class WebSocketHandler(tornado.websocket.WebSocketHandler):
peer = "unknown"
def create_internal_emitter(self):
# connect to mycroft internal websocket
self.emitter = WebsocketClient()
self.register_internal_messages()
self.emitter_thread = Thread(target=self.connect_to_internal_emitter)
self.emitter_thread.setDaemon(True)
self.emitter_thread.start()
def register_internal_messages(self):
# catch all messages
self.emitter.on('speak', self.handle_speak)
def connect_to_internal_emitter(self):
self.emitter.run_forever()
def open(self):
LOG.info('Client IP: ' + self.request.remote_ip)
self.peer = self.request.remote_ip
clients[self.peer] = self
self.create_internal_emitter()
self.write_message("Welcome to Jarbas Web Client")
def on_message(self, message):
utterance = message.strip()
LOG.info("Utterance : " + utterance)
if utterance:
if utterance == '"mic_on"':
create_signal('startListening')
else:
data = {"utterances": [utterance], "lang": lang}
context = {
"source": self.peer,
"destinatary": "skills",
"client_name": platform,
"peer": self.peer
}
self.emitter.emit(
Message("recognizer_loop:utterance", data, context))
def handle_speak(self, event):
if event.context.get("client_name", platform) == platform:
peer = event.context.get("peer", "")
if peer == self.peer:
self.write_message(event.data['utterance'])
def on_close(self):
global clients
self.emitter.remove("speak", self.handle_speak)
clients.pop(self.peer)
class Enclosure:
"""
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
"""
def __init__(self):
self.__init_serial()
self.client = WebsocketClient()
self.reader = EnclosureReader(self.serial, self.client)
self.writer = EnclosureWriter(self.serial, self.client)
self.eyes = EnclosureEyes(self.client, self.writer)
self.mouth = EnclosureMouth(self.client, self.writer)
self.system = EnclosureArduino(self.client, self.writer)
self.weather = EnclosureWeather(self.client, self.writer)
self.__register_events()
def setup(self):
must_upload = self.config.get('must_upload')
if must_upload is not None and str2bool(must_upload):
ConfigurationManager.set('enclosure', 'must_upload', False)
time.sleep(5)
self.client.emit(Message("speak", metadata={
'utterance': "I am currently uploading to the arduino."}))
self.client.emit(Message("speak", metadata={
'utterance': "I will be finished in just a moment."}))
self.upload_hex()
self.client.emit(Message("speak", metadata={
'utterance': "Arduino programing complete."}))
must_start_test = self.config.get('must_start_test')
if must_start_test is not None and str2bool(must_start_test):
ConfigurationManager.set('enclosure', 'must_start_test', False)
time.sleep(0.5) # Ensure arduino has booted
self.client.emit(Message("speak", metadata={
'utterance': "Begining hardware self test."}))
self.writer.write("test.begin")
@staticmethod
def upload_hex():
old_path = os.getcwd()
try:
os.chdir('/opt/enclosure/')
subprocess.check_call('./upload.sh')
finally:
os.chdir(old_path)
def __init_serial(self):
try:
self.config = ConfigurationManager.get().get("enclosure")
self.port = self.config.get("port")
self.rate = int(self.config.get("rate"))
self.timeout = int(self.config.get("timeout"))
self.serial = serial.serial_for_url(
url=self.port, baudrate=self.rate, timeout=self.timeout)
LOGGER.info(
"Connected to: " + self.port + " rate: " + str(self.rate) +
" timeout: " + str(self.timeout))
except:
LOGGER.error(
"It is not possible to connect to serial port: " + self.port)
raise
def __register_events(self):
self.client.on('mycroft.paired', self.__update_events)
self.client.on('enclosure.mouth.listeners', self.__mouth_listeners)
self.__register_mouth_events()
def __mouth_listeners(self, event=None):
if event and event.metadata:
active = event.metadata['active']
if active:
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def __register_mouth_events(self):
self.client.on('recognizer_loop:record_begin', self.mouth.listen)
self.client.on('recognizer_loop:record_end', self.mouth.reset)
self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self):
self.client.remove('recognizer_loop:record_begin', self.mouth.listen)
self.client.remove('recognizer_loop:record_end', self.mouth.reset)
self.client.remove('recognizer_loop:audio_output_start',
self.mouth.talk)
self.client.remove('recognizer_loop:audio_output_end',
self.mouth.reset)
def __update_events(self, event=None):
if event and event.metadata:
if event.metadata.get('paired', False):
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def run(self):
try:
self.client.run_forever()
except Exception as e:
LOGGER.error("Client error: {0}".format(e))
self.stop()
def stop(self):
self.writer.stop()
self.reader.stop()
self.serial.close()
class Enclosure:
"""
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
"""
def __init__(self):
self.__init_serial()
self.client = WebsocketClient()
self.reader = EnclosureReader(self.serial, self.client)
self.writer = EnclosureWriter(self.serial, self.client)
self.eyes = EnclosureEyes(self.client, self.writer)
self.mouth = EnclosureMouth(self.client, self.writer)
self.system = EnclosureArduino(self.client, self.writer)
self.weather = EnclosureWeather(self.client, self.writer)
self.__register_events()
def __init_serial(self):
try:
self.config = ConfigurationManager.get().get("enclosure")
self.port = self.config.get("port")
self.rate = int(self.config.get("rate"))
self.timeout = int(self.config.get("timeout"))
self.serial = serial.serial_for_url(
url=self.port, baudrate=self.rate, timeout=self.timeout)
LOGGER.info(
"Connected to: " + self.port + " rate: " + str(self.rate) +
" timeout: " + str(self.timeout))
except:
LOGGER.error(
"It is not possible to connect to serial port: " + self.port)
raise
def __register_events(self):
self.client.on('mycroft.paired', self.__update_events)
self.client.on('enclosure.mouth.listeners', self.__mouth_listeners)
self.__register_mouth_events()
def __mouth_listeners(self, event=None):
if event and event.metadata:
active = event.metadata['active']
if active:
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def __register_mouth_events(self):
self.client.on('recognizer_loop:record_begin', self.mouth.listen)
self.client.on('recognizer_loop:record_end', self.mouth.reset)
self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self):
self.client.remove('recognizer_loop:record_begin', self.mouth.listen)
self.client.remove('recognizer_loop:record_end', self.mouth.reset)
self.client.remove('recognizer_loop:audio_output_start',
self.mouth.talk)
self.client.remove('recognizer_loop:audio_output_end',
self.mouth.reset)
def __update_events(self, event=None):
if event and event.metadata:
if event.metadata.get('paired', False):
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def run(self):
try:
self.client.run_forever()
except Exception as e:
LOGGER.error("Client error: {0}".format(e))
self.stop()
def stop(self):
self.writer.stop()
self.reader.stop()
self.serial.close()
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()
ConfigurationManager.init(self.ws)
self.config = ConfigurationManager.get().get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws)
self.writer = EnclosureWriter(self.serial, self.ws)
# Send a message to the Arduino across the serial line asking
# for a reply with version info.
self.writer.write("system.version")
# When the Arduino responds, it will generate this message
self.ws.on("enclosure.started", self.on_arduino_responded)
self.arduino_responded = False
# 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.on_no_internet).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.
# 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"}))
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: " + 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()
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
"""
def __init__(self):
self.ws = WebsocketClient()
ConfigurationManager.init(self.ws)
self.config = ConfigurationManager.get().get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws)
self.writer = EnclosureWriter(self.serial, self.ws)
self.writer.write("system.version")
self.ws.on("enclosure.start", self.start)
self.started = False
Timer(5, self.stop).start() # WHY? This at least
# needs an explanation, this is non-obvious behavior
def start(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.started = True
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: " + 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 stop(self):
if not self.started:
self.writer.stop()
self.reader.stop()
self.serial.close()
self.ws.close()
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"))
class Enclosure:
"""
Serves as a communication interface between Arduino and Mycroft Core.
This interface is currently designed to shut itself down when run on
a Raspberry Pi that is not connected to a Mycroft Mark 1 board on
the serial port. So it can safely be started on any Raspberry Pi.
``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
"""
def __init__(self):
resetSelf = False
try:
self.config = ConfigurationManager.get().get("enclosure")
platform = self.config.get('platform')
if platform is None:
# Use the serial port to check if this is a Mycroft
# Mark 1 unit.
platform = self.detect_platform()
if platform == 'unknown':
# Since this is a semi-permanent detection, be
# certain! Sometimes noise on the serial line
# causes a faulty mis-detection on a real
# Mycroft Mark 1
platform = self.detect_platform()
ConfigurationManager.set('enclosure', 'platform', platform)
# After a platform detection, the system is usually
# already active, so the message from the loop
# has already gone by on the messagebus. So self reset.
resetSelf = True
except Exception as e:
self.disconnect()
raise Exception("Exception: Unable to determine platform\n" +
str(e))
LOGGER.info("Platform = '" + platform + "'")
if platform == "mycroft_mark_1":
# We are a mycroft_mark_1 unit, start up the
# enclosure client to communicate over the
# serial port
self.__init_serial()
else:
self.disconnect()
raise Exception("Exception: Not a Mycroft Mark 1, shutting down")
self.client = WebsocketClient()
self.reader = EnclosureReader(self.serial, self.client)
self.writer = EnclosureWriter(self.serial, self.client)
# Create helpers to handle the various parts of the enclosure
self.eyes = EnclosureEyes(self.client, self.writer)
self.mouth = EnclosureMouth(self.client, self.writer)
self.system = EnclosureArduino(self.client, self.writer)
# TODO: Remove EnclosureWeather once the Skill can send images
# directly to the EnclosureAPI.
self.weather = EnclosureWeather(self.client, self.writer)
self.__register_events()
if resetSelf:
self.__handle_reset(None)
def detect_platform(self):
LOGGER.info("Auto-detecting platform")
try:
self.__init_serial()
# Thoroughly flush the serial port. Since this happens
# right after boot, sometimes there is junk on the serial
# port line from electrical noise on a Pi.
time.sleep(3)
self.serial.flushInput()
self.serial.flushOutput()
# Write "system.ping"
self.serial.write("system.ping")
time.sleep(1)
# Now check to see if we got a response from the ping command
# command we just sent. Remember, there might not be a Mark 1
# Arduino on the other side of the serial port.
data = self.serial.readline()
LOGGER.info("Serial response: '" + data + "'")
# A Mycroft Arduino echos the output to the serial line
# prefixed by "Command: ". This assumes only a Mycroft
# Arduino responds to this, which is probably a dubious
# assumption, but a decent enough auto-detect for now.
if "Command: system.ping" in data:
# We have a Mycroft Mark 1!
# The Arduino returns a version number in the response
# with recent builds, but not with older builds.
# Empty the serial queue of all responses to the ping.
time.sleep(0.5)
self.serial.flushInput()
return "mycroft_mark_1"
except:
pass
# Likely running on a generic Raspberry Pi or Linux desktop
return "unknown"
def setup(self):
must_upload = self.config.get('must_upload')
if must_upload is not None and str2bool(must_upload):
ConfigurationManager.set('enclosure', 'must_upload', False)
time.sleep(5)
self.client.emit(Message("speak", metadata={
'utterance': "I am currently uploading to the arduino."}))
self.client.emit(Message("speak", metadata={
'utterance': "I will be finished in just a moment."}))
self.upload_hex()
self.client.emit(Message("speak", metadata={
'utterance': "Arduino programing complete."}))
must_start_test = self.config.get('must_start_test')
if must_start_test is not None and str2bool(must_start_test):
ConfigurationManager.set('enclosure', 'must_start_test', False)
time.sleep(0.5) # Ensure arduino has booted
self.client.emit(Message("speak", metadata={
'utterance': "Begining hardware self test."}))
self.writer.write("test.begin")
@staticmethod
def upload_hex():
old_path = os.getcwd()
try:
os.chdir('/opt/enclosure/')
subprocess.check_call('./upload.sh')
finally:
os.chdir(old_path)
def __init_serial(self):
if getattr(self, 'serial', None) is not None:
return # already initialized
LOGGER.info("Opening serial port")
try:
self.port = self.config.get("port")
self.rate = int(self.config.get("rate"))
self.timeout = int(self.config.get("timeout"))
self.serial = serial.serial_for_url(
url=self.port, baudrate=self.rate, timeout=self.timeout)
LOGGER.info(
"Connected to: " + self.port + " rate: " + str(self.rate) +
" timeout: " + str(self.timeout))
except:
LOGGER.error(
"It is not possible to connect to serial port: " + self.port)
raise
def __register_events(self):
self.client.on('mycroft.paired', self.__update_events)
self.client.on('enclosure.reset', self.__handle_reset)
self.client.on('enclosure.mouth.listeners', self.__mouth_listeners)
self.__register_mouth_events()
def __mouth_listeners(self, event=None):
if event and event.metadata:
active = event.metadata['active']
if active:
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def __register_mouth_events(self):
self.client.on('recognizer_loop:record_begin', self.mouth.listen)
self.client.on('recognizer_loop:record_end', self.mouth.reset)
self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self):
self.client.remove('recognizer_loop:record_begin', self.mouth.listen)
self.client.remove('recognizer_loop:record_end', self.mouth.reset)
self.client.remove('recognizer_loop:audio_output_start',
self.mouth.talk)
self.client.remove('recognizer_loop:audio_output_end',
self.mouth.reset)
def __handle_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 __update_events(self, event=None):
if event and event.metadata:
if event.metadata.get('paired', False):
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def run(self):
try:
self.client.run_forever()
except Exception as e:
LOGGER.error("Client error: {0}".format(e))
self.stop()
def disconnect(self):
if getattr(self, 'serial', None) is not None:
self.serial.close()
self.serial = None
def stop(self):
self.writer.stop()
self.reader.stop()
self.disconnect()
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()
ConfigurationManager.init(self.ws)
self.config = ConfigurationManager.instance().get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws)
self.writer = EnclosureWriter(self.serial, self.ws)
# Send a message to the Arduino across the serial line asking
# for a reply with version info.
self.writer.write("system.version")
# When the Arduino responds, it will generate this message
self.ws.on("enclosure.started", self.on_arduino_responded)
self.arduino_responded = False
# 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()
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("mycroft.wifi.start"))
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: " + 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 _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.ws.emit(Message("speak", {
'utterance': "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", None))
# Kick off wifi-setup automatically
self.ws.emit(Message("mycroft.wifi.start",
{'msg': "Hello I am Mycroft, your new "
"assistant. To assist you I need to be "
"connected to the internet. You can "
"either plug me in with a network cable,"
" or use wifi. To setup wifi ",
'allow_timeout': False}))
class ResponderBackend(object):
"""
Base class for all responder implementations.
set response handlers for specific message_types
"""
def __init__(self, name=None, emitter=None, logger=None):
"""
initialize responder
args:
name(str): name identifier
emitter (WebsocketClient): mycroft messagebus websocket
logger (logger) : custom logger if desired
"""
if name is None:
self.name = "ResponderBackend"
else:
self.name = name
if emitter is None:
self.emitter = WebsocketClient()
def connect():
self.emitter.run_forever()
ws_thread = Thread(target=connect)
ws_thread.setDaemon(True)
ws_thread.start()
else:
self.emitter = emitter
self.response_type = "default.reply"
if self.responder:
self.responder.shutdown()
self.responder = None
self.callback = None
if logger is None:
self.logger = LOG
else:
self.logger = logger
self.config = Configuration.get().get(self.name, {})
self.events = []
def update_response_data(self, response_data=None, response_context=None):
"""
change the data of the response to be sent when queried
Args:
message_data (dict): response message data
message_context (dict): response message context
"""
if self.responder is not None:
self.responder.update_response(response_data, response_context)
def set_response_handler(self, trigger_message, callback, response_data=None,
response_context=None):
"""
prepare responder for sending, register answers
args:
trigger_message (str): message_type that triggers response
callback (function): to execute on message_type
response_data (dict) : default data of the response message
response_context (dict) : default context of the response message
"""
# update message context
response_context = response_context or {}
response_context["source"] = self.name
response_context["triggered_by"] = trigger_message
# generate reply message
if ".request" in trigger_message:
self.response_type = trigger_message.replace(".request", ".reply")
else:
self.response_type = trigger_message + ".reply"
self.responder = BusResponder(self.emitter, self.response_type,
response_data, response_context,
[])
self.callback = callback
self.emitter.on(trigger_message, self._respond)
self.events.append(trigger_message)
def _respond(self, message):
"""
on query execute callback and send a response
args:
message (Message) : query message
"""
try:
if self.callback:
self.callback(message)
except Exception as e:
self.logger.error(e)
self.responder.respond(message)
def shutdown(self):
""" remove all listeners """
for event in self.events:
self.emitter.remove(event, self._respond)
if self.responder:
self.responder.shutdown()
self.responder = None
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
"""
def __init__(self):
self.ws = WebsocketClient()
ConfigurationManager.init(self.ws)
self.config = ConfigurationManager.get().get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws)
self.writer = EnclosureWriter(self.serial, self.ws)
self.writer.write("system.version")
self.ws.on("enclosure.start", self.start)
self.started = False
Timer(5, self.stop).start()
def start(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.update()
self.test()
self.started = True
def update(self):
if self.config.get("update"):
try:
self.speak("Upgrading enclosure version")
subprocess.check_call("/opt/enclosure/upload.sh")
self.speak("Enclosure update completed")
ConfigurationManager.save({"enclosure": {"update": False}})
except:
self.speak("I cannot upgrade right now, I'll try later")
def test(self):
if self.config.get("test"):
self.speak("Beginning hardware test")
self.writer.write("test.begin")
ConfigurationManager.save({"enclosure": {"test": False}})
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: " + 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.__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 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 stop(self):
if not self.started:
self.writer.stop()
self.reader.stop()
self.serial.close()
self.ws.close()
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
"""
def __init__(self):
self.ws = WebsocketClient()
ConfigurationManager.init(self.ws)
self.config = ConfigurationManager.get().get("enclosure")
self.__init_serial()
self.reader = EnclosureReader(self.serial, self.ws)
self.writer = EnclosureWriter(self.serial, self.ws)
self.writer.write("system.version")
self.ws.on("enclosure.start", self.start)
self.started = False
Timer(5, self.stop).start() # WHY? This at least needs an explaination, this is non-obvious behavior
def start(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.started = True
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: " + 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 stop(self):
if not self.started:
self.writer.stop()
self.reader.stop()
self.serial.close()
self.ws.close()
class Enclosure:
"""
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
"""
def __init__(self):
self.__init_serial()
self.client = WebsocketClient()
self.reader = EnclosureReader(self.serial, self.client)
self.writer = EnclosureWriter(self.serial, self.client)
self.eyes = EnclosureEyes(self.client, self.writer)
self.mouth = EnclosureMouth(self.client, self.writer)
self.system = EnclosureArduino(self.client, self.writer)
self.__register_events()
def __init_serial(self):
try:
self.config = ConfigurationManager.get_config().get("enclosure")
self.port = self.config.get("port")
self.rate = int(self.config.get("rate"))
self.timeout = int(self.config.get("timeout"))
self.serial = serial.serial_for_url(
url=self.port, baudrate=self.rate, timeout=self.timeout)
LOGGER.info(
"Connected to: " + self.port + " rate: " + str(self.rate) +
" timeout: " + str(self.timeout))
except:
LOGGER.error(
"It is not possible to connect to serial port: " + self.port)
raise
def __register_events(self):
self.client.on('mycroft.paired', self.__update_events)
self.client.on('recognizer_loop:wakeword', self.eyes.blink)
self.__register_mouth_events()
def __register_mouth_events(self):
self.client.on('recognizer_loop:listening', self.mouth.listen)
self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
def __remove_mouth_events(self):
self.client.remove('recognizer_loop:listening', self.mouth.listen)
self.client.remove('recognizer_loop:audio_output_start',
self.mouth.talk)
self.client.remove('recognizer_loop:audio_output_end',
self.mouth.reset)
self.mouth.reset()
def __update_events(self, event=None):
if event and event.metadata:
if event.metadata.get('paired', False):
self.__register_mouth_events()
else:
self.__remove_mouth_events()
def run(self):
try:
self.client.run_forever()
except Exception as e:
LOGGER.error("Client error: {0}".format(e))
self.stop()
def stop(self):
self.writer.stop()
self.reader.stop()
self.serial.close()
class EnclosureTemplate(object):
"""
This base class is intended to be used to interface with the hardware
that is running Mycroft. It exposes all possible commands which
can be sent to a Mycroft enclosure implementation.
"""
def __init__(self, bus=None, name=""):
"""
Args:
bus:
name:
"""
if bus is None:
self.bus = WebsocketClient()
self.event_thread = Thread(target=self._connect)
self.event_thread.setDaemon(True)
self.event_thread.start()
else:
self.bus = bus
self.log = LOG
self.name = name
self.bus.on("open", self.on_ws_open)
self.bus.on("enclosure.reset", self.reset)
# enclosure commands for Mycroft's Hardware.
self.bus.on("enclosure.system.reset", self.system_reset)
self.bus.on("enclosure.system.mute", self.system_mute)
self.bus.on("enclosure.system.unmute", self.system_unmute)
self.bus.on("enclosure.system.blink", self.system_blink)
# enclosure commands for eyes
self.bus.on('enclosure.eyes.on', self.eyes_on)
self.bus.on('enclosure.eyes.off', self.eyes_off)
self.bus.on('enclosure.eyes.blink', self.eyes_blink)
self.bus.on('enclosure.eyes.narrow', self.eyes_narrow)
self.bus.on('enclosure.eyes.look', self.eyes_look)
self.bus.on('enclosure.eyes.color', self.eyes_color)
self.bus.on('enclosure.eyes.level', self.eyes_brightness)
self.bus.on('enclosure.eyes.volume', self.eyes_volume)
self.bus.on('enclosure.eyes.spin', self.eyes_spin)
self.bus.on('enclosure.eyes.timedspin', self.eyes_timed_spin)
self.bus.on('enclosure.eyes.reset', self.eyes_reset)
self.bus.on('enclosure.eyes.setpixel', self.eyes_set_pixel)
self.bus.on('enclosure.eyes.fill', self.eyes_fill)
# enclosure commands for mouth
self.bus.on("enclosure.mouth.reset", self.mouth_reset)
self.bus.on("enclosure.mouth.talk", self.mouth_talk)
self.bus.on("enclosure.mouth.think", self.mouth_think)
self.bus.on("enclosure.mouth.listen", self.mouth_listen)
self.bus.on("enclosure.mouth.smile", self.mouth_smile)
self.bus.on("enclosure.mouth.viseme", self.mouth_viseme)
self.bus.on("enclosure.mouth.text", self.mouth_text)
self.bus.on("enclosure.mouth.display", self.mouth_display)
self.bus.on("enclosure.mouth.events.activate",
self.activate_mouth_events)
self.bus.on("enclosure.mouth.events.deactivate",
self.deactivate_mouth_events)
# enclosure commands for weather display
self.bus.on("enclosure.weather.display", self.weather_display)
# enclosure commands for events
self.bus.on("mycroft.awoken", self.handle_awake)
self.bus.on("recognizer_loop:sleep", self.handle_sleep)
self.bus.on("speak", self.handle_speak)
self.bus.on('recognizer_loop:record_begin', self.record_begin)
self.bus.on('recognizer_loop:record_end', self.record_end)
self.bus.on('mycroft.audio.speech.start', self.talk_start)
self.bus.on("enclosure.notify.no_internet", self.on_no_internet)
self.activate_mouth_events()
def shutdown(self):
"""
"""
self.bus.remove("enclosure.reset", self.reset)
self.bus.remove("enclosure.system.reset", self.system_reset)
self.bus.remove("enclosure.system.mute", self.system_mute)
self.bus.remove("enclosure.system.unmute", self.system_unmute)
self.bus.remove("enclosure.system.blink", self.system_blink)
self.bus.remove("enclosure.eyes.on", self.eyes_on)
self.bus.remove("enclosure.eyes.off", self.eyes_off)
self.bus.remove("enclosure.eyes.blink", self.eyes_blink)
self.bus.remove("enclosure.eyes.narrow", self.eyes_narrow)
self.bus.remove("enclosure.eyes.look", self.eyes_look)
self.bus.remove("enclosure.eyes.color", self.eyes_color)
self.bus.remove("enclosure.eyes.brightness", self.eyes_brightness)
self.bus.remove("enclosure.eyes.reset", self.eyes_reset)
self.bus.remove("enclosure.eyes.timedspin", self.eyes_timed_spin)
self.bus.remove("enclosure.eyes.volume", self.eyes_volume)
self.bus.remove("enclosure.eyes.spin", self.eyes_spin)
self.bus.remove("enclosure.eyes.set_pixel", self.eyes_set_pixel)
self.bus.remove("enclosure.mouth.reset", self.mouth_reset)
self.bus.remove("enclosure.mouth.talk", self.mouth_talk)
self.bus.remove("enclosure.mouth.think", self.mouth_think)
self.bus.remove("enclosure.mouth.listen", self.mouth_listen)
self.bus.remove("enclosure.mouth.smile", self.mouth_smile)
self.bus.remove("enclosure.mouth.viseme", self.mouth_viseme)
self.bus.remove("enclosure.mouth.text", self.mouth_text)
self.bus.remove("enclosure.mouth.display", self.mouth_display)
self.bus.remove("enclosure.mouth.events.activate",
self.activate_mouth_events)
self.bus.remove("enclosure.mouth.events.deactivate",
self.deactivate_mouth_events)
self.bus.remove("enclosure.weather.display", self.weather_display)
self.bus.remove("mycroft.awoken", self.handle_awake)
self.bus.remove("recognizer_loop:sleep", self.handle_sleep)
self.bus.remove("speak", self.handle_speak)
self.bus.remove('recognizer_loop:record_begin', self.record_begin)
self.bus.remove('recognizer_loop:record_end', self.record_end)
self.bus.remove('recognizer_loop:audio_output_start', self.talk_start)
self.bus.remove("enclosure.notify.no_internet", self.on_no_internet)
self.deactivate_mouth_events()
def on_no_internet(self, message=None):
"""
Args:
message:
"""
pass
def on_ws_open(self):
"""
"""
pass
def speak(self, text):
"""
Args:
text:
"""
self.bus.emit(Message("speak", {'utterance': text}))
def run(self):
''' start enclosure '''
while True:
time.sleep(1)
def record_begin(self, message=None):
''' listening started '''
pass
def record_end(self, message=None):
''' listening ended '''
pass
def talk_start(self, message=None):
''' speaking started '''
pass
def handle_awake(self, message=None):
''' handle wakeup animation '''
pass
def handle_sleep(self, message=None):
''' handle naptime animation '''
# TODO naptime skill animation should be handled here
pass
def handle_speak(self, message=None):
''' handle speak messages, intended for enclosures that disregard
visemes '''
pass
def _connect(self):
"""
"""
# Once the websocket has connected, just watch it for speak events
self.bus.run_forever()
def reset(self, message=None):
"""The enclosure should restore itself to a started state.
Typically this would be represented by the eyes being 'open'
and the mouth reset to its default (smile or blank).
"""
pass
def system_reset(self, message=None):
"""The enclosure hardware should reset any CPUs, etc."""
pass
def system_mute(self, message=None):
"""Mute (turn off) the system speaker."""
pass
def system_unmute(self, message=None):
"""Unmute (turn on) the system speaker."""
pass
def system_blink(self, message=None):
"""The 'eyes' should blink the given number of times.
Args:
times (int): number of times to blink
"""
pass
def eyes_on(self, message=None):
"""Illuminate or show the eyes."""
pass
def eyes_off(self, message=None):
"""Turn off or hide the eyes."""
pass
def eyes_fill(self, message=None):
pass
def eyes_blink(self, message=None):
"""Make the eyes blink
Args:
side (str): 'r', 'l', or 'b' for 'right', 'left' or 'both'
"""
pass
def eyes_narrow(self, message=None):
"""Make the eyes look narrow, like a squint"""
pass
def eyes_look(self, message=None):
"""Make the eyes look to the given side
Args:
side (str): 'r' for right
'l' for left
'u' for up
'd' for down
'c' for crossed
"""
pass
def eyes_color(self, message=None):
"""Change the eye color to the given RGB color
Args:
r (int): 0-255, red value
g (int): 0-255, green value
b (int): 0-255, blue value
"""
pass
def eyes_brightness(self, message=None):
"""Set the brightness of the eyes in the display.
Args:
level (int): 1-30, bigger numbers being brighter
"""
pass
def eyes_reset(self, message=None):
"""Restore the eyes to their default (ready) state."""
pass
def eyes_timed_spin(self, message=None):
"""Make the eyes 'roll' for the given time.
Args:
length (int): duration in milliseconds of roll, None = forever
"""
pass
def eyes_volume(self, message=None):
"""Indicate the volume using the eyes
Args:
volume (int): 0 to 11
"""
pass
def eyes_spin(self, message=None):
"""
Args:
"""
pass
def eyes_set_pixel(self, message=None):
"""
Args:
"""
pass
def mouth_reset(self, message=None):
"""Restore the mouth display to normal (blank)"""
pass
def mouth_talk(self, message=None):
"""Show a generic 'talking' animation for non-synched speech"""
pass
def mouth_think(self, message=None):
"""Show a 'thinking' image or animation"""
pass
def mouth_listen(self, message=None):
"""Show a 'thinking' image or animation"""
pass
def mouth_smile(self, message=None):
"""Show a 'smile' image or animation"""
pass
def mouth_viseme(self, message=None):
"""Display a viseme mouth shape for synched speech
Args:
code (int): 0 = shape for sounds like 'y' or 'aa'
1 = shape for sounds like 'aw'
2 = shape for sounds like 'uh' or 'r'
3 = shape for sounds like 'th' or 'sh'
4 = neutral shape for no sound
5 = shape for sounds like 'f' or 'v'
6 = shape for sounds like 'oy' or 'ao'
"""
pass
def mouth_text(self, message=None):
"""Display text (scrolling as needed)
Args:
text (str): text string to display
"""
pass
def mouth_display(self, message=None):
"""Display images on faceplate. Currently supports images up to 16x8,
or half the face. You can use the 'x' parameter to cover the other
half of the faceplate.
Args:
img_code (str): text string that encodes a black and white image
x (int): x offset for image
y (int): y offset for image
refresh (bool): specify whether to clear the faceplate before
displaying the new image or not.
Useful if you'd like to display muliple images
on the faceplate at once.
"""
pass
def weather_display(self, message=None):
"""Show a the temperature and a weather icon
Args:
img_code (char): one of the following icon codes
0 = sunny
1 = partly cloudy
2 = cloudy
3 = light rain
4 = raining
5 = stormy
6 = snowing
7 = wind/mist
temp (int): the temperature (either C or F, not indicated)
"""
pass
def activate_mouth_events(self, message=None):
"""Enable movement of the mouth with speech"""
pass
def deactivate_mouth_events(self, message=None):
"""Disable movement of the mouth with speech"""
pass
