def micHandler(command, args):
global old_mic_vol
global mic_vol
if extended_command.is_authed(args['sender']) == 2: # Owner
if len(command) > 1:
if command[1] == 'mute':
networking.sendChatMessage(".Warning: Mute may not actually mute mic, use .audio stop to ensure mute")
# Mic Mute
old_mic_vol = mic_vol
mic_vol = 0
elif command[1] == 'unmute':
# Mic Unmute
mic_vol = old_mic_vol
elif command[1] == 'vol':
try:
new_vol = int(command[2])
except ValueError:
log.debug("Not a valid volume level %s" % command[2])
mic_vol = new_vol % 101
log.info("Setting volume to %d" % mic_vol)
os.system("amixer -c {} sset 'Mic' '{}%'".format(audio_hw_num, mic_vol))
networking.sendChatMessage(".mic volume is %s" % mic_vol)
def update_handler(command, args):
global update_available
if extended_command.is_authed(args['sender']) == 2:
if len(command) == 1: # just .update
if not update_available:
if checkForUpdates():
robot_util.sendChatMessage(
"{} updates available. Send '.update yes' to apply updates."
.format(update_available))
else:
robot_util.sendChatMessage(
"Robot is already up to date. Nothing to do!")
else:
robot_util.sendChatMessage(
"{} updates available. Send '.update yes' to apply updates."
.format(update_available))
else:
if command[1] == "yes":
if checkLocalChanges():
if doUpdate():
update_fetched = False
robot_util.sendChatMessage(
'Update completed. Restart for changes to take effect.'
)
else:
robot_util.sendChatMessage(
'Update Failed. run "git pull" locally to determine error.'
)
else:
robot_util.sendChatMessage(
'Automatic Update aborted, you have modified core files.'
)
def audioChatHandler(command, args):
global audio_process
global audio_bitrate
global mic_off
if len(command) > 1:
if extended_command.is_authed(args['sender']) == 2: # Owner
if command[1] == 'start':
# mic_off = False
if audio_process.returncode != None:
watchdog.start("FFmpegAudioProcess", startAudioCapture)
elif command[1] == 'stop':
stopAudioCapture()
elif command[1] == 'restart':
# mic_off = False
stopAudioCapture()
watchdog.start("FFmpegAudioProcess", startAudioCapture)
elif command[1] == 'bitrate':
if len(command) > 1:
if len(command) == 3:
try:
int(command[2])
audio_bitrate = command[2]
restartAudioCapture()
except ValueError: # Catch someone passing not a number
pass
networking.sendChatMessage(".Audio bitrate is %s" % audio_bitrate)
def videoChatHandler(command, args):
global video_process
global video_bitrate
if len(command) > 1:
if extended_command.is_authed(args['sender']) == 2: # Owner
if command[1] == 'start':
if not video_process.returncode == None:
watchdog.start("FFmpegCameraProcess", startVideoCapture)
elif command[1] == 'stop':
stopVideoCapture()
elif command[1] == 'restart':
restartVideoCapture()
elif command[1] == 'bitrate':
if len(command) > 1:
if len(command) == 3:
try:
int(command[2])
video_bitrate = command[2]
restartVideoCapture()
except ValueError: # Catch someone passing not a number
pass
networking.sendChatMessage(".Video bitrate is %s" % video_bitrate)
else:
networking.sendChatMessge("command only available to owner")
def set_forward_speed(command, args):
global forward_speed
if extended_command.is_authed(args['sender']) == 2: # Owner
if len(command) > 1:
try:
forward_speed = int(command[1])
print("forward_speed set to : %d" % forward_speed)
except ValueError:
pass
def set_turn_speed(command, args):
global turn_speed
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
try:
turn_speed = int(command[1])
print("turn_speed set to : %d" % turn_speed)
except ValueError:
pass
def saturationChatHandler(command, args):
if len(command) > 2:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_saturation = int(command[1])
except ValueError:
exit() #not a number
if new_saturation <= 255 and new_saturation >= 0:
saturation = new_saturation
v4l2SetCtrl("saturation", saturation)
def set_volume(command, args):
global volume
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
try:
tmp = int(command[1])
volume = (tmp % 101)
coz.set_robot_volume(volume / 100)
print("volume set to : %d" % volume)
except ValueError:
pass
def brightnessChatHandler(command, args):
global brightness
if len(command) > 1:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_brightness = int(command[1])
except ValueError:
exit() #Not a number
if new_brightness <= 255 and new_brightness >= 0:
brightness = new_brightness
v4l2SetCtrl("brightness", brightness)
def saturationChatHandler(command, args):
if len(command) > 2:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_saturation = int(command[1])
except ValueError:
exit() #not a number
if new_saturation <= 255 and new_saturation >= 0:
saturation = new_saturation
os.system(v4l2_ctl_location + " --set-ctrl saturation=" + str(saturation))
log.info("saturation set to %.2f" % saturation)
def contrastChatHandler(command, args):
global contrast
if len(command) > 1:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_contrast = int(command[1])
except ValueError:
exit() #not a number
if new_contrast <= 255 and new_contrast >= 0:
contrast = new_contrast
v4l2SetCtrl("contrast", contrast)
def contrastChatHandler(command, args):
global contrast
if len(command) > 1:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_contrast = int(command[1])
except ValueError:
exit() #not a number
if new_contrast <= 255 and new_contrast >= 0:
contrast = new_contrast
os.system(v4l2_ctl_location + " --set-ctrl contrast=" + str(contrast))
log.info("contrast set to %.2f" % contrast)
def brightnessChatHandler(command, args):
global brightness
if len(command) > 1:
if extended_command.is_authed(args['sender']): # Moderator
try:
new_brightness = int(command[1])
except ValueError:
exit() #Not a number
if new_brightness <= 255 and new_brightness >= 0:
brightness = new_brightness
os.system(v4l2_ctl_location + " --set-ctrl brightness=" + str(brightness))
log.info("brightness set to %.2f" % brightness)
def set_stay_on_dock(command, args):
global stay_on_dock
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
try:
if command[1] == "on":
stay_on_dock = 1
elif command[1] == "off":
stay_on_dock = 0
print("stay_on_dock set to : %d" % stay_on_dock)
except ValueError:
pass
def set_charging(command, args):
global charging
global low_battery
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
try:
if command[1] == "on":
low_battery = 1
if coz.is_on_charger:
charging = 1
elif command[1] == "off":
low_battery = 0
charging = 0
print("charging set to : %d" % charging)
networking.sendChargeState(charging)
except ValueError:
pass
def HUDChatHandler(command, args):
global hud_correct
global hud_correct_x
global hud_correct_y
if len(command) > 3:
if extended_command.is_authed(args['name']): # Moderator
if command[1] == 'correct':
try:
new_x_res = int(command[2])
new_y_res = int(command[3])
except ValueError:
return #Not a number
log.info("correcting HUD resolution to %dx%d", new_x_res, new_y_res)
hud_correct_x = new_x_res
hud_correct_y = new_y_res
hud_correct = True
def autodock(command, args):
if extended_command.is_authed(args['name']) == 2:
autodocking.drive_to_charger(coz, 5)
def set_colour(command, args):
global colour
if extended_command.is_authed(args['name']) == 2:
colour = not colour
coz.camera.color_image_enabled = colour
def restart_controller(command, args):
if extended_command.is_authed(args['name']) == 2: # Owner
terminate.acquire()
def set_sleep_time(command, args):
global sleeptime
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
sleeptime = float(command[1])
log.info("sleep time set to : %d", float(command[2]))
def set_rotate_time(command, args):
global rotatetimes
if extended_command.is_authed(args['name']) == 2: # Owner
if len(command) > 1:
rotatetimes = float(command[1])
log.info("rotate time multiplier set to : %d", float(command[1]))
def gohome(command, args):
if extended_command.is_authed(args['name']) == 2:
autodocking.return_to_charger(coz)
def set_flipped(command, args):
global flipped
if extended_command.is_authed(args['name']) == 2:
flipped = not flipped
def set_annotated(command, args):
global annotated
if extended_command.is_authed(args['name']) == 2:
annotated = not annotated
