def init(self):
self.camera = cv2.VideoCapture(
gstreamer_pipeline(1280, 720, 1280 // 2, 720 // 2, 20, 0),
cv2.CAP_GSTREAMER)
while True:
hasFrame, frame = self.camera.read()
if hasFrame:
Space.write(self.nameImage, frame, 0.15)
def init(self):
try:
print('starting reception on port', self.name)
while not self.stopped:
data = self.get()
if len(data) > 0:
Space.write(self.name, data)
except Exception as e:
print(e)
self.stop()
def speak(text):
print(text)
filename = str(time.time()) + '.txt'
file = open(filename, 'wb')
file.write(bytes(text, 'utf-16'))
file.close()
os.environ["ESPEAK_DATA_PATH"] = "."
Space.write('speaking', True)
os.system('espeak -v SK -b4 -f ' + filename)
os.remove(filename)
Space.write('speaking', False)
def senseSelectAct(self):
ret, info = joystickapi.joyGetPosEx(self.id)
if ret:
btns = [(1 << i) & info.dwButtons != 0
for i in range(self.caps.wNumButtons)]
axisXYZ = [
info.dwXpos - self.startinfo.dwXpos,
info.dwYpos - self.startinfo.dwYpos,
info.dwZpos - self.startinfo.dwZpos
]
axisRUV = [
info.dwRpos - self.startinfo.dwRpos,
info.dwUpos - self.startinfo.dwUpos,
info.dwVpos - self.startinfo.dwVpos
]
Space.write(self.name, [btns, axisXYZ, axisRUV])
def init(self):
print('receiver starting')
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.sock.connect((self.ip, self.port))
except ConnectionRefusedError:
print('router is not running')
self.stop()
self.buffer = ''
while not self.stopped:
try:
line = self.getline()
Space.write(self.name, line)
except Exception as e:
print(e)
self.stop()
def init(self):
print('client connecting to ip', self.ip, 'port', self.port)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.sock.connect((self.ip, self.port))
except ConnectionRefusedError:
print('server is not running')
self.stop()
self.buffer = ''
while not self.stopped:
try:
line = self.getline()
data = eval(line)
Space.write(self.name, data)
except Exception as e:
print(e)
self.stop()
def senseSelectAct(self):
forward = Space.read(self.nameForward,0)
turn = Space.read(self.nameTurn,0)
if turn < 0: # to left
self.left_motor.run(HAT.BACKWARD)
self.right_motor.run(HAT.FORWARD)
elif turn > 0: # to right
self.left_motor.run(HAT.FORWARD)
self.right_motor.run(HAT.BACKWARD)
elif forward > 0: # forward
self.left_motor.run(HAT.FORWARD)
self.right_motor.run(HAT.FORWARD)
elif forward < 0: # backward
self.left_motor.run(HAT.BACKWARD)
self.right_motor.run(HAT.BACKWARD)
else:
self.left_motor.run(HAT.RELEASE)
self.right_motor.run(HAT.RELEASE)
def senseSelectAct(self):
data = Space.read(self.name, [])
if len(data) > 0:
try:
line = str(data)
self.putline(line)
except Exception as e:
print('disconnected')
self.stop()
def senseSelectAct(self):
global threshold
frame = Space.read(self.nameImage, None)
if frame is None:
cv2.imshow("hough circle", frame)
return
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
frame = cv2.blur(frame, (3, 3))
circles = cv2.HoughCircles(frame,
cv2.HOUGH_GRADIENT,
2,
100,
param1=threshold,
param2=threshold // 2,
minRadius=10,
maxRadius=90)
found = False
frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
if circles is not None:
for circle in circles[0, :]:
x = int(circle[0])
y = int(circle[1])
r = int(circle[2])
if r > 0:
cv2.circle(frame, (x, y), r, (0, 0, 255), 2)
cv2.circle(frame, (x, y), 2, (0, 0, 255), cv2.FILLED)
found = True
found_x = x
found_y = y
found_radius = r
break
if found:
#print('found',found_x,found_y,found_radius)
Space.write(self.nameBall, [found_x, found_y, found_radius], 0.5)
else:
#print('ball not recognized, threshold:',threshold)
pass
cv2.imshow("hough circle", frame)
key = cv2.waitKey(1)
if key == ord('s'):
cv2.imwrite('houghCircle.png', frame)
def senseSelectAct(self):
speaking = Space.read(self.name, False)
if speaking:
if random.random() < 0.7:
self.emotions.set('neu')
else:
self.emotions.set('sur')
self.openmouth = True
else:
if self.openmouth:
self.emotions.set('neu')
self.openmouth = False
def senseSelectAct(self):
text = Space.read(self.name, '')
text = text.lower()
text = str(
unicodedata.normalize('NFKD', text).encode('ASCII', 'ignore'))
if len(text) <= 0 or text == "b'connect'":
return
print(text[2:-1])
responses = self.chatbot_agent.handle_text(text)
if responses:
speak(responses[0]["text"])
print("\n")
if (responses[0]["text"]
== "Dobre, daj mi prosím chvíľu aby som sa to naučil"
or responses[0]["text"] ==
"Malý moment, naučím sa to a nanovo načítam svoju neurónovú sieť"
):
time.sleep(12)
self.chatbot_agent = self.loadChatbot()
def senseSelectAct(self):
data = Space.read(self.name, [])
print(data)
def senseSelectAct(self):
data = Space.read(self.nameJoystick, [[], [0, 0, 0], []])
if data[1][0] < -5000: # to left
Space.write(self.nameForward, 0, validity=0.2, priority=2.0)
Space.write(self.nameTurn, -1, validity=0.2, priority=2.0)
elif data[1][0] > 5000: # to right
Space.write(self.nameForward, 0, validity=0.2, priority=2.0)
Space.write(self.nameTurn, 1, validity=0.2, priority=2.0)
elif data[1][1] < -5000: # forward
Space.write(self.nameForward, 1, validity=0.2, priority=2.0)
Space.write(self.nameTurn, 0, validity=0.2, priority=2.0)
elif data[1][1] > 5000: # backward
Space.write(self.nameForward, -1, validity=0.2, priority=2.0)
Space.write(self.nameTurn, 0, validity=0.2, priority=2.0)
import os
import sys
import time
from agentspace import Agent, Space
from lips import LipsAgent
def speak(text):
os.environ["ESPEAK_DATA_PATH"] = "."
os.system('espeak -v SK "' + text + '"')
if __name__ == "__main__":
agent = LipsAgent('speaking')
text = sys.argv[1] if len(sys.argv) > 1 else "eee"
Space.write('speaking', True)
print('speaking started')
speak(text)
print('speaking finished')
Space.write('speaking', False)
agent.stop()
def command(self):
text = Space.read(self.name, '')
Space.write(self.name, '')
text = text.lower().strip()
return text
def senseSelectAct(self):
data = Space.read(self.nameJoystick, [])
if data[1][0] < -5000: # to left
Space.write(self.nameForward, 0, 0.2)
Space.write(self.nameTurn, -1, 0.2)
elif data[1][0] > 5000: # to right
Space.write(self.nameForward, 0, 0.2)
Space.write(self.nameTurn, 1, 0.2)
elif data[1][1] < -5000: # forward
Space.write(self.nameForward, 1, 0.2)
Space.write(self.nameTurn, 0, 0.2)
elif data[1][1] > 5000: # backward
Space.write(self.nameForward, -1, 0.2)
Space.write(self.nameTurn, 0, 0.2)
else:
Space.write(self.nameForward, 0, 0.2)
Space.write(self.nameTurn, 0, 0.2)
def command(self):
self.text = Space.read(self.name, '')
Space.write(self.name, '')
self.text = self.text.lower().strip()
return self.text
def speak(text):
os.environ["ESPEAK_DATA_PATH"] = "."
Space.write('speaking', True)
os.system('espeak "' + text + '"')
Space.write('speaking', False)
def signal_handler(signal, frame):
Space.write('forward', 0)
Space.write('turn', 0)
time.sleep(0.25)
os._exit(0)
