class AioRobot:
"""Async/await mode of Cozmars robot
:param serial_or_ip: IP address or serial number of Cozmars to connect. Default to None, in which case the program will automatically detect the robot on connection if there's only one found.
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip=None):
if serial_or_ip:
self._host = 'rcute-cozmars-' + serial_or_ip + '.local' if len(
serial_or_ip) == 4 else serial_or_ip
self._mode = 'aio'
self._connected = False
self._env = env.Env(self)
self._screen = screen.Screen(self)
self._camera = camera.Camera(self)
self._microphone = microphone.Microphone(self)
self._button = button.Button(self)
self._sonar = sonar.Sonar(self)
self._infrared = infrared.Infrared(self)
self._lift = lift.Lift(self)
self._head = head.Head(self)
self._buzzer = buzzer.Buzzer(self)
self._speaker = speaker.Speaker(self)
self._motor = motor.Motor(self)
self._eye_anim = eye_animation.EyeAnimation(self)
self.on_camera_image = None
"""Callback funciton. After :meth:`show_camera_view` is called, :data:`on_camera_image` will be called every time camera feed receives an new image. The callback must take the captured image as input and return processd image."""
def _in_event_loop(self):
return self._event_thread == threading.current_thread()
@util.mode()
async def animate(self, name, *args, **kwargs):
"""perform animation
:param name: the name of the animation
:type name: str
"""
anim = animations[name]
anim = getattr(anim, 'animate', anim)
await anim(self, *args, **kwargs)
@classmethod
def get_animation_list(cl):
""" """
return list(animations.keys())
@property
def eyes(self):
"""eye animation on screen"""
return self._eye_anim
@property
def env(self):
"""Environmental Variables"""
return self._env
@property
def button(self):
""" """
return self._button
@property
def infrared(self):
"""Infrared sensor at the bottom of the robot"""
return self._infrared
@property
def sonar(self):
"""Sonar, namely ultrasonic distance sensor"""
return self._sonar
@property
def motor(self):
""" """
return self._motor
@property
def head(self):
""" """
return self._head
@property
def lift(self):
""" """
return self._lift
@property
def buzzer(self):
"""only for Cozmars V1"""
if self.firmware_version.startswith('2'):
raise AttributeError('Cozmars V2 has no buzzer')
return self._buzzer
@property
def speaker(self):
"""only for Cozmars V2"""
if self.firmware_version.startswith('1'):
raise AttributeError('Cozmars V1 has no speaker')
return self._speaker
@property
def screen(self):
""" """
return self._screen
@property
def camera(self):
""" """
return self._camera
@property
def microphone(self):
""" """
return self._microphone
async def connect(self):
""" """
if not self._connected:
self._lo = asyncio.get_running_loop()
if not hasattr(self, '_event_thread'):
self._event_thread = threading.current_thread()
if not hasattr(self, '_host'):
found = await util.find_service('rcute-cozmars-????',
'_ws._tcp.local.')
assert len(
found
) == 1, "More than one cozmars found." if found else "No cozmars found."
self._host = found[0].server
self._ws = await websockets.connect(f'ws://{self._host}/rpc')
if '-1' == await self._ws.recv():
raise RuntimeError(
'Could not connect to Cozmars, please close other programs that are already connected to Cozmars'
)
self._rpc = RPCClient(self._ws)
self._about = json.loads(await self._get('/about'))
await self._env.load()
self._eye_anim_task = asyncio.create_task(
self._eye_anim.animate(self))
self._event_task = asyncio.create_task(self._get_event())
self._connected = True
@property
def connected(self):
""" """
return self._connected
async def _call_callback(self, cb, *args):
if cb:
if self._mode == 'aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(
*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_event(self):
self._event_rpc = self._rpc.sensor_data()
async for event, data in self._event_rpc:
try:
if event == 'pressed':
if not data:
self.button._long_pressed = self.button._double_pressed = False
self.button._pressed = data
await self._call_callback(self.button.when_pressed if data
else self.button.when_released)
elif event == 'long_pressed':
self.button._long_pressed = data
await self._call_callback(self.button.when_long_pressed)
elif event == 'double_pressed':
self.button._pressed = data
self.button._double_pressed = data
await self._call_callback(self.button.when_pressed)
await self._call_callback(self.button.when_double_pressed)
elif event == 'out_of_range':
await self._call_callback(self.sonar.when_out_of_range,
data)
elif event == 'in_range':
await self._call_callback(self.sonar.when_in_range, data)
elif event == 'lir':
self.infrared._state = data, self.infrared._state[1]
await self._call_callback(self.infrared.when_state_changed,
self.infrared._state)
elif event == 'rir':
self.infrared._state = self.infrared._state[0], data
await self._call_callback(self.infrared.when_state_changed,
self.infrared._state)
except Exception as e:
logger.exception(e)
async def disconnect(self):
""" """
if self._connected:
self._event_task.cancel()
self._eye_anim_task.cancel()
self._event_rpc.cancel()
await asyncio.gather(self.when_called(None),
self.close_camera_view(),
return_exceptions=True)
await asyncio.gather(self.camera.close(),
self.microphone.close(),
self.speaker.close(),
return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@util.mode(force_sync=False)
async def forward(self, duration=None):
"""
:param duration: duration (seconds), default is None for non-stop
:type duration: float
"""
await self._rpc.speed((1, 1), duration)
@util.mode(force_sync=False)
async def backward(self, duration=None):
"""
:param duration: duration (seconds), default is None for non-stop
:type duration: float
"""
await self._rpc.speed((-1, -1), duration)
@util.mode(force_sync=False)
async def turn_left(self, duration=None):
"""
:param duration: duration (seconds), default is None for non-stop
:type duration: float
"""
await self._rpc.speed((-1, 1), duration)
@util.mode(force_sync=False)
async def turn_right(self, duration=None):
"""
:param duration: duration (seconds), default is None for non-stop
:type duration: float
"""
await self._rpc.speed((1, -1), duration)
@util.mode()
async def stop(self):
""" """
await self._rpc.speed((0, 0))
@util.mode()
async def say(self, txt, repeat=1, **options):
"""Text to speach for Cozmars V2.
`rcute-ai <https://rcute-ai.readthedocs.io/>`_ must be installed to support this function.
:param txt: text to be said
:type txt: str
:param repeat: playback times, default is 1
:type repeat: int, optional
:param options:
* voice/lang
* volume
* pitch
* speed
* word_gap
See `rcute_ai.tts <https://rcute-ai.readthedocs.io/zh_CN/latest/api/tts.html#rcute_ai.tts.TTS.tts_wav/>`_
:type options: optional
"""
if not hasattr(self, '_tts'):
import rcute_ai as ai
self._tts = ai.TTS()
op = self.env.vars.get('say', {}).get(sys.platform, {}).copy()
op.update(options)
wav_data = await self._lo.run_in_executor(
None, functools.partial(self._tts.tts_wav, txt, **op))
with wave.open(io.BytesIO(wav_data)) as f:
await self.speaker.play(f.readframes(f.getnframes()),
repeat=repeat,
volume=self.env.vars.get('say_vol'),
sample_rate=f.getframerate(),
dtype='int16')
@util.mode(property_type='setter')
async def when_called(self, *args):
"""Callback function, called when the wake word 'R-Cute' or Chinese '阿Q' is detected.
When set, a thread will be running in background using the robot's microphone. If set to `None`, the background thread will stop.
`rcute-ai <https://rcute-ai.readthedocs.io/>`_ must be installed to support this function.
See `rcute_ai.WakeWordDetector <https://rcute-ai.readthedocs.io/zh_CN/latest/api/WakeWordDetector.html>`_"""
if not args:
return getattr(self, '_when_called', None)
cb = self._when_called = args[0]
if cb:
def wwd_run():
if not hasattr(self, '_wwd'):
import rcute_ai as ai
self._wwd = ai.WakeWordDetection()
logger.info('Start wake word detection.')
with self.microphone.get_buffer() as buf:
while self._when_called:
self._wwd.detect(buf) and cb()
logger.info('Stop wake word detection.')
self._wwd_thread = threading.Thread(target=wwd_run, daemon=True)
self._wwd_thread.start()
else:
hasattr(self, '_wwd') and self._wwd.cancel()
hasattr(self, '_wwd_thread') and self._wwd_thread.is_alive(
) and await self._lo.run_in_executor(None, self._wwd_thread.join)
@util.mode()
async def listen(self, **kw):
"""Speech recognition.
:param lang: language, default to `'en'`
:type lang: str
:return: recognized string
:rtype: str
other paramters are the same as `rcute_ai.STT.stt <https://rcute-ai.readthedocs.io/zh_CN/latest/api/STT.html#rcute_ai.STT.stt>`_ 's keyword arguments.
`rcute-ai <https://rcute-ai.readthedocs.io/>`_ must be installed to support this function.
"""
if not hasattr(self, '_stts'):
self._stts = {}
lang = kw.pop('lang', 'en')
def stt_run():
if not self._stts.get(lang):
import rcute_ai as ai
self._stts[lang] = ai.STT(lang=lang)
with self.microphone.get_buffer() as buf:
return self._stts[lang].stt(buf, **kw)
return await self._lo.run_in_executor(None, stt_run)
@util.mode()
async def show_camera_view(self):
"""Open camera and run a background thread showing the camera view or processed camera images if :data:`on_camera_image` is set"""
def cam_run():
import cv2
self._stop_cam_view = False
with self.camera.get_buffer() as buf:
for im in buf:
if self._stop_cam_view:
cv2.destroyWindow(self.serial)
break
self._latest_camera_view = im
self.on_camera_image and self.on_camera_image(im)
cv2.imshow(self.serial, im)
cv2.waitKey(10)
self._cam_view_thread = threading.Thread(target=cam_run, daemon=True)
self._cam_view_thread.start()
@property
def latest_camera_view(self):
"""latest image from :meth:`show_camera_view` """
return getattr(self, '_latest_camera_view', None)
@util.mode()
async def close_camera_view(self):
"""Stop the background thread created in :meth:`show_camera_view`"""
self._stop_cam_view = True
hasattr(self, '_cam_view_thread') and self._cam_view_thread.is_alive(
) and await self._lo.run_in_executor(None, self._cam_view_thread.join)
@property
def hostname(self):
"""Cozmars URL"""
return self._about['hostname']
@property
def ip(self):
"""Cozmars' IP address"""
return self._about['ip']
@property
def firmware_version(self):
"""Cozmars firmware version"""
return self._about['version']
@property
def mac(self):
"""Cozmars MAC address"""
return self._about['mac']
@property
def serial(self):
"""Cozmars serial number"""
return self._about['serial']
@util.mode()
async def poweroff(self):
""" """
await AioRobot.disconnect(self)
try:
await self._get('/poweroff')
except Exception as e:
pass
finally:
self._connected = False
@util.mode()
async def reboot(self):
""" """
await AioRobot.disconnect(self)
try:
await self._get('/reboot')
except Exception as e:
pass
finally:
self._connected = False
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()
class AioRobot:
"""Async/await mode of Cozmars robot
:param serial_or_ip: IP address or serial number of Cozmars to connect
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip):
self._host ='rcute-cozmars-' + serial_or_ip +'.local' if len(serial_or_ip) == 4 else serial_or_ip
self._mode ='aio'
self._connected = False
self._env = env.Env(self)
self._screen = screen.Screen(self)
self._camera = camera.Camera(self)
self._microphone = microphone.Microphone(self)
self._button = button.Button(self)
self._sonar = sonar.Sonar(self)
self._infrared = infrared.Infrared(self)
self._lift = lift.Lift(self)
self._head = head.Head(self)
self._buzzer = buzzer.Buzzer(self)
self._motor = motor.Motor(self)
self._eye_anim = eye_animation.EyeAnimation(self)
def _in_event_loop(self):
return True
@util.mode()
async def animate(self, name, *args, **kwargs):
"""Execute action
:param name: the name of the action
:type name: str
"""
anim = animations[name]
anim = getattr(anim,'animate', anim)
await anim(self, *args, **kwargs)
@property
def animation_list(self):
"""Action List"""
return list(animations.keys())
@property
def eyes(self):
"""eye"""
return self._eye_anim
@property
def env(self):
"""Environmental Variables"""
return self._env
@property
def button(self):
"""Button"""
return self._button
@property
def infrared(self):
"""Infrared sensor, on the bottom of the robot"""
return self._infrared
@property
def sonar(self):
"""Sonar, namely ultrasonic distance sensor"""
return self._sonar
@property
def motor(self):
"""motor"""
return self._motor
@property
def head(self):
"""head"""
return self._head
@property
def lift(self):
"""Arm"""
return self._lift
@property
def buzzer(self):
"""buzzer"""
return self._buzzer
@property
def screen(self):
"""screen"""
return self._screen
@property
def camera(self):
"""camera"""
return self._camera
@property
def microphone(self):
"""microphone"""
return self._microphone
async def connect(self):
"""Connect Cozmars"""
if not self._connected:
self._ws = await websockets.connect(f'ws://{self._host}/rpc')
if'-1' == await self._ws.recv():
raise RuntimeError('Could not connect to Cozmars, please close other programs that are already connected to Cozmars')
self._rpc = RPCClient(self._ws)
about = json.loads(await self._get('/about'))
self._ip = about['ip']
self._serial = about['serial']
self._firmware_version = about['version']
self._hostname = about['hostname']
self._mac = about['mac']
self._sensor_task = asyncio.create_task(self._get_sensor_data())
self._eye_anim_task = asyncio.create_task(self._eye_anim.animate(self))
self._connected = True
@property
def connected(self):
"""Are robots connected?"""
return self._connected
async def _call_callback(self, cb, *args):
if cb:
if self._mode =='aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_sensor_data(self):
self._sensor_data_rpc = self._rpc.sensor_data()
async for event, data in self._sensor_data_rpc:
try:
if event =='pressed':
if not data:
self.button._held = self.button._double_pressed = False
self.button._pressed = data
await self._call_callback(self.button.when_pressed if data else self.button.when_released)
elif event =='held':
self.button._held = data
await self._call_callback(self.button.when_held)
elif event =='double_pressed':
self.button._pressed = data
self.button._double_pressed = data
await self._call_callback(self.button.when_pressed)
await self._call_callback(self.button.when_double_pressed)
elif event =='out_of_range':
await self._call_callback(self.sonar.when_out_of_range, data)
elif event =='in_range':
await self._call_callback(self.sonar.when_in_range, data)
elif event =='lir':
self.infrared._state = data, self.infrared._state[1]
await self._call_callback(self.infrared.when_state_changed, self.infrared._state)
elif event =='rir':
self.infrared._state = self.infrared._state[0], data
await self._call_callback(self.infrared.when_state_changed, self.infrared._state)
except Exception as e:
logger.exception(e)
async def disconnect(self):
"""Disconnect Cozmars"""
if self._connected:
self._sensor_task.cancel()
self._eye_anim_task.cancel()
self._sensor_data_rpc.cancel()
await asyncio.gather(self.camera._close(), self.microphone._close(), self.buzzer._close(), return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@util.mode(force_sync=False)
async def forward(self, duration=None):
"""go ahead
:param duration: duration (seconds)
:type duration: float
"""
await self._rpc.speed((1,1), duration)
@util.mode(force_sync=False)
async def drive(self, speed, duration=1):
"""go ahead
:param duration: duration (seconds)
:type duration: float
"""
await self._rpc.speed(speed, duration)
@util.mode(force_sync=False)
async def backward(self, duration=None):
"""Back
:param duration: duration (seconds)
:type duration: float
"""
await self._rpc.speed((-1,-1), duration)
@util.mode(force_sync=False)
async def turn_left(self, duration=None):
"""Turn left
:param duration: duration (seconds)
:type duration: float
"""
await self._rpc.speed((-1,1), duration)
@util.mode(force_sync=False)
async def turn_right(self, duration=None):
"""Turn right
:param duration: duration (seconds)
:type duration: float
"""
await self._rpc.speed((1,-1), duration)
@util.mode()
async def stop(self):
"""stop"""
await self._rpc.speed((0, 0))
@property
def hostname(self):
"""Cozmars URL"""
return self._hostname
@property
def ip(self):
"""Cozmars' IP address"""
return self._ip
@property
def firmware_version(self):
"""Cozmars firmware version
If it is lower than the latest version on |pypi|, you can log in to the robot's page to update
"""
return self._firmware_version
@property
def mac(self):
"""Cozmars MAC address"""
return self._mac
@property
def serial(self):
"""Cozmars serial number"""
return self._serial
@util.mode()
async def poweroff(self):
"""Close Cozmars"""
await AioRobot.disconnect(self)
try:
await self._get('/poweroff')
except Exception as e:
pass
@util.mode()
async def reboot(self):
"""Restart Cozmars"""
await AioRobot.disconnect(self)
try:
await self._get('/reboot')
except Exception as e:
pass
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()
class AioRobot:
"""Cozmars 机器人的异步 (async/await) 模式
:param serial_or_ip: 要连接的 Cozmars 的 IP 地址或序列号
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip):
self._host = 'rcute-cozmars-' + serial_or_ip + '.local' if len(serial_or_ip) == 4 else serial_or_ip
self._mode = 'aio'
self._connected = False
self._env = env.Env(self)
self._screen = screen.Screen(self)
self._camera = camera.Camera(self)
self._microphone = microphone.Microphone(self)
self._button = button.Button(self)
self._sonar = sonar.Sonar(self)
self._infrared = infrared.Infrared(self)
self._lift = lift.Lift(self)
self._head = head.Head(self)
self._buzzer = buzzer.Buzzer(self)
self._motor = motor.Motor(self)
self._eye_anim = eye_animation.EyeAnimation(self)
def _in_event_loop(self):
return True
@util.mode()
async def animate(self, name, *args, **kwargs):
"""执行动作
:param name: 动作的名称
:type name: str
"""
anim = animations[name]
anim = getattr(anim, 'animate', anim)
await anim(self, *args, **kwargs)
@property
def animation_list(self):
"""动作列表"""
return list(animations.keys())
@property
def eyes(self):
"""眼睛"""
return self._eye_anim
@property
def env(self):
"""环境变量"""
return self._env
@property
def button(self):
"""按钮"""
return self._button
@property
def infrared(self):
"""红外传感器，在机器人底部"""
return self._infrared
@property
def sonar(self):
"""声纳，即超声波距离传感器"""
return self._sonar
@property
def motor(self):
"""马达"""
return self._motor
@property
def head(self):
"""头"""
return self._head
@property
def lift(self):
"""手臂"""
return self._lift
@property
def buzzer(self):
"""蜂鸣器"""
return self._buzzer
@property
def screen(self):
"""屏幕"""
return self._screen
@property
def camera(self):
"""摄像头"""
return self._camera
@property
def microphone(self):
"""麦克风"""
return self._microphone
async def connect(self):
"""连接 Cozmars"""
if not self._connected:
self._ws = await websockets.connect(f'ws://{self._host}/rpc')
if '-1' == await self._ws.recv():
raise RuntimeError('无法连接 Cozmars, 请先关闭其他已经连接 Cozmars 的程序')
self._rpc = RPCClient(self._ws)
about = json.loads(await self._get('/about'))
self._ip = about['ip']
self._serial = about['serial']
self._firmware_version = about['version']
self._hostname = about['hostname']
self._mac = about['mac']
self._sensor_task = asyncio.create_task(self._get_sensor_data())
self._eye_anim_task = asyncio.create_task(self._eye_anim.animate(self))
self._connected = True
@property
def connected(self):
"""是否连接上了机器人"""
return self._connected
async def _call_callback(self, cb, *args):
if cb:
if self._mode == 'aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_sensor_data(self):
self._sensor_data_rpc = self._rpc.sensor_data()
async for event, data in self._sensor_data_rpc:
try:
if event == 'pressed':
if not data:
self.button._held = self.button._double_pressed = False
self.button._pressed = data
await self._call_callback(self.button.when_pressed if data else self.button.when_released)
elif event == 'held':
self.button._held = data
await self._call_callback(self.button.when_held)
elif event == 'double_pressed':
self.button._pressed = data
self.button._double_pressed = data
await self._call_callback(self.button.when_pressed)
await self._call_callback(self.button.when_double_pressed)
elif event == 'out_of_range':
await self._call_callback(self.sonar.when_out_of_range, data)
elif event == 'in_range':
await self._call_callback(self.sonar.when_in_range, data)
elif event == 'lir':
self.infrared._state = data, self.infrared._state[1]
await self._call_callback(self.infrared.when_state_changed, self.infrared._state)
elif event == 'rir':
self.infrared._state = self.infrared._state[0], data
await self._call_callback(self.infrared.when_state_changed, self.infrared._state)
except Exception as e:
logger.exception(e)
async def disconnect(self):
"""断开 Cozmars 的连接"""
if self._connected:
self._sensor_task.cancel()
self._eye_anim_task.cancel()
self._sensor_data_rpc.cancel()
await asyncio.gather(self.camera._close(), self.microphone._close(), self.buzzer._close(), return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@util.mode(force_sync=False)
async def forward(self, duration=None):
"""前进
:param duration: 持续时间（秒）
:type duration: float
"""
await self._rpc.speed((1,1), duration)
@util.mode(force_sync=False)
async def backward(self, duration=None):
"""后退
:param duration: 持续时间（秒）
:type duration: float
"""
await self._rpc.speed((-1,-1), duration)
@util.mode(force_sync=False)
async def turn_left(self, duration=None):
"""左传
:param duration: 持续时间（秒）
:type duration: float
"""
await self._rpc.speed((-1,1), duration)
@util.mode(force_sync=False)
async def turn_right(self, duration=None):
"""右转
:param duration: 持续时间（秒）
:type duration: float
"""
await self._rpc.speed((1,-1), duration)
@util.mode()
async def stop(self):
"""停止"""
await self._rpc.speed((0, 0))
@property
def hostname(self):
"""Cozmars 的网址"""
return self._hostname
@property
def ip(self):
"""Cozmars 的 IP 地址"""
return self._ip
@property
def firmware_version(self):
"""Cozmars 的固件版本
如果低于 |pypi上的最新版本| ，可以登陆机器人的页面进行更新
"""
return self._firmware_version
@property
def mac(self):
"""Cozmars 的 MAC 地址"""
return self._mac
@property
def serial(self):
"""Cozmars 的序列号"""
return self._serial
@util.mode()
async def poweroff(self):
"""关闭 Cozmars"""
await AioRobot.disconnect(self)
try:
await self._get('/poweroff')
except Exception as e:
pass
@util.mode()
async def reboot(self):
"""重启 Cozmars"""
await AioRobot.disconnect(self)
try:
await self._get('/reboot')
except Exception as e:
pass
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()