def reflash(self, wavList):
"""Reflash the sound flash memory.
Only available for CLIENT_LEVEL_RESTRICTED and CLIENT_LEVEL_ROOT
levels.
@param wavList: wave file path list.
@return: (SOUND_REFLASH_NO_ERROR|SOUND_REFLASH_ERROR_PARAMETERS|
SOUND_REFLASH_ERROR_RF_OFFLINE|SOUND_REFLASH_ERROR_WAV|
SOUND_REFLASH_ERROR_USB)
"""
if self.__parent.server.getClientLevel() not in [
CLIENT_LEVEL_RESTRICTED, CLIENT_LEVEL_ROOT
]:
raise TuxAPIExceptionCL, self.__parent.server.getClientLevel()
if not checkValue(wavList, "list"):
return SOUND_REFLASH_ERROR_PARAMETERS
if len(wavList) <= 0:
return SOUND_REFLASH_ERROR_PARAMETERS
tracks = ""
for wav in wavList:
if not checkValue(wav, "str"):
return SOUND_REFLASH_ERROR_PARAMETERS
tracks = "%s%s|" % (tracks, wav)
tracks = tracks[:-1]
cmd = "sound_flash/reflash?tracks=%s" % tracks
if not self.__cmdSimpleResult(cmd):
return SOUND_REFLASH_ERROR_PARAMETERS
else:
if self.__eventHandlers.waitCondition(ST_NAME_SOUND_REFLASH_END,
(SSV_NDEF, None), 5.0):
self.__eventHandlers.waitCondition(ST_NAME_SOUND_REFLASH_END,
(None, None), 150.0)
value, delay = self.__parent.status.requestOne(
ST_NAME_SOUND_REFLASH_END)
return value
def playAsync(self, track, volume=100.0):
"""Play a sound from the internal memory.
(Asynchronous)
@param track: index of the sound.
@param volume: volume (0.0 .. 100.0)
@return: the success of the command.
"""
if not checkValue(track, "int"):
return False
if not checkValue(volume, "float", 0.0, 100.0):
return False
cmd = "sound_flash/play?track=%d&volume=%f" % (track, volume)
return self.__cmdSimpleResult(cmd)
def connect(self, level, name, passwd):
"""Attempt to connect to the server.
@param level: requested level of the client.
@param name: name of the client.
@param passwd: password of the client.
@return: the success of the connection.
"""
# If already connected - Success
if self.getConnected():
return True
# If client level is invalid - Failed
if level not in CLIENT_LEVELS:
return False
self.__clientLevel = level
# If client level is ANONYME - Success
if level == CLIENT_LEVEL_ANONYME:
cmdUrl = "0/"
self.__setCmdUrl(cmdUrl)
self.__setConnected(True)
return True
# Check name and passw type
if not checkValue(name, 'str'):
return False
if not checkValue(passwd, 'str'):
return False
# Make command
cmd = "client/create?level=%d&name=%s&passwd=%s" % (level, name,
passwd)
varStruct = {
'client_id': 'data0.client_id',
}
varResult = {}
# Request
if not self.request(cmd, varStruct, varResult, forceExec=True):
return False
# Check client_id
if varResult['client_id'] in ['-1', None]:
return False
# Ok !!!
self.__clientName = name
self.__clientPasswd = passwd
cmdUrl = "%s/" % varResult['client_id']
self.__setCmdUrl(cmdUrl)
self.__setConnected(True)
print "TuxAPI is connected."
return True
def send(self, b0, b1, b2, b3, b4):
"""
"""
if not checkValue(b0, "int"):
return False
if not checkValue(b1, "int"):
return False
if not checkValue(b2, "int"):
return False
if not checkValue(b3, "int"):
return False
if not checkValue(b4, "int"):
return False
cmd = "macro/play?macro=0.0:RAW_CMD:0x%.2x:0x%.2x:0x%.2x:0x%.2x:0x%.2x" % (
b0, b1, b2, b3, b4)
return self.__cmdSimpleResult(cmd)
def setPitch(self, value):
"""Set the pitch of the locutor.
@param value: pitch (50 .. 200)
"""
if not checkValue(value, 'int', 50, 200):
return
self.__pitch = value
def setLocutor(self, value):
"""Set the locutor.
@param value: name of the locutor.
"""
if not checkValue(value, 'str'):
return
self.__locutor = value
def onAsync(self, count, finalState=SSV_NDEF):
"""Move this body part.
(asynchronous)
@param count: number of movements.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_OPEN|SSV_CLOSE)
@return: the success of the command.
"""
if not checkValue(count, "int"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_MOUTHEYES_POSITIONS:
return False
cmd = "%s/on?count=%d&final_state=%s" % (self.__partName, count,
finalState)
return self.__cmdSimpleResult(cmd)
def onDuringAsync(self, duration, finalState=SSV_NDEF):
"""Move this body part during a number of seconds.
(asynchronous)
@param duration: duration time in seconds.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_OPEN|SSV_CLOSE)
@return: the success of the command.
"""
if not checkValue(duration, "float"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_MOUTHEYES_POSITIONS:
return False
cmd = "%s/on_during?duration=%f&final_state=%s" % (
self.__partName, duration, finalState)
return self.__cmdSimpleResult(cmd)
def play(self, begin = 0.0):
"""Play the loaded attitune.
@param begin: starting second.
@return: the success of the command.
"""
if not checkValue(begin, "float"):
return False
cmd = "attitune/play?begin=%f" % begin
return self.__cmdSimpleResult(cmd)
def speakAsync(self, text, locutor=None, pitch=None):
"""Read a text with the text to speak engine.
(Asynchronous)
@param text: text to speak.
@param locutor: name of the locutor.
@param pitch: pitch (50 .. 200)
@return: the success of the command.
"""
# Check the text var type
if not checkValue(text, 'str'):
return False
# Set the locutor
if locutor != None:
self.setLocutor(locutor)
cmd = "tts/locutor?name=%s" % self.__locutor
ret = self.__cmdSimpleResult(cmd)
if not ret:
return False
# Set the pitch
if pitch != None:
self.setPitch(pitch)
cmd = "tts/pitch?value=%d" % self.__pitch
ret = self.__cmdSimpleResult(cmd)
if not ret:
return False
# Try to encode the string
try:
text = text.decode(self.__encoding)
text = text.encode("utf-8", 'replace')
except:
pass
# Remove ending lines
text = text.replace("\n", ".")
# Perform the speech
mText = urllib.urlencode({
'text': text,
})
cmd = "tts/speak?%s" % mText
ret = self.__cmdSimpleResult(cmd)
if not ret:
return False
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
return ret
# Wait the speak status
ret = self.__eventHandlers.waitCondition(ST_NAME_SPEAK_STATUS,
(None, None), 5.0)
if not ret:
return False
# Get the speak status
value, delay = self.__parent.status.requestOne(ST_NAME_SPEAK_STATUS)
if value == "NoError":
return True
else:
return False
def load(self, path):
"""Load an attitune file.
@param path: path of the attitune file.
@return: the success of the command.
"""
if not checkValue(path, "str"):
return False
path = urllib.urlencode({'path' : path, })
cmd = "attitune/load?%s" % path
return self.__cmdSimpleResult(cmd)
def wait(self, statusName, condition = None, timeout = 999999999.0):
"""Wait a specific state of a status.
Not available for CLIENT_LEVEL_ANONYME level.
@param statusName: name of the status.
@param condition: list of the rules of the condition.
@param timeout: maximal delay to wait.
@return: the success of the waiting.
"""
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
raise TuxAPIExceptionCL, self.__parent.server.getClientLevel()
if not checkValue(statusName, "str"):
return False
if not checkValue(timeout, "float"):
return False
if condition != None:
if not checkValue(condition, "tuple"):
return False
return self.__parent.event.handler.waitCondition(statusName, condition, timeout)
def send(self, statusName, statusValues, encoding = "latin-1"):
"""Send a status.
@param statusName: name of the status.
@param statusValues: values of the status as list.
@param encoding: encoding format of the source.
( By example, the encoding must be set with sys.stdin.encoding if
the status is sent from Tuxshell. The encoding must be set to
"utf-8" if the status is sent from a python script coded in utf-8)
@return: the success of the command.
"""
if not checkValue(statusName, "str"):
return False
if not checkValue(statusValues, "list"):
return False
if len(statusValues) == 0:
return False
for statusValue in statusValues:
if not checkValue(statusValue, "str"):
return False
valuesStr = ""
for statusValue in statusValues:
valuesStr += "%s|" % statusValue
valuesStr = valuesStr[:-1]
try:
u = unicode(valuesStr, encoding)
valuesStr = u.encode("latin-1", 'replace')
except:
pass
try:
u = statusName.decode(encoding)
statusName = u.encode("latin-1", 'replace')
except:
pass
pcmd = urllib.urlencode({'name' : statusName, 'value' : valuesStr,})
cmd = "status/send?%s" % pcmd
if self.__parent != None:
# Request
if self.__parent.server.request(cmd, {}, {}):
return True
return False
def on(self, count, finalState=SSV_NDEF):
"""Move this body part.
@param count: number of movements.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_OPEN|SSV_CLOSE)
@return: the success of the command.
"""
if not checkValue(count, "int"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_MOUTHEYES_POSITIONS:
return False
timeout = count * 1.0
ret = self.onAsync(count, finalState)
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
return ret
if ret:
ret = self.waitMovingOff(timeout)
return ret
def onDuring(self, duration, finalState=SSV_NDEF):
"""Move this body part during a number of seconds.
@param duration: duration time in seconds.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_OPEN|SSV_CLOSE)
@return: the success of the command.
"""
if not checkValue(duration, "float"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_MOUTHEYES_POSITIONS:
return False
timeout = 2.0 * duration
ret = self.onDuringAsync(duration, finalState)
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
return ret
if ret:
ret = self.waitMovingOff(timeout)
return ret
def setSpeed(self, speed):
"""Set the speed of rotation.
@param speed: speed of the rotation.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(speed, "int"):
return False
speed = self.__checkSpeed(speed)
cmd = "spinning/speed?value=%d" % speed
return self.__cmdSimpleResult(cmd)
def onDuringAsync(self, duration, finalState = SSV_UP, speed = SPV_VERYFAST):
"""Move the flippers during a number of seconds.
(asynchronous)
@param duration: duration time in seconds.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_UP|SSV_DOWN)
@param speed: speed of the rotation.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(duration, "float"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_FLIPPERS_POSITIONS:
return False
cmd = "flippers/on_during?duration=%f&final_state=%s" % (duration, finalState)
ret = self.__cmdSimpleResult(cmd)
if ret:
ret = self.setSpeed(speed)
return ret
def onAsync(self, count, finalState = SSV_UP, speed = SPV_VERYFAST):
"""Move the flippers. (asynchronous)
@param count: number of movements.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_UP|SSV_DOWN)
@param speed: speed of the rotation.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(count, "int"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_FLIPPERS_POSITIONS:
return False
cmd = "flippers/on?count=%d&final_state=%s" % (count, finalState)
ret = self.__cmdSimpleResult(cmd)
if ret:
ret = self.setSpeed(speed)
return ret
def playAsync(self, waveFile, begin=0.0, end=0.0):
"""Play a wave file.
(Asynchronous)
@param waveFile: wave file to play.
@param begin: start seconds.
@param end: stop seconds.
@return: the success of the command.
"""
if not checkValue(waveFile, 'str'):
return False
if not checkValue(begin, 'float'):
return False
if not checkValue(end, 'float'):
return False
params = urllib.urlencode({
'path': waveFile,
'begin': begin,
'end': end
})
cmd = "wav/play?%s" % params
return self.__cmdSimpleResult(cmd)
def onDuring(self, duration, finalState = SSV_UP, speed = SPV_VERYFAST):
"""Move the flippers during a number of seconds.
@param duration: duration time in seconds.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_UP|SSV_DOWN)
@param speed: speed of the movement.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(duration, "float"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_FLIPPERS_POSITIONS:
return False
timeout = 2.0 * duration
ret = self.onDuringAsync(duration, finalState, speed)
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
return ret
if ret:
ret = self.waitMovingOff(timeout)
return ret
def on(self, count, finalState = SSV_UP, speed = SPV_VERYFAST):
"""Move the flippers.
@param count: number of movements.
@param finalState: requested state after the movement.
(SSV_NDEF|SSV_UP|SSV_DOWN)
@param speed: speed of the movement.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(count, "int"):
return False
if not checkValue(finalState, "str"):
return False
if finalState not in SSV_FLIPPERS_POSITIONS:
return False
timeout = count * 1.0
ret = self.onAsync(count, finalState, speed)
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
return ret
if ret:
ret = self.waitMovingOff(timeout)
return ret
def setPause(self, value=True):
"""Set the pause state of the wave player.
@param value: True or False.
@return: the success of the command.
"""
# Check the value var type
if not checkValue(value, 'bool'):
return False
if value:
pause = "True"
else:
pause = "False"
cmd = "wav/pause?value=%s" % pause
return self.__cmdSimpleResult(cmd)
def requestOne(self, statusName):
"""Get the value and delay of a status.
"""
if not checkValue(statusName, "str"):
return None, None
cmd = "status/request_one?status_name=%s" % statusName
varStruct = {
"value" : "data0.value",
"delay" : "data0.delay",
}
varResult = {}
if self.__parent != None:
# Request
if self.__parent.server.request(cmd, varStruct, varResult):
return varResult["value"], varResult["delay"]
return None, None
def rightOnDuringAsync(self, duration, speed=SPV_VERYFAST):
"""Move the robot to the right during a number of seconds.
(asynchronous)
@param duration: duration of the rotation.
@param speed: speed of the rotation.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(duration, "float"):
return False
cmd = "spinning/right_on_during?duration=%f" % duration
ret = self.__cmdSimpleResult(cmd)
if ret:
ret = self.setSpeed(speed)
return ret
def waitDisconnected(self, timeout):
"""Wait until the radio/dongle was disconnected.
Not available for CLIENT_LEVEL_ANONYME level.
@param timeout: maximal delay to wait.
@return: the state of the wait result.
"""
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
raise TuxAPIExceptionCL, self.__parent.server.getClientLevel()
if not checkValue(timeout, "float"):
return False
if not self.getConnected():
return True
if self.__parent != None:
return self.__eventHandler.waitCondition(("False", None), timeout)
return False
def waitPressed(self, timeout):
"""Wait until the switch was pressed.
Not available for CLIENT_LEVEL_ANONYME level.
@param timeout: maximal delay to wait.
@return: the state of the wait result.
"""
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
raise TuxAPIExceptionCL, self.__parent.server.getClientLevel()
if not checkValue(timeout, "float"):
return False
if self.getState():
return True
if self.__parent != None:
return self.__eventHandlers.waitCondition(self.__switchStName,
("True", None), timeout)
return False
def waitReleased(self, timeout):
"""Wait until the remote was released.
Not available for CLIENT_LEVEL_ANONYME level.
@param timeout: maximal delay to wait.
@return: the state of the wait result.
"""
if self.__parent.server.getClientLevel() == CLIENT_LEVEL_ANONYME:
raise TuxAPIExceptionCL, self.__parent.server.getClientLevel()
if not checkValue(timeout, "float"):
return False
if self.getState() == K_RELEASED:
return True
if self.__parent != None:
return self.__eventHandlers.waitCondition(ST_NAME_REMOTE_BUTTON,
(K_RELEASED, None),
timeout)
return False
def waitConnected(self, timeout=99999999999.):
"""Wait until the client was connected to the server.
Not available for CLIENT_LEVEL_ANONYME level.
@param timeout: maximal delay to wait.
@return: the state of the wait result.
"""
if self.getClientLevel() == CLIENT_LEVEL_ANONYME:
raise TuxAPIExceptionCL, self.getClientLevel()
if not checkValue(timeout, "float"):
return False
if self.getConnected():
return True
if self.__connectedEventHandler != None:
return self.__connectedEventHandler.waitCondition(("True", None),
timeout)
else:
return False
def rightOnAsync(self, turns, speed=SPV_VERYFAST):
"""Move the robot to the right. (asynchronous)
@param turns: number of turns.
@param speed: speed of the rotation.
(SPV_VERYSLOW|SPV_SLOW|SPV_NORMAL|SPV_FAST|SPV_VERYFAST)
@return: the success of the command.
"""
if not checkValue(turns, "float"):
return False
count = int(turns * 4)
if (count == 0):
count = 1
if (count > 255):
count = 255
cmd = "spinning/right_on?count=%d" % count
ret = self.__cmdSimpleResult(cmd)
if ret:
ret = self.setSpeed(speed)
return ret
def speakPush(self, text):
"""Push a text in the TTS stack.
@param text: text to speak.
@return: the success of the command.
"""
# Check the text var type
if not checkValue(text, 'str'):
return False
# Try to encode the string
try:
text = text.decode(self.__encoding)
text = text.encode("utf-8", 'replace')
except:
pass
# Remove ending lines
text = text.replace("\n", ".")
# Perform the speech
mText = urllib.urlencode({
'text': text,
})
cmd = "tts/stack_speak?%s" % mText
return self.__cmdSimpleResult(cmd)
