#myroomba.enable_map(enable=True, enableMapWithText=False, roomOutline=False, rssiMap=True, rssiMapGoodSignal=-30, rssiMapBadSignal=-70, auto_rotate=False, mapSize="(1100,1370,-100,-240,0,0)", mapPath="/dataDisk/htdocs/roomba", iconPath="/dataDisk/Roomba980-Python/roomba/res/") #enable live maps, class default is
myroomba.enable_map(
enable=True,
enableMapWithText=False,
roomOutline=False,
auto_rotate=False,
mapSize="(1100,1370,-100,-250,0,0)",
mapPath="{{htdocs_path}}roomba",
iconPath="/opt/roomba/res/") #enable live maps, class default is no maps
if broker is not None:
myroomba.set_mqtt_client(
mqttc, brokerFeedback
) #if you want to publish Roomba data to your own mqtt broker (default is not to) if you have more than one roomba, and assign a roombaName, it is addded to this topic (ie brokerFeedback/roombaName)
#finally connect to Roomba - (required!)
myroomba.connect()
print("<CMTRL C> to exit")
print("Subscribe to /roomba/feedback/# to see published data")
try:
if mqttc is not None:
mqttc.loop_forever()
else:
while True:
#print("Roomba Data: %s" % json.dumps(myroomba.master_state, indent=2))
time.sleep(5)
except (KeyboardInterrupt, SystemExit):
print("System exit Received - Exiting program")
myroomba.disconnect()
def main():
#----------- Local Routines ------------
def create_html(myroomba,mappath="."):
'''
Create html files for live display of roomba maps - but only if they
don't already exist
NOTE add {{ for { in html where you need variable substitution
'''
#default css and html
css = '''\
body {
background-color: white;
margin: 0;
color: white;
padding: 0;
}
img,video {
width: auto;
max-height:100%;
}
'''
html = '''\
<!DOCTYPE html>
<html>
<head>
<link href="style.css" rel="stylesheet" type="text/css">
</head>
<script>
function refresh(node)
{{
var times = 1000; // gap in Milli Seconds;
(function startRefresh()
{{
var address;
if(node.src.indexOf('?')>-1)
address = node.src.split('?')[0];
else
address = node.src;
node.src = address+"?time="+new Date().getTime();
setTimeout(startRefresh,times);
}})();
}}
window.onload = function()
{{
var node = document.getElementById('img');
refresh(node);
// you can refresh as many images you want just repeat above steps
}}
</script>
<body>
<img id="img" src="{}map.png" alt="Roomba Map Live" style="position:absolute;top:0;left:0"/>
</body>
</html>
'''.format(myroomba.roombaName)
def write_file(fname, data, mode=0o666):
if not os.path.isfile(fname):
log.warn("{} file not found, creating".format(fname))
try:
with open(fname , "w") as fn:
fn.write(textwrap.dedent(data))
os.chmod(fname, mode)
except (IOError, PermissionError) as e:
log.error("unable to create file {}, error: {}".format(fname, e))
#check if style.css exists, if not create it
css_path = '{}/style.css'.format(mappath)
write_file(css_path, css)
#check if html exists, if not create it
html_path = '{}/{}roomba_map.html'.format(mappath, myroomba.roombaName)
write_file(html_path, html, 0o777)
def setup_logger(logger_name, log_file, level=logging.DEBUG, console=False):
try:
l = logging.getLogger(logger_name)
formatter = logging.Formatter('[%(asctime)s][%(levelname)5.5s](%(name)-20s) %(message)s')
if log_file is not None:
fileHandler = logging.handlers.RotatingFileHandler(log_file, mode='a', maxBytes=10000000, backupCount=10)
fileHandler.setFormatter(formatter)
if console == True:
#formatter = logging.Formatter('[%(levelname)1.1s %(name)-20s] %(message)s')
streamHandler = logging.StreamHandler()
streamHandler.setFormatter(formatter)
l.setLevel(level)
if log_file is not None:
l.addHandler(fileHandler)
if console == True:
l.addHandler(streamHandler)
except Exception as e:
print("Error in Logging setup: %s - do you have permission to write the log file??" % e)
sys.exit(1)
arg = parse_args() #note: all options can be included in the config file
if arg.debug:
log_level = logging.DEBUG
else:
log_level = logging.INFO
#setup logging
setup_logger('Roomba', arg.log, level=log_level,console=arg.echo)
#log = logging.basicConfig(level=logging.DEBUG,
# format='%(asctime)s - %(name)s - %(levelname)s - %(message)s')
log = logging.getLogger('Roomba')
log.info("*******************")
log.info("* Program Started *")
log.info("*******************")
log.debug('Debug Mode')
log.info("Roomba.py Version: %s" % Roomba.__version__)
log.info("Python Version: %s" % sys.version.replace('\n',''))
if HAVE_MQTT:
import paho.mqtt
log.info("Paho MQTT Version: %s" % paho.mqtt.__version__)
if HAVE_CV2:
log.info("CV Version: %s" % cv2.__version__)
if HAVE_PIL:
import PIL #bit of a kludge, just to get the version number
log.info("PIL Version: %s" % PIL.__version__)
log.debug("-- DEBUG Mode ON -")
log.info("<CNTRL C> to Exit")
log.info("Roomba MQTT data Interface")
group = None
options = vars(arg) #use args as dict
if arg.blid is None or arg.password is None:
get_passwd = Password(arg.roomba_ip,file=arg.configfile)
roombas = get_passwd.get_roombas()
else:
roombas = {arg.roomba_ip: {"blid": arg.blid,
"password": arg.password,
"roomba_name": arg.roomba_name}}
roomba_list = []
for addr, info in roombas.items():
log.info("Creating Roomba object {}, {}".format(addr, info.get("roomba_name", addr)))
#get options from config (if they exist) this overrides command line options.
for opt, value in options.copy().items():
config_value = info.get(opt)
if config_value is None:
options[opt] = value
elif value is None or isinstance(value, str):
options[opt] = config_value
else:
options[opt] = literal_eval(str(config_value))
# minnimum required to connect on Linux Debian system
# myroomba = Roomba(address, blid, roombaPassword)
myroomba = Roomba(addr,
blid=arg.blid,
password=arg.password,
topic=arg.topic,
roombaName=arg.roomba_name,
webport=arg.webport)
if arg.webport:
arg.webport+=1
if arg.exclude:
myroomba.exclude = arg.exclude
#set various options
myroomba.set_options(raw=arg.raw,
indent=arg.indent,
pretty_print=arg.pretty_print,
max_sqft=arg.max_sqft)
if arg.mappath and arg.mapsize and arg.drawmap:
# auto create html files (if they don't exist)
create_html(myroomba, arg.mappath)
# enable live maps, class default is no maps
myroomba.enable_map(enable=True,
mapSize=arg.mapsize,
mapPath=arg.mappath,
iconPath=arg.iconpath,
roomOutline=arg.room_outline,
floorplan=arg.floorplan)
if arg.broker is not None:
# if you want to publish Roomba data to your own mqtt broker
# (default is not to) if you have more than one roomba, and
# assign a roombaName, it is addded to this topic
# (ie brokerFeedback/roombaName)
myroomba.setup_mqtt_client(arg.broker,
arg.port,
arg.user,
arg.broker_password,
arg.broker_feedback,
arg.broker_command,
arg.broker_setting)
roomba_list.append(myroomba)
loop = asyncio.get_event_loop()
loop.set_debug(arg.debug)
group = asyncio.gather(*[myroomba.async_connect() for myroomba in roomba_list])
if not group:
for myroomba in roomba_list:
myroomba.connect() #start each roomba connection individually
try:
loop.run_forever()
except (KeyboardInterrupt, SystemExit):
log.info("System exit Received - Exiting program")
for myroomba in roomba_list:
myroomba.disconnect()
log.info('Program Exited')
finally:
pass
class PublishMission:
def __init__(self):
rospy.init_node("mission_publisher", anonymous=True)
config_path = rospy.get_param("~config")
try:
with open(config_path) as f:
content = f.read()
config = yaml.load(content, Loader=yaml.FullLoader)
rospy.logdebug(f"Configuration dict: {content}")
except Exception as e:
while True:
rospy.logerr("Configuration file is broken or not readable!")
rospy.logerr(e)
rospy.sleep(5)
self.myroomba = Roomba(config["roomba"]["IP"],
config["roomba"]["blid"],
config["roomba"]["password"])
self.myroomba.connect()
time.sleep(5)
while not self.myroomba.roomba_connected:
#print(1)
time.sleep(1)
print("Roomba connected")
rospy.Service("send_command", Command, self.send_command)
self.pub_mission = rospy.Publisher("mission", Mission, queue_size=10)
def send_command(self, req):
if req.command == "Start":
self.myroomba.send_command("start")
return ("Starting cleaning")
elif req.command == "Stop":
self.myroomba.send_command("stop")
return ("Stop cleaning")
elif req.command == "Home":
self.myroomba.send_command("dock")
return ("Going back home")
else:
return ("Wrong command")
def get_msg_data(self, data, data_state, data_error):
miss_msg = Mission()
miss_msg.name = data["name"]
miss_msg.batteryPercentage = str(data["batPct"])
miss_msg.mission_cycle = data["cleanMissionStatus"]["cycle"]
miss_msg.mission_phase = data["cleanMissionStatus"]["phase"]
miss_msg.current_state = data_state
miss_msg.error = data_error
miss_msg.mission_notReady = str(data["cleanMissionStatus"]["notReady"])
miss_msg.robotPositionXY[0] = data["pose"]["point"]["x"]
miss_msg.robotPositionXY[1] = data["pose"]["point"]["y"]
miss_msg.robotPositionAngle = data["pose"]["theta"]
miss_msg.audio = str(data["audio"]["active"])
return (miss_msg)
def spin(self):
rate = rospy.Rate(1)
while not rospy.is_shutdown():
#data = {"name": "robot", "batPct": 100, "cleanMissionStatus": {"cycle": "none", "phase": "charge", "error": 0, "notReady": 0}, "pose": {"point": {"x": 100, "y": 20},"theta": -28}, "audio": {"active": True}}
#data_state = "Charging"
data_state = self.myroomba.current_state
data1 = self.myroomba.master_state
data_error = self.myroomba.error_message
data = data1["state"]["reported"]
mission_msg = self.get_msg_data(data, data_state, data_error)
self.pub_mission.publish(mission_msg)
rate.sleep()