def verification():
x = (Email.get())
r = 0
if '@gmail.com' in x:
r = 4
sqliteConnection = sqlite3.connect('username.db')
cursor = sqliteConnection.cursor()
Jarvis.say("You are verified now close this screen for safety")
Jarvis.runAndWait()
root.mainloop()
Alexa.main_code()
else:
messagebox.askokcancel('You might have entered the wrong email',
'email invalid')
def __init__(self,
width,
height,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
self.width = width
self.height = height
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(anchors=localino_anchors,
wheelchair_tag=wheelchair_tag,
person_tag=person_tag)
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
class Environment:
def __init__(self,
width,
height,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
self.width = width
self.height = height
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(anchors=localino_anchors,
wheelchair_tag=wheelchair_tag,
person_tag=person_tag)
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
#exit()
def move_person(self, x, y):
self.person.set_pos(x, y)
if not self.verify():
print("Invalid State")
def say(self, command):
"""Processes a say command in the environment"""
self.alexa.say(command)
def step(self):
"""Takes a step in the simulator
Processes any movement the wheelchair will do and
"""
self.pi.step()
self.wheelchair.orientation = self.pi.dir
self.wheelchair.xVel = math.cos(
self.wheelchair.orientation) * self.pi.vel
self.wheelchair.yVel = math.sin(
self.wheelchair.orientation) * self.pi.vel
self.wheelchair.xPos += self.wheelchair.xVel
self.wheelchair.yPos += self.wheelchair.yVel
print(self.wheelchair.xPos, self.wheelchair.yPos)
self.wheelchair.update_sensor_positions()
self.wheelchair.update_boundary_positions()
if not self.verify():
print("Invalid State")
def line_rect_intersection(self, ray, obstacle):
lines = [(obstacle.x1, obstacle.y1, obstacle.x1, obstacle.y2),
(obstacle.x1, obstacle.y1, obstacle.x2, obstacle.y1),
(obstacle.x2, obstacle.y1, obstacle.x2, obstacle.y2),
(obstacle.x1, obstacle.y2, obstacle.x2, obstacle.y2)]
#https://www.topcoder.com/community/data-science/data-science-tutorials/geometry-concepts-line-intersection-and-its-applications/
a1 = ray[1] - ray[3]
b1 = ray[2] - ray[0]
c1 = a1 * ray[0] + b1 * ray[1]
d = math.inf
#Check each line segment for an intersection and return the closest one
for line in lines:
#Solve for the intersection of 2 lines
a2 = line[1] - line[3]
b2 = line[2] - line[0]
c2 = a2 * line[0] + b2 * line[1]
det = a1 * b2 - a2 * b1
if det != 0:
x = (b2 * c1 - b1 * c2) / det
y = (a1 * c2 - a2 * c1) / det
#Check if the intersection lies on the obstacle's line segment
if line[0] <= x <= line[2] and line[1] <= y <= line[3]:
d = min(
d,
math.hypot(x - self.wheelchair.xPos,
y - self.wheelchair.yPos))
if math.isinf(d):
return 0
else:
return d
def verify(self):
"""verifies boundaries of all physicals objects in the simulation
If any objects are overlapping this state is an illegal one and verify should return false
Limitations: Rounds values to the nearest integer
Todo: wheelchair circular boundary
returns True if state is legal
False if state is illegal
"""
# create a mock up environment to check bounds
env_grid = [[False for j in range(self.height)]
for i in range(self.width)]
#check if anything is outside of the boundaries of the environment and if not then add it to the grid
# check obstacles
for obstacle in self.obstacles:
if obstacle.x1 < 0 or obstacle.x1 > self.width or obstacle.y1 < 0 or obstacle.y1 > self.height or obstacle.x2 < 0 or obstacle.x2 > self.width or obstacle.y2 < 0 or obstacle.y2 > self.height:
return False
for i in range(round(obstacle.x1), round(obstacle.x2)):
for j in range(round(obstacle.y1), round(obstacle.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
# check wheelchair boundary
if self.wheelchair.x1 < 0 or self.wheelchair.x1 > self.width or self.wheelchair.y1 < 0 or self.wheelchair.y1 > self.height or self.wheelchair.x2 < 0 or self.wheelchair.x2 > self.width or self.wheelchair.y2 < 0 or self.wheelchair.y2 > self.height:
return False
for i in range(round(self.wheelchair.x1), round(self.wheelchair.x2)):
for j in range(round(self.wheelchair.y1),
round(self.wheelchair.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
# check person
if self.person.x1 < 0 or self.person.x1 > self.width or self.person.y1 < 0 or self.person.y1 > self.height or self.person.x2 < 0 or self.person.x2 > self.width or self.person.y2 < 0 or self.person.y2 > self.height:
return False
for i in range(round(self.person.x1), round(self.person.x2)):
for j in range(round(self.person.y1), round(self.person.y2)):
if not env_grid[i][j]:
env_grid[i][j] = True
else:
return False
return True
MQTT.publish_event_to_client('s5d9', 'L'+ str(led_number) + ':1')
elif action == 'off':
MQTT.publish_event_to_client('s5d9', 'L'+ str(led_number) + ':0')
else:
log ("Error: Unknown action.")
response_txt = "The " + led + " led is turned " + action + "."
#
# Blink the LED for a number of times.
#
elif request['intent']['name'] == 'ledBlinkIntent':
blink_number = int(request['intent']['slots']['blink_num']['value'])
log (blink_number)
if blink_number == 0:
MQTT.publish_event_to_client('s5d9', 'L'+ str(led_number) + ':0')
response_txt = "The " + led + " led is turned off."
elif blink_number <= 5:
MQTT.publish_event_to_client('s5d9', 'B'+ str(led_number) + ':' + str(blink_number))
response_txt = "The " + led + " led blinks " + str(blink_number) + " times."
else:
response_txt = "The number of blinks requested exceeds the limit of 5. Your request has been denied."
else:
log ("Error: Unknown Intent.")
else:
log ("Error: Unknown Intent.")
log (response_txt)
response_json = build_response(request['intent']['name'], response_txt)
log(response_json)
Alexa.response(uuid_marker, response_json)
else:
log ("Error: Unknown request type.")
def get_intent(preset, agency):
city = flask_request.args.get('city')
user = context.System.user.userId
return Alexa.get_intent(ask_request, city, user, preset, agency)
def check_intent(route, stop, agency):
city = flask_request.args.get('city')
return Alexa.check_intent(ask_request, city, route, stop, agency)
def cancel_intent():
return Alexa.stop_intent()
def stop_intent():
return Alexa.stop_intent()
def help_intent():
city = flask_request.args.get('city')
return Alexa.help_intent(city)
def launch():
city = flask_request.args.get('city')
return Alexa.launch_intent(city)
class Environment:
def __init__(self,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize sensors
self.localino_anchors = localino_anchors
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(
anchors=localino_anchors, tags=[wheelchair_tag, person_tag])
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
exit()
def say(self, command):
"""Processes a say command in the environment"""
self.alexa.say(command)
def step(self):
"""Takes a step in the simulator
Processes any movement the wheelchair will do and
"""
self.verify()
def verify(self):
"""verifies boundaries of all physicals objects in the simulation
If any objects are overlapping this state is an illegal one and verify should return false
returns True if state is legal
False if state is illegal
"""
return True