def listener():
rospy.init_node('mycroft_skills')
rospy.loginfo(rospy.get_caller_id() + " started")
rospy.Subscriber("mycroft/utterance", String, handle_utterance)
rospy.Subscriber("mycroft/remove_skill", String, handle_remove_skill)
s = rospy.Service('mycroft/register_skill', MycroftService,
handle_register_skill)
global bus
reset_sigint_handler()
# Create PID file, prevent multiple instancesof this service
mycroft.lock.Lock('skills')
# Connect this Skill management process to the Mycroft Messagebus
bus = WebsocketClient()
Configuration.init(bus)
config = Configuration.get()
# Set the active lang to match the configured one
set_active_lang(config.get('lang', 'en-us'))
bus.on('skill.manager.initialised', initialise_response_server)
bus.on('message', create_echo_function('SKILLS'))
# Startup will be called after the connection with the Messagebus is done
bus.once('open', _starting_up)
bus.on('skill.converse.request', check_working)
create_daemon(bus.run_forever)
wait_for_exit_signal()
shutdown()
rospy.spin()
def main():
global ws
lock = Lock('skills') # prevent multiple instances of this service
# Connect this Skill management process to the websocket
ws = WebsocketClient()
ConfigurationManager.init(ws)
ignore_logs = ConfigurationManager.instance().get("ignore_logs")
# Listen for messages and echo them for logging
def _echo(message):
try:
_message = json.loads(message)
if _message.get("type") in ignore_logs:
return
if _message.get("type") == "registration":
# do not log tokens from registration messages
_message["data"]["token"] = None
message = json.dumps(_message)
except:
pass
logger.debug(message)
ws.on('message', _echo)
# Startup will be called after websocket is full live
ws.once('open', _starting_up)
ws.run_forever()
def main():
global ws
global config
ws = WebsocketClient()
Configuration.init(ws)
config = Configuration.get()
speech.init(ws)
# Setup control of pulse audio
setup_pulseaudio_handlers(config.get('Audio').get('pulseaudio'))
def echo(message):
try:
_message = json.loads(message)
if 'mycroft.audio.service' not in _message.get('type'):
return
message = json.dumps(_message)
except:
pass
LOG.debug(message)
LOG.info("Staring Audio Services")
ws.on('message', echo)
ws.once('open', load_services_callback)
try:
ws.run_forever()
except KeyboardInterrupt, e:
LOG.exception(e)
speech.shutdown()
sys.exit()
def main():
global ws
lock = Lock('skills') # prevent multiple instances of this service
# Connect this Skill management process to the websocket
ws = WebsocketClient()
ConfigurationManager.init(ws)
ignore_logs = ConfigurationManager.instance().get("ignore_logs")
# Listen for messages and echo them for logging
def _echo(message):
try:
_message = json.loads(message)
if _message.get("type") in ignore_logs:
return
if _message.get("type") == "registration":
# do not log tokens from registration messages
_message["data"]["token"] = None
message = json.dumps(_message)
except:
pass
logger.debug(message)
ws.on('message', _echo)
# Kick off loading of skills
ws.once('open', _load_skills)
ws.run_forever()
def main():
global ws
global config
global pulse
ws = WebsocketClient()
ConfigurationManager.init(ws)
config = ConfigurationManager.get()
speech.init(ws)
# Setup control of pulse audio
if pulsectl and config.get('Audio').get('pulseaudio') == 'mute':
pulse = pulsectl.Pulse('Mycroft-audio-service')
else:
pulse = None
def echo(message):
try:
_message = json.loads(message)
if 'mycroft.audio.service' in _message.get('type'):
return
message = json.dumps(_message)
except:
pass
logger.debug(message)
logger.info("Staring Audio Services")
ws.on('message', echo)
ws.once('open', load_services_callback)
try:
ws.run_forever()
except KeyboardInterrupt, e:
logger.exception(e)
speech.shutdown()
sys.exit()
def main():
global ws
lock = Lock('skills') # prevent multiple instances of this service
# Connect this Skill management process to the websocket
ws = WebsocketClient()
ConfigurationManager.init(ws)
ignore_logs = ConfigurationManager.instance().get("ignore_logs")
# Listen for messages and echo them for logging
def _echo(message):
try:
_message = json.loads(message)
if _message.get("type") in ignore_logs:
return
if _message.get("type") == "registration":
# do not log tokens from registration messages
_message["data"]["token"] = None
message = json.dumps(_message)
except:
pass
LOG('SKILLS').debug(message)
ws.on('message', _echo)
ws.on('skill.converse.request', handle_converse_request)
# Startup will be called after websocket is full live
ws.once('open', _starting_up)
ws.run_forever()
def main():
global ws
global config
ws = WebsocketClient()
ConfigurationManager.init(ws)
config = ConfigurationManager.get()
speech.init(ws)
# Setup control of pulse audio
setup_pulseaudio_handlers(config.get('Audio').get('pulseaudio'))
def echo(message):
try:
_message = json.loads(message)
if 'mycroft.audio.service' not in _message.get('type'):
return
message = json.dumps(_message)
except:
pass
LOG.debug(message)
LOG.info("Staring Audio Services")
ws.on('message', echo)
ws.once('open', load_services_callback)
try:
ws.run_forever()
except KeyboardInterrupt, e:
LOG.exception(e)
speech.shutdown()
sys.exit()
def main():
global bus
reset_sigint_handler()
# Create PID file, prevent multiple instancesof this service
mycroft.lock.Lock('skills')
# Connect this Skill management process to the Mycroft Messagebus
bus = WebsocketClient()
Configuration.init(bus)
bus.on('message', create_echo_function('SKILLS'))
# Startup will be called after the connection with the Messagebus is done
bus.once('open', _starting_up)
create_daemon(bus.run_forever)
wait_for_exit_signal()
shutdown()
def main():
global bus
reset_sigint_handler()
# Create PID file, prevent multiple instancesof this service
mycroft.lock.Lock('skills')
# Connect this Skill management process to the Mycroft Messagebus
bus = WebsocketClient()
Configuration.init(bus)
bus.on('message', create_echo_function('SKILLS'))
# Startup will be called after the connection with the Messagebus is done
bus.once('open', _starting_up)
create_daemon(bus.run_forever)
wait_for_exit_signal()
shutdown()
def main():
global client
client = WebsocketClient()
def echo(message):
try:
_message = json.loads(message)
if _message.get("message_type") == "registration":
# do not log tokens from registration messages
_message["metadata"]["token"] = None
message = json.dumps(_message)
except:
pass
logger.debug(message)
client.on('message', echo)
client.once('open', load_skills_callback)
client.run_forever()
def main():
global ws
ws = WebsocketClient()
ConfigurationManager.init(ws)
def echo(message):
try:
_message = json.loads(message)
if _message.get("type") == "registration":
# do not log tokens from registration messages
_message["data"]["token"] = None
message = json.dumps(_message)
except:
pass
logger.debug(message)
ws.on('message', echo)
ws.once('open', load_skills_callback)
ws.run_forever()
def main():
global ws
ws = WebsocketClient()
ConfigurationManager.init(ws)
def echo(message):
try:
_message = json.loads(message)
if _message.get("type") == "registration":
# do not log tokens from registration messages
_message["data"]["token"] = None
message = json.dumps(_message)
except:
pass
logger.debug(message)
ws.on('message', echo)
ws.once('open', load_skills_callback)
ws.run_forever()
class Enclosure(object):
"""
Serves as a communication interface between Arduino and Mycroft Core.
``Enclosure`` initializes and aggregates all enclosures implementation.
E.g. ``EnclosureEyes``, ``EnclosureMouth`` and ``EnclosureArduino``
It also listens to the basis events in order to perform those core actions
on the unit.
E.g. Start and Stop talk animation
"""
_last_internet_notification = 0
def __init__(self):
self.ws = WebsocketClient()
self.ws.on("open", self.on_ws_open)
Configuration.init(self.ws)
global_config = Configuration.get()
self.lang = global_config['lang']
self.config = global_config.get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws, self.lang)
self.writer = EnclosureWriter(self.serial, self.ws)
# initiates the web sockets on display manager
# NOTE: this is a temporary place to initiate display manager sockets
initiate_display_manager_ws()
def on_ws_open(self, event=None):
# Mark 1 auto-detection:
#
# Prepare to receive message when the Arduino responds to the
# following "system.version"
self.ws.on("enclosure.started", self.on_arduino_responded)
self.arduino_responded = False
# Send a message to the Arduino across the serial line asking
# for a reply with version info.
self.writer.write("system.version")
# Start a 5 second timer. If the serial port hasn't received
# any acknowledgement of the "system.version" within those
# 5 seconds, assume there is nothing on the other end (e.g.
# we aren't running a Mark 1 with an Arduino)
Timer(5, self.check_for_response).start()
# Notifications from mycroft-core
self.ws.on("enclosure.notify.no_internet", self.on_no_internet)
def on_arduino_responded(self, event=None):
self.eyes = EnclosureEyes(self.ws, self.writer)
self.mouth = EnclosureMouth(self.ws, self.writer)
self.system = EnclosureArduino(self.ws, self.writer)
self.weather = EnclosureWeather(self.ws, self.writer)
self.__register_events()
self.__reset()
self.arduino_responded = True
# verify internet connection and prompt user on bootup if needed
if not connected():
# We delay this for several seconds to ensure that the other
# clients are up and connected to the messagebus in order to
# receive the "speak". This was sometimes happening too
# quickly and the user wasn't notified what to do.
Timer(5, self._do_net_check).start()
Timer(60, self._hack_check_for_duplicates).start()
def on_no_internet(self, event=None):
if connected():
# One last check to see if connection was established
return
if time.time() - Enclosure._last_internet_notification < 30:
# don't bother the user with multiple notifications with 30 secs
return
Enclosure._last_internet_notification = time.time()
# TODO: This should go into EnclosureMark1 subclass of Enclosure.
if has_been_paired():
# Handle the translation within that code.
self.ws.emit(
Message(
"speak", {
'utterance':
"This device is not connected to the Internet. "
"Either plug in a network cable or hold the "
"button on top for two seconds, then select "
"wifi from the menu"
}))
else:
# enter wifi-setup mode automatically
self.ws.emit(Message('system.wifi.setup', {'lang': self.lang}))
def __init_serial(self):
try:
self.port = self.config.get("port")
self.rate = self.config.get("rate")
self.timeout = self.config.get("timeout")
self.serial = serial.serial_for_url(url=self.port,
baudrate=self.rate,
timeout=self.timeout)
LOG.info("Connected to: %s rate: %s timeout: %s" %
(self.port, self.rate, self.timeout))
except:
LOG.error("Impossible to connect to serial port: " +
str(self.port))
raise
def __register_events(self):
self.ws.on('enclosure.mouth.events.activate',
self.__register_mouth_events)
self.ws.on('enclosure.mouth.events.deactivate',
self.__remove_mouth_events)
self.ws.on('enclosure.reset', self.__reset)
self.__register_mouth_events()
def __register_mouth_events(self, event=None):
self.ws.on('recognizer_loop:record_begin', self.mouth.listen)
self.ws.on('recognizer_loop:record_end', self.mouth.reset)
self.ws.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.ws.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self, event=None):
self.ws.remove('recognizer_loop:record_begin', self.mouth.listen)
self.ws.remove('recognizer_loop:record_end', self.mouth.reset)
self.ws.remove('recognizer_loop:audio_output_start', self.mouth.talk)
self.ws.remove('recognizer_loop:audio_output_end', self.mouth.reset)
def __reset(self, event=None):
# Reset both the mouth and the eye elements to indicate the unit is
# ready for input.
self.writer.write("eyes.reset")
self.writer.write("mouth.reset")
def speak(self, text):
self.ws.emit(Message("speak", {'utterance': text}))
def run(self):
try:
self.ws.run_forever()
except Exception as e:
LOG.error("Error: {0}".format(e))
self.stop()
def check_for_response(self):
if not self.arduino_responded:
# There is nothing on the other end of the serial port
# close these serial-port readers and this process
self.writer.stop()
self.reader.stop()
self.serial.close()
self.ws.close()
def _handle_pairing_complete(self, Message):
"""
Handler for 'mycroft.paired', unmutes the mic after the pairing is
complete.
"""
self.ws.emit(Message("mycroft.mic.unmute"))
def _do_net_check(self):
# TODO: This should live in the derived Enclosure, e.g. Enclosure_Mark1
LOG.info("Checking internet connection")
if not connected(): # and self.conn_monitor is None:
if has_been_paired():
# TODO: Enclosure/localization
self.speak("This unit is not connected to the Internet. "
"Either plug in a network cable or hold the "
"button on top for two seconds, then select "
"wifi from the menu")
else:
# Begin the unit startup process, this is the first time it
# is being run with factory defaults.
# TODO: This logic should be in Enclosure_Mark1
# TODO: Enclosure/localization
# Don't listen to mic during this out-of-box experience
self.ws.emit(Message("mycroft.mic.mute"))
# Setup handler to unmute mic at the end of on boarding
# i.e. after pairing is complete
self.ws.once('mycroft.paired', self._handle_pairing_complete)
self.speak(mycroft.dialog.get('mycroft.intro'))
wait_while_speaking()
time.sleep(2) # a pause sounds better than just jumping in
# Kick off wifi-setup automatically
data = {'allow_timeout': False, 'lang': self.lang}
self.ws.emit(Message('system.wifi.setup', data))
def _hack_check_for_duplicates(self):
# TEMPORARY HACK: Look for multiple instance of the
# mycroft-speech-client and/or mycroft-skills services, which could
# happen when upgrading a shipping Mark 1 from release 0.8.17 or
# before. When found, force the unit to reboot.
import psutil
LOG.info("Hack to check for duplicate service instances")
count_instances = 0
needs_reboot = False
for process in psutil.process_iter():
if process.cmdline() == [
'python2.7', '/usr/local/bin/mycroft-speech-client'
]:
count_instances += 1
if (count_instances > 1):
LOG.info("Duplicate mycroft-speech-client found")
needs_reboot = True
count_instances = 0
for process in psutil.process_iter():
if process.cmdline() == [
'python2.7', '/usr/local/bin/mycroft-skills'
]:
count_instances += 1
if (count_instances > 1):
LOG.info("Duplicate mycroft-skills found")
needs_reboot = True
if needs_reboot:
LOG.info("Hack reboot...")
self.reader.process("unit.reboot")
self.ws.emit(Message("enclosure.eyes.spin"))
self.ws.emit(Message("enclosure.mouth.reset"))
class Enclosure(object):
"""
Serves as a communication interface between Arduino and Mycroft Core.
``Enclosure`` initializes and aggregates all enclosures implementation.
E.g. ``EnclosureEyes``, ``EnclosureMouth`` and ``EnclosureArduino``
It also listens to the basis events in order to perform those core actions
on the unit.
E.g. Start and Stop talk animation
"""
_last_internet_notification = 0
def __init__(self):
self.ws = WebsocketClient()
self.ws.on("open", self.on_ws_open)
Configuration.init(self.ws)
global_config = Configuration.get()
self.lang = global_config['lang']
self.config = global_config.get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws, self.lang)
self.writer = EnclosureWriter(self.serial, self.ws)
# initiates the web sockets on display manager
# NOTE: this is a temporary place to initiate display manager sockets
initiate_display_manager_ws()
def on_ws_open(self, event=None):
# Mark 1 auto-detection:
#
# Prepare to receive message when the Arduino responds to the
# following "system.version"
self.ws.on("enclosure.started", self.on_arduino_responded)
self.arduino_responded = False
# Send a message to the Arduino across the serial line asking
# for a reply with version info.
self.writer.write("system.version")
# Start a 5 second timer. If the serial port hasn't received
# any acknowledgement of the "system.version" within those
# 5 seconds, assume there is nothing on the other end (e.g.
# we aren't running a Mark 1 with an Arduino)
Timer(5, self.check_for_response).start()
# Notifications from mycroft-core
self.ws.on("enclosure.notify.no_internet", self.on_no_internet)
def on_arduino_responded(self, event=None):
self.eyes = EnclosureEyes(self.ws, self.writer)
self.mouth = EnclosureMouth(self.ws, self.writer)
self.system = EnclosureArduino(self.ws, self.writer)
self.weather = EnclosureWeather(self.ws, self.writer)
self.__register_events()
self.__reset()
self.arduino_responded = True
# verify internet connection and prompt user on bootup if needed
if not connected():
# We delay this for several seconds to ensure that the other
# clients are up and connected to the messagebus in order to
# receive the "speak". This was sometimes happening too
# quickly and the user wasn't notified what to do.
Timer(5, self._do_net_check).start()
Timer(60, self._hack_check_for_duplicates).start()
def on_no_internet(self, event=None):
if connected():
# One last check to see if connection was established
return
if time.time() - Enclosure._last_internet_notification < 30:
# don't bother the user with multiple notifications with 30 secs
return
Enclosure._last_internet_notification = time.time()
# TODO: This should go into EnclosureMark1 subclass of Enclosure.
if has_been_paired():
# Handle the translation within that code.
self.ws.emit(Message("speak", {
'utterance': "This device is not connected to the Internet. "
"Either plug in a network cable or hold the "
"button on top for two seconds, then select "
"wifi from the menu"}))
else:
# enter wifi-setup mode automatically
self.ws.emit(Message('system.wifi.setup', {'lang': self.lang}))
def __init_serial(self):
try:
self.port = self.config.get("port")
self.rate = self.config.get("rate")
self.timeout = self.config.get("timeout")
self.serial = serial.serial_for_url(
url=self.port, baudrate=self.rate, timeout=self.timeout)
LOG.info("Connected to: %s rate: %s timeout: %s" %
(self.port, self.rate, self.timeout))
except:
LOG.error("Impossible to connect to serial port: "+str(self.port))
raise
def __register_events(self):
self.ws.on('enclosure.mouth.events.activate',
self.__register_mouth_events)
self.ws.on('enclosure.mouth.events.deactivate',
self.__remove_mouth_events)
self.ws.on('enclosure.reset',
self.__reset)
self.__register_mouth_events()
def __register_mouth_events(self, event=None):
self.ws.on('recognizer_loop:record_begin', self.mouth.listen)
self.ws.on('recognizer_loop:record_end', self.mouth.reset)
self.ws.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.ws.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self, event=None):
self.ws.remove('recognizer_loop:record_begin', self.mouth.listen)
self.ws.remove('recognizer_loop:record_end', self.mouth.reset)
self.ws.remove('recognizer_loop:audio_output_start',
self.mouth.talk)
self.ws.remove('recognizer_loop:audio_output_end',
self.mouth.reset)
def __reset(self, event=None):
# Reset both the mouth and the eye elements to indicate the unit is
# ready for input.
self.writer.write("eyes.reset")
self.writer.write("mouth.reset")
def speak(self, text):
self.ws.emit(Message("speak", {'utterance': text}))
def run(self):
try:
self.ws.run_forever()
except Exception as e:
LOG.error("Error: {0}".format(e))
self.stop()
def check_for_response(self):
if not self.arduino_responded:
# There is nothing on the other end of the serial port
# close these serial-port readers and this process
self.writer.stop()
self.reader.stop()
self.serial.close()
self.ws.close()
def _handle_pairing_complete(self, Message):
"""
Handler for 'mycroft.paired', unmutes the mic after the pairing is
complete.
"""
self.ws.emit(Message("mycroft.mic.unmute"))
def _do_net_check(self):
# TODO: This should live in the derived Enclosure, e.g. Enclosure_Mark1
LOG.info("Checking internet connection")
if not connected(): # and self.conn_monitor is None:
if has_been_paired():
# TODO: Enclosure/localization
self.speak("This unit is not connected to the Internet. "
"Either plug in a network cable or hold the "
"button on top for two seconds, then select "
"wifi from the menu")
else:
# Begin the unit startup process, this is the first time it
# is being run with factory defaults.
# TODO: This logic should be in Enclosure_Mark1
# TODO: Enclosure/localization
# Don't listen to mic during this out-of-box experience
self.ws.emit(Message("mycroft.mic.mute"))
# Setup handler to unmute mic at the end of on boarding
# i.e. after pairing is complete
self.ws.once('mycroft.paired', self._handle_pairing_complete)
self.speak(mycroft.dialog.get('mycroft.intro'))
wait_while_speaking()
time.sleep(2) # a pause sounds better than just jumping in
# Kick off wifi-setup automatically
data = {'allow_timeout': False, 'lang': self.lang}
self.ws.emit(Message('system.wifi.setup', data))
def _hack_check_for_duplicates(self):
# TEMPORARY HACK: Look for multiple instance of the
# mycroft-speech-client and/or mycroft-skills services, which could
# happen when upgrading a shipping Mark 1 from release 0.8.17 or
# before. When found, force the unit to reboot.
import psutil
LOG.info("Hack to check for duplicate service instances")
count_instances = 0
needs_reboot = False
for process in psutil.process_iter():
if process.cmdline() == ['python2.7',
'/usr/local/bin/mycroft-speech-client']:
count_instances += 1
if (count_instances > 1):
LOG.info("Duplicate mycroft-speech-client found")
needs_reboot = True
count_instances = 0
for process in psutil.process_iter():
if process.cmdline() == ['python2.7',
'/usr/local/bin/mycroft-skills']:
count_instances += 1
if (count_instances > 1):
LOG.info("Duplicate mycroft-skills found")
needs_reboot = True
if needs_reboot:
LOG.info("Hack reboot...")
self.reader.process("unit.reboot")
self.ws.emit(Message("enclosure.eyes.spin"))
self.ws.emit(Message("enclosure.mouth.reset"))
