transition is Transitions.KEY_GET_PREV:
tts("Previous " + str(self.PathFinder.get_prev_visited_node()))
elif self.transition is Transitions.KEY_GET_INSTR:
self.get_instruction()
elif self.transition is Transitions.KEY_DECR or self.transition is Transitions.KEY_INCR:
angle = self.PathFinder.get_angle_to_next_node()
self.update_steps(angle)
elif self.transition is Transitions.KEY_NAV:
print("[MAIN] %s triggered " % (str(self.transition)))
elif self.transition is Transitions.KEY_RESTART:
print("[MAIN] unhandled Transition : %s" % str(self.transition))
pass
elif self.transition is Transitions.KEY_SHUTDOWN:
print("[MAIN] %s triggered " % str(self.transition))
pass
elif self.transition is Transitions.KEY_RESTART:
tts("[MAIN] Restarting. Press building and level")
elif self.transition is Transitions.KEY_STEP_ON:
self.is_stepcounter_on = True
elif self.transition is Transitions.KEY_STEP_OFF:
self.is_stepcounter_on = False
else:
print("[MAIN] Error unrecognized transition: %s" % str(self.transition))
pass
elif self.state is State.RESET:
tts("Resetting. ")
self.StepDetector.reset_step()
self.Localization.reset()
pass
else:
pass
try:
self.state = State.transitions[self.state][self.transition]
except KeyError as e:
print("[MAIN] Ignoring state %s -> transition %s " % (str(self.state), str(self.transition)))
print e
print("[MAIN] " + str(self.state))
self.transit = False
