def INIT(robot):
retval = ask("Please enter the name of a device (ptz, camera, etc.)",
(("Device", ""), ))
if retval["ok"]:
return [retval["Device"]]
else:
raise "Cancelled!"
def __init__(self, portname=None, baudrate=None):
Device.__init__(self, deviceType='ptz')
if portname == None or baudrate == None:
if portname == None:
portname = '/dev/ttyS3'
if baudrate == None:
baudrate = 9600
result = ask("Please enter the parameters for the Canon PTZ", (
("Port name", portname),
("Baud rate", baudrate),
))
else:
result = {'Port name': portname, 'Baud rate': baudrate}
self.port = serial.Serial(result['Port name'],
baudrate=result['Baud rate'])
self._send(controlModePacket())
self._send(initPacket())
self._send(opticalZoomPacket(0))
self._send(digitalZoomPacket(1))
self._send(panSlewPacket(MAX_PAN_SLEW))
self._send(tiltSlewPacket(MAX_TILT_SLEW))
self._send(defaultTiltRangePacket())
self._pan = 0
self._tilt = 0
self._zoom = 0
self._magnify = 1
self._panSpeed = MAX_PAN_SLEW
self._tiltSpeed = MAX_TILT_SLEW
self.supports = ['pan', 'tilt', 'zoom', 'magnify']
print 'Canon PTZ device ready'
def INIT(robot):
retval = ask("Please enter the name of a device (ptz, camera, etc.)",
(("Device", ""),))
if retval["ok"]:
return [retval["Device"]]
else:
raise "Cancelled!"
def __init__(self, portname=None, baudrate=None):
Device.__init__(self, deviceType='ptz')
if portname == None or baudrate == None:
if portname == None:
portname = '/dev/ttyS3'
if baudrate == None:
baudrate = 9600
result = ask("Please enter the parameters for the Canon PTZ",
(("Port name", portname),
("Baud rate", baudrate),
))
else:
result = {'Port name': portname, 'Baud rate': baudrate}
self.port = serial.Serial(result['Port name'],
baudrate=result['Baud rate'])
self._send(controlModePacket())
self._send(initPacket())
self._send(opticalZoomPacket(0))
self._send(digitalZoomPacket(1))
self._send(panSlewPacket(MAX_PAN_SLEW))
self._send(tiltSlewPacket(MAX_TILT_SLEW))
self._send(defaultTiltRangePacket())
self._pan = 0
self._tilt = 0
self._zoom = 0
self._magnify = 1
self._panSpeed = MAX_PAN_SLEW
self._tiltSpeed = MAX_TILT_SLEW
self.supports = ['pan', 'tilt', 'zoom', 'magnify']
print 'Canon PTZ device ready'
def INIT():
# For serial connected Roomba:
dict = ask("What serial port is the Roomba connected to?",
[("Serial Port", "/dev/rfcomm0"), ("Transfer rate", "57600")])
return Roomba(port=dict["Serial Port"],
rate=int(dict["Transfer rate"]),
subtype="Roomba")
def INIT(robot):
retval = ask(
"Please enter what sensor group you would like to view (all, left, right, front-right, etc.)",
(("Sensor group", ""), ))
if retval["ok"]:
return {"view": SimplePlot(robot, retval["Sensor group"])}
else:
raise "Cancelled!"
def INIT():
# For serial connected Roomba:
dict = ask("What serial port is the Roomba connected to?",
[("Serial Port", "/dev/rfcomm0"),
("Transfer rate", "57600")])
return Roomba(port = dict["Serial Port"],
rate = int(dict["Transfer rate"]),
subtype = "Roomba")
def INIT(robot):
retval = ask("Please enter what sensor group you would like to view (all, left, right, front-right, etc.)",
(("Sensor group", ""),
))
if retval["ok"]:
return {"view": SimplePlot(robot, retval["Sensor group"])}
else:
raise "Cancelled!"
def INIT(robot):
retval = ask("Please enter the index numbers of the left and right cameras",
(("Left", "0"),
("Right", "1"),
))
left = int(retval["Left"])
right = int(retval["Right"])
leftCamera = robot.camera[left]
rightCamera = robot.camera[right]
return {"camera": StereoCamera(leftCamera, rightCamera)}
def INIT(robot):
retval = ask(
"Please enter the index numbers of the left and right cameras", (
("Left", "0"),
("Right", "1"),
))
left = int(retval["Left"])
right = int(retval["Right"])
leftCamera = robot.camera[left]
rightCamera = robot.camera[right]
return {"camera": StereoCamera(leftCamera, rightCamera)}
def INIT():
retval = ask("Please enter the Hemisson Data",
(("Port", "6665"),
("Baud", 115200)))
if retval["ok"]:
# For serial connected Hemisson:
return KheperaRobot(port = retval["Port"],
rate = int(retval["Baud"]),
subtype = "Hemisson")
else:
raise "Cancelled!"
def INIT():
retval = ask("Please enter the Simulator Connection Data",
(("Port", "60000"),
("Host", "localhost"),
("Start devices", "1"),))
if retval["ok"]:
return TCPRobot(retval["Host"],
int(retval["Port"]),
startDevices=int(retval["Start devices"]))
else:
raise "Cancelled!"
def INIT():
retval = ask("Please enter the Simulator Connection Data", (
("Port", "60000"),
("Host", "localhost"),
("Start devices", "1"),
))
if retval["ok"]:
return TCPRobot(retval["Host"],
int(retval["Port"]),
startDevices=int(retval["Start devices"]))
else:
raise "Cancelled!"
def INIT(robot):
retval = ask("Please enter the parameters for the Video4Linux Camera",
(("Width", "160"),
("Height", "120"),
("Channel", "0"),
))
if retval["ok"]:
return {"camera" : V4LCamera( int(retval["Width"]),
int(retval["Height"]),
channel = int(retval["Channel"]),
visionSystem = VisionSystem())}
else:
raise "Cancelled!"
def INIT():
retval = ask("Please enter the Player Data",
(("Port", "6665"), ("Host", "localhost"),
("Start devices?", "yes")))
if retval["ok"]:
startDevices = 1
if retval["Start devices?"] != "yes":
startDevices = 0
return PlayerRobot("Player6665",
port=int(retval["Port"]),
hostname=retval["Host"],
startDevices=startDevices)
else:
raise "Cancelled!"
def INIT(robot):
if len(robot.camera) == 1:
index = 0
elif len(robot.camera) > 1:
retval = ask("Please enter the index number of the camera to split 2 ways", (("Index", "0"),))
index = int(retval["Index"])
else:
raise AttributeError, "you need a camera already loaded"
baseCamera = robot.camera[index]
cameras = [0] * 2
for i in range(2):
cameras[i] = FourwayCamera(baseCamera, 2, i)
return [{"camera": cameras[0]}, {"camera": cameras[1]}]
def INIT(robot):
retval = ask("Please enter the parameters for the Video4Linux Camera",
(("Device", "/dev/video0"),
("Width", "160"),
("Height", "120"),
("Channel", "0"),
))
if retval["ok"]:
return {"camera" : V4LCamera( int(retval["Width"]),
int(retval["Height"]),
device = retval["Device"],
channel = int(retval["Channel"]),
visionSystem = VisionSystem())}
else:
raise "Cancelled!"
def INIT():
retval = ask("Please enter the Player Data",
(("Port", "6665"),
("Host", "localhost"),
("Start devices?", "yes")))
if retval["ok"]:
startDevices = 1
if retval["Start devices?"] != "yes":
startDevices = 0
return PlayerRobot("Player6665",
port = int(retval["Port"]),
hostname = retval["Host"],
startDevices=startDevices)
else:
raise "Cancelled!"
def INIT(robot):
if len(robot.camera) == 1:
index = 0
elif len(robot.camera) > 1:
retval = ask(
"Please enter the index number of the camera to split 2 ways",
(("Index", "0"), ))
index = int(retval["Index"])
else:
raise AttributeError("you need a camera already loaded")
baseCamera = robot.camera[index]
cameras = [0] * 2
for i in range(2):
cameras[i] = FourwayCamera(baseCamera, 2, i)
return [{"camera": cameras[0]}, {"camera": cameras[1]}]
def INIT(robot):
if len(robot.camera) == 1:
index = 0
elif len(robot.camera) > 1:
retval = ask("Please enter the index number of the camera to split 4 ways",
(("Index", "0"),))
index = int(retval["Index"])
else:
raise AttributeError, "you need a camera already loaded"
baseCamera = robot.camera[index]
cameras = [0] * 4
rotate = [0] * 4
rotate[2] = 1
for i in range(4):
cameras[i] = FourwayCamera(baseCamera, 4, i, rotate[i])
return [{"camera": cameras[0]},
{"camera": cameras[1]},
{"camera": cameras[2]},
{"camera": cameras[3]}]
def INIT():
# replace "aibo" with your dog's IP or DNS name
dict = ask("Which Rovio do you wish to connect to?",
[("Rovio IP/URL", "")])
return RovioRobot(dict["Rovio IP/URL"])
def INIT():
# replace "aibo" with your dog's IP or DNS name
dict = ask("What Aibo do you want to connect onto?",
[("AIBO name or IP", "")])
return AiboRobot(dict["AIBO name or IP"])
def INIT():
dict = ask("Which Rovio do you wish to connect to?",
[("Rovio IP/URL", "")])
return RovioRobot(dict["Rovio IP/URL"])
def INIT():
# replace "aibo" with your dog's IP or DNS name
dict = ask("Which Rovio do you wish to connect to?", [("Rovio IP/URL", "")])
return RovioRobot(dict["Rovio IP/URL"])
def INIT():
dict = ask("Which Rovio do you wish to connect to?",
[("Rovio IP/URL", "")])
return RovioRobot(dict["Rovio IP/URL"])
def INIT():
# replace "aibo" with your dog's IP or DNS name
dict = ask("What Aibo do you want to connect onto?",
[("AIBO name or IP", "")])
return AiboRobot(dict["AIBO name or IP"])
