class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._robot = Factory.getRobot('UH Sunflower')
self._thread1 = myThreadLights(1, "Thread-1", self._robot)
self._thread2 = myThreadHead(2, "Thread-2", self._robot)
def Scenario1(self):
#self._thread1.start()
time.sleep(25)
self._dao.setResponse('fromDiningArea', None)
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
questionNo = args[0]
if questionNo == 'current':
ques = self._dao.getActiveQuestion()
if ques != None:
questionNo = ques['sequenceName']
else:
questionNo = None
if questionNo != None:
resp = self._dao.getResponses(questionNo)
obj = {'query': questionNo, 'responses':resp}
else:
obj = {'query': 'none'}
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('response'):
raise cherrypy.HTTPError(400)
else:
userresponse = int(request['response'])
if self._dao.setResponse(args[0], userresponse):
return 'OK'
else:
raise cherrypy.HTTPError(500)
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
questionNo = args[0]
if questionNo == 'current':
ques = self._dao.getActiveQuestion()
if ques != None:
questionNo = ques['sequenceName']
else:
questionNo = None
if questionNo != None:
resp = self._dao.getResponses(questionNo)
obj = {'query': questionNo, 'responses': resp}
else:
obj = {'query': 'none'}
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('response'):
raise cherrypy.HTTPError(400)
else:
userresponse = int(request['response'])
if self._dao.setResponse(args[0], userresponse):
return 'OK'
else:
raise cherrypy.HTTPError(500)
class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
def Scenario1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._robot.setComponentState('head',
'front') #Set default head position
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
self._threadLights.start()
#Send the robot to the location
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
if 'KitchenDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goKitchen', None)
elif 'TransportDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadHead.start()
self._dao.setResponse('transportDrink', None)
elif 'LivingDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goLivingRoom', None)
elif 'TransportObject' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('transportObject', None)
elif 'DoorbellGoToHall' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('doorbellAssistance', None)
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def Scenario2(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._threadLights.start()
self._robot.setComponentState('head',
'front') #Set default head position
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1)
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('fromDiningArea', None)
def Scenario3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head',
'front') #Set default head position
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
#Send the robot to the location
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
self._threadLights.stopLights(eval(self._preferences[0]['light']))
if 'KitchenDrink' == request['scenarioType']:
self._dao.setResponse('goKitchen', None)
elif 'TransportDrink' == request['scenarioType']:
self._dao.setResponse('transportDrink', None)
elif 'LivingDrink' == request['scenarioType']:
self._dao.setResponse('goLivingRoom', None)
elif 'TransportObject' == request[
'scenarioType'] or 'DoorbellGoToHall' == request[
'scenarioType']:
self._dao.setResponse('transportObject', None)
elif 'DoorbellGoToHall' == request['scenarioType']:
self._dao.setResponse('transportObject', None)
else:
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def ScenarioDoorbell1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head', 'front')
self._threadLights.start()
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
#Send the robot to the location (if it is not there already)
#time.sleep(4)
if request['scenario'] == 1:
livingRoomLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area')
self._robot.setComponentState('base', [
livingRoomLoc['xCoord'], livingRoomLoc['yCoord'],
livingRoomLoc['orientation']
])
else:
livingRoomSocialLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area Social')
self._robot.setComponentState('base', [
livingRoomSocialLoc['xCoord'], livingRoomSocialLoc['yCoord'],
livingRoomSocialLoc['orientation']
])
if request['scenario'] == 1:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.075, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
if request['scenario'] == 1:
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
else:
time.sleep(1)
## Determine the speech time
wait = 0.4 * (len(message.split()) - 1)
time.sleep(wait)
#Send the robot to the location
time.sleep(1)
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
#Stop blinking lights and tell user about help to transport
if request['scenario'] == 1 or request['scenario'] == 2:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._dao.setResponse('doorbellAssistance', None)
def ScenarioDoorbell2(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head', 'front')
self._threadLights.start()
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
livingRoomSocialLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area Social')
self._robot.setComponentState('base', [
livingRoomSocialLoc['xCoord'], livingRoomSocialLoc['yCoord'],
livingRoomSocialLoc['orientation']
])
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.075, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
#Wait until the tray finishes
time.sleep(1.5)
self._dao.setResponse('doorbellAssistLowPro', None)
class RobotCommands(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
self._scenarios = Scenario()
self._host = "nathan@sf1-1-pc1"
self._robot = Factory.getCurrentRobot()
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
# Send the robot to certain location (The behaviour depends on the scenario)
if request.has_key('location'):
if request['scenario'] == 1:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell1(request, self._host)
else:
self._scenarios.Scenario1(request, self._host)
elif request['scenario'] == 2:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell2(request, self._host)
elif request['scenarioType'] == 'LivingDrink':
self._scenarios.Scenario2(request, self._host)
else:
self._scenarios.Scenario1(request, self._host)
elif request['scenario'] == 3:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell1(request, self._host)
else:
self._scenarios.Scenario3(request, self._host)
# Send voice command to the robot (espeak software required)
elif request.has_key(
'speech') and self._dao.getActiveQuestion()['repeated'] == 0:
#Block other interfaces to repeat the message
self._dao.setResponse(request['messageId'], None, 1)
self._preferences = self._dao.users.getUserPreferences()
if request['scenario'] == 3 or request[
'messageId'] == 'doorbellAssistLowPro':
time.sleep(0.5) #Including delay to help transition
elif request['scenario'] == 1 or request['scenario'] == 2:
time.sleep(7) #Time to wait for the body movement to finish
if self._preferences[0]['voice'] == 1:
self._robot.setComponentState('head', 'front')
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace(
"User,", request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>",
"") #Remove end of line if exists
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh",
"%s" % self._host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
if request['scenario'] == 1 or request['scenario'] == 2:
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
else:
time.sleep(1)
## Determine the speech time
wait = 0.3 * (len(message.split()) - 1)
time.sleep(wait)
#It means the robot has already spoken and the dialog can be shown
self._dao.setResponse(request['messageId'], None, 2)
# Open Tray
if self._robot.getComponentState('tray')[0] == 'lowered':
self._robot.setComponentState('tray', 'raised')
#Finish Action
self._robot.setComponentState('head', 'back')
self._robot.setLight(eval(self._preferences[0]['light']))
# Open Tray (Sometimes the first attempt is failing)
if self._robot.getComponentState('tray')[0] != 'raised':
self._robot.setComponentState('tray', 'raised')
else:
raise cherrypy.HTTPError(400)
class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
def Scenario1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._robot.setComponentState('head',
'front') #Set default head position
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#time.sleep(1.5)
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
self._threadLights.start()
#Send the robot to the location
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
if "Kitchen Entrance" in request['location']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goKitchen', None)
elif "Living" in request['location']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
if "Transporting" not in request['speech']:
self._threadBase.start()
self._dao.setResponse('goLivingRoom', None)
else:
self._threadHead.start()
self._dao.setResponse('transportLivingRoom', None)
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def Scenario3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head',
'front') #Set default head position
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
#Send the robot to the location
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
self._threadLights.stopLights(eval(self._preferences[0]['light']))
if "Kitchen Entrance" in request['location']:
self._dao.setResponse('goKitchen', None)
elif "Living" in request['location']:
if "Transporting" not in request['speech']:
self._dao.setResponse('goLivingRoom', None)
else:
self._dao.setResponse('transportLivingRoom', None)
else:
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def ScenarioDoorbell3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._threadLights.start()
time.sleep(2)
self._robot.setComponentState('head', 'front')
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.1, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
#Compose speech
message = request['speech'].replace(
"User",
self._dao.users.getActiveUser()['firstName'])
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
#Wait until the tray finishes
time.sleep(1.5)
#Send the robot to the location #time.sleep(4)
self._threadLights.start()
time.sleep(4)
#self._robot.setComponentState('base', [location['xCoord'], location['yCoord'], location['orientation']])
#Stop blinking lights and tell user about help to transport
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._dao.setResponse('doorbellAssistance', None)
