def run(self):
control = gcc()
contLoop = 0
while True and not self.killMyself:
with self.lock:
self.alive = True
if self.newAngle != self.angle:
self.angle = self.newAngle
self.initAngle = self.actualAngle
if self.actualAngle == self.initAngle:
control.moveRightEyelid(self.angle)
# If we already are where we wanted, done
if round(self.actualAngle) == self.angle:
break
# Sometimes it never ends this loop, this is a security loop breaker
if contLoop == 50:
break
contLoop += 1
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
control = gcc()
securityLoop = 200
contLoop = 0 # sometimes we get an infinite loop, sometimes. Still need to be solved
while True and not self.killMyself:
with self.lock:
self.alive = True
if self.newAngle != self.angle:
self.angle = self.newAngle
self.initAngle = self.actualAngle
if self.actualAngle == self.initAngle:
control.movePairEyelid(self.angle)
contLoop += 1
if contLoop > securityLoop:
break
if round(self.actualAngle) == self.angle:
break
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
control = gcc()
securityLoop = 200
contLoop = 0 #sometimes we get an infinite loop, sometimes. Still need to be solved
while True and not self.killMyself:
with self.lock:
self.alive = True
if self.newAngle != self.angle:
self.angle = self.newAngle
self.initAngle = self.actualAngle
if self.actualAngle == self.initAngle:
control.movePairEyelid(self.angle)
contLoop += 1
if contLoop > securityLoop:
break
if round(self.actualAngle) == self.angle:
break
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
control = gcc()
contLoop = 0
while True and not self.killMyself:
with self.lock:
self.alive = True
if self.newAngle != self.angle:
self.angle = self.newAngle
self.initAngle = self.actualAngle
if self.actualAngle == self.initAngle:
control.moveRightEyelid(self.angle)
#If we already are where we wanted, done
if round(self.actualAngle) == self.angle:
break
#Sometimes it never ends this loop, this is a security loop breaker
if contLoop == 50:
break
contLoop += 1
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
control = gcc()
with self.lock:
initPosX = self.actualPosX
initPosY = self.actualPosY
lastPosX = -1000
lastPosY = -1000
cont = 0
contLoop = 0
while True and not self.killMyself:
with self.lock:
if self.pan_pos == -1000:
self.alive = False
self.killMyself = True
else:
self.alive = True
# We check whether the movement have been finished or not, so if the last five movements
# are the same, is because it reached the end point.
if lastPosX == self.actualPosX and lastPosY == self.actualPosY:
cont += 1
if cont >= 5:
self.pan_pos = -1000
contLoop = 0
cont = 0
if not self.ordenEjecutada:
self.ordenEjecutada = True
move = {}
move["pan_position"] = self.pan_pos
move["pan_speed"] = self.pan_speed
move["tilt_position"] = self.tilt_pos
move["tilt_speed"] = self.tilt_speed
control.headServosPut(move)
lastPosX = self.actualPosX
lastPosY = self.actualPosY
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
control = gcc()
with self.lock:
initPosX = self.actualPosX
initPosY = self.actualPosY
lastPosX = -1000
lastPosY = -1000
cont = 0
contLoop = 0
while True and not self.killMyself:
with self.lock:
if self.pan_pos == -1000:
self.alive = False
self.killMyself = True
else:
self.alive = True
#We check whether the movement have been finished or not, so if the last five movements
# are the same, is because it reached the end point.
if lastPosX == self.actualPosX and lastPosY == self.actualPosY:
cont += 1
if cont >= 5:
self.pan_pos = -1000
contLoop = 0
cont = 0
if not self.ordenEjecutada:
self.ordenEjecutada = True
move = {}
move["pan_position"] = self.pan_pos
move["pan_speed"] = self.pan_speed
move["tilt_position"] = self.tilt_pos
move["tilt_speed"] = self.tilt_speed
control.headServosPut(move)
lastPosX = self.actualPosX
lastPosY = self.actualPosY
sleep(0.1)
self.alive = False
self.killMyself = False
def run(self):
headThread = None
leftEyeThread = None
rightEyeThread = None
relativeHeadThread = None
EyesThread = None
m = mouth()
control = gcc()
for move in self.cmdList:
runningThreads = []
moveList = move.split(" ")
relativeHeadThread = None
for i in range(0, len(moveList) - 1):
if moveList[i] == "l": # LEFT EYE
angle = self.getNumber(moveList[i + 1])
if leftEyeThread == None:
leftEyeThread = ThreadMoveLeftEye()
leftEyeThread.set(angle)
runningThreads.append(leftEyeThread)
if not leftEyeThread.is_alive():
leftEyeThread.imBack()
leftEyeThread.start()
i += 2
elif moveList[i] == "r": # RIGHT EYE
angle = self.getNumber(moveList[i + 1])
if rightEyeThread == None:
rightEyeThread = ThreadMoveRightEye()
rightEyeThread.set(angle)
runningThreads.append(rightEyeThread)
if not rightEyeThread.is_alive():
rightEyeThread.imBack()
rightEyeThread.start()
i += 2
elif moveList[i] == "e": # BOTH EYES
angle = self.getNumber(moveList[i + 1])
if EyesThread == None:
EyesThread = ThreadMoveEyes()
EyesThread.set(angle)
runningThreads.append(EyesThread)
if not EyesThread.is_alive():
EyesThread.imBack()
EyesThread.start()
i += 2
elif moveList[i] == "h": # HEAD
pan_pos = self.getNumber(moveList[i + 1])
tilt_pos = self.getNumber(moveList[i + 2])
pan_speed = self.getNumber(moveList[i + 3])
tilt_speed = self.getNumber(moveList[i + 4])
if headThread == None:
headThread = ThreadMoveHead()
headThread.set(pan_pos, pan_speed, tilt_pos, tilt_speed)
runningThreads.append(headThread)
if not headThread.is_alive():
headThread.imBack()
headThread.start()
i += 5
elif moveList[i] == "v": # RELATIVE HEAD
pan_pos = self.getNumber(moveList[i + 1])
tilt_pos = self.getNumber(moveList[i + 2])
pan_speed = self.getNumber(moveList[i + 3])
tilt_speed = self.getNumber(moveList[i + 4])
if relativeHeadThread == None:
relativeHeadThread = ThreadMoveRelativeHead()
relativeHeadThread.set(pan_pos, pan_speed, tilt_pos, tilt_speed)
runningThreads.append(relativeHeadThread)
if not relativeHeadThread.is_alive():
relativeHeadThread.imBack()
relativeHeadThread.start()
i += 5
elif moveList[i] == "w": # WAIT
time = self.getNumber(moveList[i + 1])
if str(time) == "-1":
for thread in runningThreads:
thread.join()
runningThreads = []
else:
sleep(time)
i += 2
elif moveList[i] == "s": # SPEAK
sentence = ""
i += 1
while True:
w = moveList[i]
if w.endswith("]"):
w = w.replace("]", "")
sentence = sentence + " " + w
break
sentence = sentence + " " + w
i += 1
say = Speak(sentence)
say.start()
runningThreads.append(say)
i += 2
elif moveList[i] == "x": # OTHER FACE
expression = moveList[i + 1]
newExp = MainThread(expression)
newExp.start()
i += 2
elif moveList[i] == "o": # MOUTH
if moveList[i + 1] == "smile":
a = m.changeMouth(0)
elif moveList[i + 1] == "none":
a = m.changeMouth(13)
elif moveList[i + 1] == "sad":
a = m.changeMouth(1)
elif moveList[i + 1] == "puckerRight":
a = m.changeMouth(3)
elif moveList[i + 1] == "puckerLeft":
a = m.changeMouth(4)
elif moveList[i + 1] == "straight":
a = m.changeMouth(5)
elif moveList[i + 1] == "smallMouth":
a = m.changeMouth(6)
elif moveList[i + 1] == "surprise":
a = m.changeMouth(14)
elif moveList[i + 1] == "regular":
a = m.changeMouth(15)
elif moveList[i + 1] == "laugh":
a = m.changeMouth(7)
elif moveList[i + 1] == "laugh2":
a = m.changeMouth(8)
elif moveList[i + 1] == "laugh3":
a = m.changeMouth(9)
elif moveList[i + 1] == "laugh4":
a = m.changeMouth(10)
elif moveList[i + 1] == "laugh5":
a = m.changeMouth(11)
elif moveList[i + 1] == "tongue":
a = m.changeMouth(16)
elif moveList[i + 1] == "laugh6":
a = m.changeMouth(12)
i += 2
if relativeHeadThread != None:
relativeHeadThread.die()
if headThread != None:
headThread.die()
if rightEyeThread != None:
rightEyeThread.die()
if leftEyeThread != None:
leftEyeThread.die()
def run(self):
headThread = None
leftEyeThread = None
rightEyeThread = None
relativeHeadThread = None
EyesThread = None
m = mouth()
control = gcc()
for move in self.cmdList:
runningThreads = []
moveList = move.split(" ")
relativeHeadThread = None
for i in range(0, len(moveList) - 1):
if moveList[i] == "l": # LEFT EYE
angle = self.getNumber(moveList[i + 1])
if leftEyeThread == None:
leftEyeThread = ThreadMoveLeftEye()
leftEyeThread.set(angle)
runningThreads.append(leftEyeThread)
if not leftEyeThread.is_alive():
leftEyeThread.imBack()
leftEyeThread.start()
i += 2
elif moveList[i] == "r": # RIGHT EYE
angle = self.getNumber(moveList[i + 1])
if rightEyeThread == None:
rightEyeThread = ThreadMoveRightEye()
rightEyeThread.set(angle)
runningThreads.append(rightEyeThread)
if not rightEyeThread.is_alive():
rightEyeThread.imBack()
rightEyeThread.start()
i += 2
elif moveList[i] == "e": # BOTH EYES
angle = self.getNumber(moveList[i + 1])
if EyesThread == None:
EyesThread = ThreadMoveEyes()
EyesThread.set(angle)
runningThreads.append(EyesThread)
if not EyesThread.is_alive():
EyesThread.imBack()
EyesThread.start()
i += 2
elif moveList[i] == "h": # HEAD
pan_pos = self.getNumber(moveList[i + 1])
tilt_pos = self.getNumber(moveList[i + 2])
pan_speed = self.getNumber(moveList[i + 3])
tilt_speed = self.getNumber(moveList[i + 4])
if headThread == None:
headThread = ThreadMoveHead()
headThread.set(pan_pos, pan_speed, tilt_pos, tilt_speed)
runningThreads.append(headThread)
if not headThread.is_alive():
headThread.imBack()
headThread.start()
i += 5
elif moveList[i] == "v": # RELATIVE HEAD
pan_pos = self.getNumber(moveList[i + 1])
tilt_pos = self.getNumber(moveList[i + 2])
pan_speed = self.getNumber(moveList[i + 3])
tilt_speed = self.getNumber(moveList[i + 4])
if relativeHeadThread == None:
relativeHeadThread = ThreadMoveRelativeHead()
relativeHeadThread.set(pan_pos, pan_speed, tilt_pos,
tilt_speed)
runningThreads.append(relativeHeadThread)
if not relativeHeadThread.is_alive():
relativeHeadThread.imBack()
relativeHeadThread.start()
i += 5
elif moveList[i] == "w": # WAIT
time = self.getNumber(moveList[i + 1])
if str(time) == "-1":
for thread in runningThreads:
thread.join()
runningThreads = []
else:
sleep(time)
i += 2
elif moveList[i] == "s": # SPEAK
sentence = ""
i += 1
while True:
w = moveList[i]
if w.endswith("]"):
w = w.replace("]", "")
sentence = sentence + " " + w
break
sentence = sentence + " " + w
i += 1
say = Speak(sentence)
say.start()
runningThreads.append(say)
i += 2
elif moveList[i] == "x": # OTHER FACE
expression = moveList[i + 1]
newExp = MainThread(expression)
newExp.start()
i += 2
elif moveList[i] == "o": # MOUTH
if moveList[i + 1] == 'smile':
a = m.changeMouth(0)
elif moveList[i + 1] == 'none':
a = m.changeMouth(13)
elif moveList[i + 1] == 'sad':
a = m.changeMouth(1)
elif moveList[i + 1] == 'puckerRight':
a = m.changeMouth(3)
elif moveList[i + 1] == 'puckerLeft':
a = m.changeMouth(4)
elif moveList[i + 1] == 'straight':
a = m.changeMouth(5)
elif moveList[i + 1] == 'smallMouth':
a = m.changeMouth(6)
elif moveList[i + 1] == 'surprise':
a = m.changeMouth(14)
elif moveList[i + 1] == 'regular':
a = m.changeMouth(15)
elif moveList[i + 1] == 'laugh':
a = m.changeMouth(7)
elif moveList[i + 1] == 'laugh2':
a = m.changeMouth(8)
elif moveList[i + 1] == 'laugh3':
a = m.changeMouth(9)
elif moveList[i + 1] == 'laugh4':
a = m.changeMouth(10)
elif moveList[i + 1] == 'laugh5':
a = m.changeMouth(11)
elif moveList[i + 1] == 'tongue':
a = m.changeMouth(16)
elif moveList[i + 1] == 'laugh6':
a = m.changeMouth(12)
i += 2
if relativeHeadThread != None:
relativeHeadThread.die()
if headThread != None:
headThread.die()
if rightEyeThread != None:
rightEyeThread.die()
if leftEyeThread != None:
leftEyeThread.die()
