def main():
ev3_cmd_filename = '/home/pi/Lego_ev3/ev3_cmds.txt' # Command destined for the EV3 should be written here by voice_assist_ev3_ctrlx.py
wait_period = 0.25 # SEC. This is the amount of time to wait for the voice_assist_ev3_ctrlx to creat a file
ev3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3(
) #Port poitner abd ID if successful, None otherwise
if ev3PortOpen is not None:
print('\nOpened EV3 Brick on {}'.format(ev3PortOpen))
# Get the pointer to the open BT interface
else: # If no port are found
print('EV3 does not appear to be open on any /dev/rfcomm port')
sys.exit()
## poll_cmd_file(ev3, ev3_cmd_filename, wait_period) # Look for commands in command file and send to EV3
poll_cmd_thr = threading.Thread(target=poll_cmd_file,
name='Command_Poll',
args=(ev3, ev3_cmd_filename, wait_period))
print('STARTING Command_Poll thread')
poll_cmd_thr.start()
print('JOINING Command_Poll thread')
poll_cmd_thr.join()
print('ENDED Command_Poll thread')
print('ENDED Main thread')
sys.exit()
def main():
global cmd_q # global command queue. THis is the command queue
# tga the Command_Poll threads will read command into
ev3_cmd_filename = '/home/pi/Lego_ev3/ev3_cmds.txt' # Command destined for the EV3 should be written here by voice_assist_ev3_ctrlx.py
wait_period = 0.25 # SEC. This is the amount of time to wait for the voice_assist_ev3_ctrlx to creat a file
ev3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3(
) #Port poitner abd ID if successful, None otherwise
if ev3PortOpen is not None:
print('\nOpened EV3 Brick on {}'.format(ev3PortOpen))
# Get the pointer to the open BT interface
else: # If no port are found
print('EV3 does not appear to be open on any /dev/rfcomm port')
sys.exit()
## poll_cmd_file(ev3, ev3_cmd_filename, wait_period) # Look for commands in command file and send to EV3
cmd_q = Queue.Queue(
) # THis is the command queue tga the Command_Poll threads will read command into
## THIS IS TEMP FOR DEBUGGING. MAKE THIS A CONCURRENT THREAD
## enter_user_cmds()
poll_cmd_thr = threading.Thread(target=poll_cmd_file,
name='Command_Poll',
args=(ev3_cmd_filename, wait_period))
print('STARTING Command_Poll thread')
poll_cmd_thr.start()
## print('JOINING Command_Poll thread')
## poll_cmd_thr.join()
## print('ENDED Command_Poll thread')
send_cmd_thr = threading.Thread(
target=send_cmds_to_ev3, name='Send_Cmds_to_EV3',
args=(ev3, )) # Thread waits for command in cmd_q and sends to EV3
print('STARTING Send_Cmds_to_EV3 thread')
send_cmd_thr.start()
user_cmd_thr = threading.Thread(
target=enter_user_cmds,
name="User_Cmd_Thread") # Thead allows user to enter commands
user_cmd_thr.start()
print('JOINING Send_Cmds_to_EV3 thread')
send_cmd_thr.join()
print('COMMAND QUEUE HAS {} ITEMS. ITEMS ARE:'.format(cmd_q.qsize()))
for i in range(cmd_q.qsize()):
c = cmd_q.get()
print("ITEM {}: {}".format(i, c))
print('ENDED Main thread')
sys.exit()
def main():
ev3_cmd_filename = '/home/pi/Lego_ev3/ev3_cmds.txt' # Command destined for the EV3 should be written here by voice_assist_ev3_ctrlx.py
wait_period = 0.25 # SEC. This is the amount of time to wait for the voice_assist_ev3_ctrlx to creat a file
ev3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3(
) #Port poitner abd ID if successful, None otherwise
if ev3PortOpen is not None:
print('\nOpened EV3 Brick on {}'.format(ev3PortOpen))
# Get the pointer to the open BT interface
else: # If no port are found
print('EV3 does not appear to be open on any /dev/rfcomm port')
sys.exit()
while True:
try:
ev3_file = open(ev3_cmd_filename, "r")
except IOError:
time.sleep(wait_period) # Wait for the file to be created
continue # and try again
except KeyboardInterrupt:
break
cmds = ev3_file.read().splitlines(
) # get all commands and remove the line terminatorsd (\n)
try:
for cmd in cmds:
print("-> Command from file is {}".format(cmd))
if cmd is not None:
m = ev3_rpi_ctrl_pkg.messageGuin(
"EV3-CMD", cmd, "text"
) # convert message; select EV3-CMD block to send to
print('Sending to EV3 msg: {}'.format(cmd))
ev3_rpi_ctrl_pkg.messageSend(ev3,
m) # send converted message
time.sleep(3) # DELETE--FOR DEBUGGING ONLY
except KeyboardInterrupt:
break
if ev3_file is not None:
os.remove(
ev3_cmd_filename
) # Delete processed commands so that voice_assist_ev3_ctrl can make more
ev3.close()
sys.exit()
def open_connected_ev3():
# This opens the LEGO EV3 on the bluetooth (BT) interface. Note that the BT interface must be on and
# paired with the LEGO EV3 for this to work. Function returns the pointer to the serial BT interface
# (if successful) or None if not successful
# print('** ENTERED open_connected_ev3')
EV3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3() # Port ID if successful, False otherwise
# print('** PERFORMED ev3_rpi_ctrl_pkg.openEv3')
# print('\n-> Ev3PortOpen {}\n'.format(ev3PortOpen))
if ev3PortOpen is not None:
print('\n-> Opened EV3 Brick on {}'.format(ev3PortOpen)) # Get the pointer to the open BT interface
## print('*** EV3 type',type(EV3))
print('\n-> EV3 Settings: name', EV3.name, EV3.get_settings())
## print('*** Returning from open_connected_ev3()')
return EV3, ev3PortOpen
else: # If no port are found
print('\n** EV3 does not appear to be open on any /dev/rfcomm port\n')
aiy.audio.say('EV3 does not appear to be open on any /dev/rfcomm port')
print('*** Returning from open_connected_ev3()')
return None, None
def main():
## EV3 = serial.Serial('/dev/rfcomm5',timeout=1)
## printSerIntInfo(EV3)
global secSinceLastRx, RxToPeriod
## global EV3
timeStart = datetime.datetime.now()
EV3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3() #Port poitner abd ID if successful, None otherwise
## ev3PortOpen = ev3Info[0]
print('# Ev3PortOpen {}'.format(ev3PortOpen))
## ev3PortOpen, EV3 = ev3_rpi_ctrl_pkg.openEv3() #Port ID if successful, False otherwise
## ev3PortOpen = ev3Info[0]
if ev3PortOpen is not None:
print('\nOpened EV3 Brick on {}'.format(ev3PortOpen))
# Get the pointer to the open BT interface
else: # If no port are found
print('EV3 does not appear to be open on any /dev/rfcomm port')
sys.exit()
#Debugging
## print('End device name = ',EV3.name)
## print('Baud rate = ', EV3.baudrate)
timeLastRx = datetime.datetime.now()
print("Local Time Now {}\n".format(timeLastRx))
RxToPeriod = 5 #Seconds. This is the amount of time that can pass before doing a buffer reset
maxRxWait = 4 #Max time in sec to wait for message from EV3
try:
while True:
userCmd = input('Command? ') # REALLY NOT SURE WHAT THE PROBLEM HERE IS
userCmdUpper = userCmd.upper().strip() #Convert to upper ans strip all spaces
## userCmdUpper = getUserInput()
## print('** COMMAND IS {}'.format(userCmdUpper))
if "FORWARD" == userCmdUpper or "FWD" == userCmdUpper:
ev3Msg = "FWD"
elif "BACK" == userCmdUpper or "BACKWARDS" == userCmdUpper or "RVS" == userCmdUpper or "REVERSE" == userCmdUpper:
ev3Msg = "RVS"
elif "STOP" == userCmdUpper:
ev3Msg = "STOP"
elif "JOSHISCOOL" == userCmdUpper:
ev3Msg = "JOSHISCOOL"
elif "STOPEV3" == userCmdUpper or "STOPPROGRAM" == userCmdUpper:
ev3Msg = "STOPEV3"
elif "EXIT" == userCmdUpper or "END" == userCmdUpper:
break
else:
ev3Msg = None
if ev3Msg is not None:
## err = ev3_rpi_ctrl_pkg.msg_fmt_send(EV3, "EV3-CMD",ev3Msg,"text")
## if err:
## print('*** Error sending {}, err no {}'.format(ev3Msg, err))
m = ev3_rpi_ctrl_pkg.messageGuin("EV3-CMD",ev3Msg,"text") # convert message; select EV3-CMD block to send to
print('Sending to EV3 msg: {}'.format(ev3Msg))
ev3_rpi_ctrl_pkg.messageSend(EV3, m) # send converted message
else:
print('** Error with {}'.format(userCmd))
time.sleep(2) # Just slow the loop a little
except KeyboardInterrupt:
# Send a stop message and stop the robot
ev3Msg = "STOP"
m = ev3_rpi_ctrl_pkg.messageGuin("EV3-CMD",ev3Msg,"text") # convert message; select EV3-CMD block to send to
print('Sending to EV3 msg {}'.format(ev3Msg))
ev3_rpi_ctrl_pkg.messageSend(EV3, m) # send converted message
EV3.close()
sys.exit()
def main():
global cmd_q # global command queue. THis is the command queue
# tga the Command_Poll threads will read command in
global thread_stop # This is a signal to the threads to stop themselves. This is a bad way of
# sending this signal because it forces the threads to use common memory. The
# better way is to convert the threads to real classes and send in a semafore
# requesting a stop
thread_stop = False # Initially, allow all subordinate threads to run
ev3_cmd_filename = '/home/pi/Lego_ev3/ev3_cmds.txt' # Command destined for the EV3 should be written here by voice_assist_ev3_ctrlx.py
wait_period = 0.25 # SEC. This is the amount of time to wait for the voice_assist_ev3_ctrlx to creat a file
ev3, ev3PortOpen = ev3_rpi_ctrl_pkg.openEv3(
) #Port poitner abd ID if successful, None otherwise
if ev3PortOpen is not None:
print('\nOpened EV3 Brick on {}'.format(ev3PortOpen))
# Get the pointer to the open BT interface
else: # If no port are found
print('EV3 does not appear to be open on any /dev/rfcomm port')
sys.exit()
## poll_cmd_file(ev3, ev3_cmd_filename, wait_period) # Look for commands in command file and send to EV3
cmd_q = Queue.Queue(
) # THis is the command queue tga the Command_Poll threads will read command into
## THIS IS TEMP FOR DEBUGGING. MAKE THIS A CONCURRENT THREAD
## enter_user_cmds()
poll_cmd_thr = threading.Thread(target=poll_cmd_file,
name='Command_Poll',
args=(ev3_cmd_filename, wait_period))
print('STARTING Command_Poll thread')
poll_cmd_thr.start()
## print('JOINING Command_Poll thread')
# poll_cmd_thr.join()
## print('ENDED Command_Poll thread')
send_cmd_thr = threading.Thread(
target=send_cmds_to_ev3, name='Send_Cmds_to_EV3',
args=(ev3, )) # Thread waits for command in cmd_q and sends to EV3
print('STARTING Send_Cmds_to_EV3 thread')
send_cmd_thr.start()
send_cmd_thr.join()
# user_cmd_thr = threading.Thread(target=enter_user_cmds, name='Enter_User_Cmds') # Thread allows the user to enter commands throuhg the console
# user_cmd_thr.start()
# user_cmd_thr.join() # Dont start these user_cmd_thr threads. This will be done by a separate Python program
# enter_user_cmds() # Allow user to enter commands
# thread_stop = True # stop all other thread so that main thread can exit
# When the user exits the command session, terminate the threads
## poll_cmd_thr._stop()
## send_cmd_thr._stop()
## user_cmd_thr = threading.Thread(target=enter_user_cmds, name="User_Cmd_Thread") # Thead allows user to enter commands
## user_cmd_thr.start()
## print('JOINING Send_Cmds_to_EV3 thread')
## send_cmd_thr.join()
##
## print('COMMAND QUEUE HAS {} ITEMS. ITEMS ARE:'.format(cmd_q.qsize()))
## for i in range(cmd_q.qsize()):
## c = cmd_q.get()
## print("ITEM {}: {}".format(i,c))
print('ENDED Main thread')
sys.exit()
return
