class Notifications(object):
def __init__(self):
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners
self.attachEvents(self.speaker)
def start(self):
self.dispatcherClient.start()
def attachEvents(self, mic):
## clear all signals
smokesignal.clear()
text = ""
@smokesignal.on('say')
def onSay(args):
print "Info from Nav"
infoFromNav = eval(args.get('payload'))
print infoFromNav
infotosay = infoFromNav["text"]
print infotosay
print "Info from Nav before Mic"
mic.say(infotosay)
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
# Latest sonar readings
self.sonarLeft = Alert.SONAR_MAX_DISTANCE
self.sonarRight = Alert.SONAR_MAX_DISTANCE
def __init__(self):
super(Nav, self).__init__()
self.runLevel = Nav.RUNLVL_NORMAL
## Sets the run interval, in terms of number of seconds
self.RUN_INTERVAL = 2
########## Private vars ##########
self.__model = {
'path': None,
'currLoc': Point.fromParam()
}
## For multithreading
self._threadListen = None
self._active = True
## For interprocess comms
self.DISPATCHER_PORT = 9001
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
## For collision detection: lock navigation until ready
self.collisionLocked = False
self.obstacle = None
## For pausing nav
self.toPause = False
logging.info('Nav Daemon running.')
def __init__(self):
#interprocess
self.apple=2
self.endpoint="http://192.249.57.162:1337/"
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
def test_daemon_can_receive_event_get_new_path(self):
""" NOTE: As this test is async, and NoseTest does not
support async tests, please check this manually.
"""
logging.info('')
logging.info('---started event test---')
## Setup Nav daemon
nav = Nav()
nav.start()
## Setup client and send info
client = DispatcherClient(port=9002)
client.start()
client.send(9001, 'newPath', {"from" : "124", "to" : "1210"})
logging.info('Requested for new Path from 9002.')
while(True):
pass
## Keep daemons alive for 5 seconds.
time.sleep(5)
client.stop()
nav.stop()
logging.info('---finished event test---')
def __init__(self):
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners
self.attachEvents(self.speaker)
def __init__(self):
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
self.inputBuffer =[]
self.checkNavigation = []
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
# Latest sonar readings
self.sonarLeft = Alert.SONAR_MAX_DISTANCE
self.sonarRight = Alert.SONAR_MAX_DISTANCE
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
self.sendflag=1
self.state=1 #1-proceed #2-stop #3 step right #4 step left
self.sendAlertInterval = datetime.datetime(seconds=5)
self.triggerAlertime=datetime.datetime(seconds=0)
def __init__(self):
"""Initializes the daemon.
"""
self.VOICE_DAEMON_ADDR = 9010
self._active = False
self._dispatcherClient = DispatcherClient(port=self.VOICE_DAEMON_ADDR)
self._attachHandlers() ## Attach event handlers here
### Start declare variables here ###
###
###
### End declare variables here ###
logging.info('Voice Daemon instantiated.')
def test_can_communicate(self):
d = VoiceDaemon()
d.start()
time.sleep(3)
# send test stuff
sender = DispatcherClient(port=9001)
sender.start()
## Dependency injection here
sender.send(d.VOICE_DAEMON_ADDR, 'onData', {"count" : "counting numbers"})
logging.info('finished sending.')
sender.stop()
# stop daemon
d.stop()
def __init__(self): self.speaker = speaker.newSpeaker() # #interprocess self.DISPATCHER_PORT = 9002 self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT) ## For collision detection: lock navigation until ready self.collisionLocked = False self.obstacle = None self.OngoingNav = 0 self.cruncherAlert = 0 self.infotosay =None self.cruncherInfotosay="" ## Attach event listeners self.attachEvents(self.speaker)
def test_daemon_update_pos_from_cruncher_event(self):
logging.info('')
logging.info('---started event test---')
## Setup Nav daemon
nav = Nav()
nav.start()
loc = nav.loc() # get current location as a point
x,y,z,angle = loc.getLocTuple()
expect(x).to_equal(0)
expect(y).to_equal(0)
expect(z).to_equal(0)
expect(angle).to_equal(0)
# Wait for 2 seconds to set-up
time.sleep(2)
## Setup mock cruncher
client = DispatcherClient(port=9004)
client.start()
client.send(9001, 'point', {
"x": 10,
"y": 123,
"z": 456,
"ang": 1,
})
# Wait for 5 seconds to propagate
startTime = time.time()
while(time.time() - startTime < 5):
time.sleep(0.01)
loc = nav.loc() # get current location as a point
x,y,z,angle = loc.getLocTuple()
expect(x).to_equal(10)
expect(y).to_equal(123)
expect(z).to_equal(456)
expect(angle).to_equal(1)
client.stop()
nav.stop()
logging.info('---finished event test---')
def __init__(self):
# Set $JASPER_HOME
if not os.getenv('VOICE'):
os.environ["VOICE"] = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir))
# # for testing
# if len(sys.argv) > 1 and "--local" in sys.argv[1:]:
# from client.local_mic import Mic
# else:
# from client.mic import Mic
# Change CWD to $JASPER_HOME/jasper/client
client_path = os.path.join(os.getenv("VOICE"), "easyNav-Voice", "client")
os.chdir(client_path)
# Add $JASPER_HOME/jasper/client to sys.path
sys.path.append(client_path)
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
# Send left sonar HTTP request
httpClient.post_heartbeat_sonar("left", ns.data['left'])
print "Sent sonar to server ", ns.data
except:
print "Server communications failed."
pass
# Extract sonar data from generic packet
def convertPacketToSonarData(strpkt):
sonarData = {strpkt[0]: strpkt[2:5]}
return sonarData
sprotapi.SPROTInit("/dev/ttyAMA0", baudrate=SERIALMOD_BAUDRATE)
dc = DispatcherClient(port=9005)
dc.start()
PRINT_EVERY_N_ITER = 10
canPrint = False
iterationCount = 0
sonar1Data = 0 # Left Sonar
sonar2Data = 0 # Right Sonar
sonar3Data = 0 # Middle Sonar
compassData = 0
footsensData = 0
footsensMutex = threading.Lock()
manager = multiprocessing.Manager()
ns = manager.Namespace()
ns.data = 0
class testNavInstructions(object):
def __init__(self):
#interprocess
self.apple=2
self.endpoint="http://192.249.57.162:1337/"
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
def start(self):
self.dispatcherClient.start()
self.dispatcherClient.send(9001, "newPath", {"from":1, "to": 6}) #lt15 to P2
# ctr=90
# for c in range(0,17)
# ctr-=5
# payload = { "x": 0, "y": 2558, "z": 0, "orientation": (ctr/180.0)*3.142}
# r = requests.post(self.endpoint + "heartbeat/location", data=payload)
# time.sleep(5)
# print payload
payload = { "x": 0, "y": 2436, "z": 0, "orientation": (0/180.0)*3.142 }
print payload
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
#simulate orientation
ctr=0
for c in range(0,2):
ctr+=45
if(ctr > 90):
payload = { "x": 0, "y": 2436, "z": 0, "orientation": (90/180.0)*3.142}
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
break
else:
payload = { "x": 0, "y": 2436, "z": 0, "orientation": (ctr/180.0)*3.142 }
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
# payload = { "x": 0, "y": 2558, "z": 0, "orientation": (0/180.0)*3.142 }
# r = requests.post(self.endpoint + "heartbeat/location", data=payload)
# time.sleep(5)
# ctr=0
# print payload
# payload = { "x": 50, "y": 2580, "z": 0, "orientation": (0/180.0)*3.142 }
# print payload
# r = requests.post(self.endpoint + "heartbeat/location", data=payload)
# print r.json
# time.sleep(5)
#simulate movement
ctr=0
for c in range(0,29):
ctr+=1000
payload = { "x": ctr, "y": 2436, "z": 0, "orientation": (90/180.0)*3.142 }
print payload
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
print r.json
time.sleep(1)
print payload
if ctr == 2000:
ctr+=883
payload = { "x": ctr, "y": 2436, "z": 0, "orientation": (90/180.0)*3.142 }
print payload
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
print r.json
time.sleep(1)
print payload
break
ctr=90
for c in range(0,2):
ctr-=45
if(ctr < 0):
payload = {"x": 2883, "y": 2436, "z": 0, "orientation": (0/180.0)*3.142}
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
break
else:
payload = {"x": 2883, "y": 2436, "z": 0, "orientation": (ctr/180.0)*3.142 }
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
ctr=2436
for c in range(0,9):
ctr+=100
payload = {"x": 2883, "y": ctr, "z": 0, "orientation": (0/180.0)*3.142 }
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
if(ctr == 2836):
payload = {"x": 2883, "y": 2924, "z": 0, "orientation": (0/180.0)*3.142}
r = requests.post(self.endpoint + "heartbeat/location", data=payload)
time.sleep(1)
print payload
break
class VoiceDaemon:
""" The Voice Daemon is the voice component for easyNav.
Example Code:
daemon = VoiceDaemon()
daemon.start() # Starts the daemon
daemon.stop() # Stops the daemon
"""
def __init__(self):
"""Initializes the daemon.
"""
self.VOICE_DAEMON_ADDR = 9010
self._active = False
self._dispatcherClient = DispatcherClient(port=self.VOICE_DAEMON_ADDR)
self._attachHandlers() ## Attach event handlers here
### Start declare variables here ###
###
###
### End declare variables here ###
logging.info('Voice Daemon instantiated.')
def start(self):
"""Starts the daemon.
"""
self._active = True
## Run tick thread
def runThread():
while(self._active):
self._tick()
self._threadListen = threading.Thread(target=runThread)
self._dispatcherClient.start() # start comms
self._threadListen.start()
logging.info('Voice Daemon: Thread started.')
def stop(self):
self._dispatcherClient.stop() # Stop comms
self._active = False
self._threadListen.join()
### Start De-initialize variables here ###
###
###
### End De-initialize variables here ###
logging.info('Serial Daemon: Thread stopped.')
def _tick(self):
"""Tick function run when daemon is active
"""
#########################################
# <<FILL IN>> #
#########################################
pass
def _attachHandlers(self):
"""Attach event handlers here
"""
###################################################
####### Define event handlers here #######
###################################################
#########################################
# <<FILL IN>> #
#########################################
### Sample handler
@smokesignal.on('onData')
def onDataHandler(messageObj):
""" Event callback for serial data
"""
logging.debug('Oh yay! I got triggered!')
pass
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello" : "world"})
client1.send(9002, 'update', {"something" : "here"})
client1.send(9002, 'fun event', {"count" : "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
class Nav(object):
""" This is the Nav class, which handles navigation on the Raspberry Pi.
It retrieves remote location information and navigates to the point. In addition,
this class implements the REST API endpoints from the server.
"""
HOST_ADDR = "http://*****:*****@smokesignal.on('newPath')
def onNewPath(args):
logging.debug('Event triggered: Request for new path.')
nodeFrom = json.loads(args.get('payload')).get('from')
nodeTo = json.loads(args.get('payload')).get('to')
if ((nodeTo == None) or (nodeFrom == None)):
logging.error('Received no start / end nodes')
return
# DEPRECATED ------
## reset current location
# self.setPosBySUID(str(nodeFrom))
# /DEPRECATED ------
## Get new path
self.getPathTo(nodeFrom, nodeTo)
# @smokesignal.on('obstacle')
# def onObstacle(args):
# response = int(json.loads(args.get('payload')).get('status'))
# if (response == 0):
# self.obstacle = None
# return # Do not set collision locked
# elif (response == 1):
# self.obstacle = 'FRONT'
# elif (response == 2):
# self.obstacle = 'LEFT'
# elif (response == 3):
# self.obstacle = 'RIGHT'
# # If collision, set to true
# self.collisionLocked = True
@smokesignal.on('point')
def onPoint(args):
"""Update location based on interprocess posting
by cruncher
"""
locInfo = json.loads(args.get('payload'))
x = locInfo.get('x')
y = locInfo.get('y')
z = locInfo.get('z')
angle = locInfo.get('ang')
self.__model['currLoc'] = Point.fromParam(
x=x,
y=y,
z=z,
orientation=angle)
# logging.info(
# '[ NAV ] Internal pos is currently: (x=%s y=%s z=%s ang=%s)' %
# (x,y,z,angle) )
@smokesignal.on('reset')
def onReset(args):
"""If navigation needs to be reset during routing,
use this
"""
self._dispatcherClient.send(9002, 'say', {'text': 'Nav reset.'})
self._resetNavParams() # Reset all navigation params and await new path
logging.debug('Nav has been RESET.')
@smokesignal.on('pause')
def onPause(args):
""" Pause navigation. Useful for stairs / etc.
"""
self.toPause = True
self._dispatcherClient.send(9002, 'say', {'text': 'Nav paused.'})
logging.debug('Nav is PAUSED.')
@smokesignal.on('unpause')
def onPause(args):
""" Unpause navigation. Useful for stairs / etc.
"""
self.toPause = False
self._dispatcherClient.send(9002, 'say', {'text': 'Nav resumed.'})
logging.debug('Nav is RESUMED.')
@smokesignal.on('checkNavigation')
def onPause(args):
""" Unpause navigation. Useful for stairs / etc.
"""
isNavigating = self.isNavigating()
self._dispatcherClient.send(9002, 'checkNavigation', {'isNavigating': isNavigating })
logging.debug('Nav state checked.')
def setPosByXYZ(self, x=0, y=0, z=0, orientation=0):
""" Set position by XYZ
"""
_x = str(x)
_y = str(y)
_z = str(z)
_orientation = str(orientation)
try:
r = requests.post(Nav.HOST_ADDR
+ '/heartbeat/location/?x=' + _x
+ '&y=' + _y
+ '&z=' + _z
+ '&orientation=' + _orientation)
except requests.exceptions.RequestException as e:
logging.error('Oops! Failed to set position by XYZ. Error: %s' % e)
def setPosBySUID(self, suid=0):
"""Set position on server, by SUID
"""
## Get the current old values (orientation workaround)
# self.getPos()
orientation = 0
# orientation = (self.__model['currLoc'])['orientation']
### TODO: Fix orientation bug
## Get the SUID coordinates
try:
r = requests.get(Nav.HOST_ADDR + '/node/?SUID=' + str(suid))
except requests.exceptions.RequestException as e:
logging.error('Oops! Failed to set position by SUID. Error: %s' % e)
response = json.loads(r.text)
## Invalid point exception
if (response == []):
logging.error('Oops. No such SUID on server.')
return
response = response[0]
loc = json.loads(response.get('loc'))
## Set coordinates
x,y,z = loc.get('x'), loc.get('y'), loc.get('z')
self.setPosByXYZ(x,y,z, orientation)
def resetMap(self):
"""Resets the map.
"""
try:
r = requests.delete(Nav.HOST_ADDR + '/map')
logging.info('Map deleted.')
except requests.exceptions.RequestException as e:
logging.error('Oops! Failed to delete map. Is server connected?')
def updateMap(self):
"""Updates the map on server.
"""
try:
r = requests.get(Nav.HOST_ADDR + '/map/update')
# self._dispatcherClient.send(9002, 'say', {'text': 'Map updated.'})
logging.info('Map updated.')
except requests.exceptions.RequestException as e:
logging.error('Oops! Failed to update map. Is server connected?')
def updateMapCustom(self, building, floor):
"""Updates the map on server, with floor and building name.
"""
try:
r = requests.get(Nav.HOST_ADDR + '/map/update?floor=' + floor + '&building=' + building)
# self._dispatcherClient.send(9002, 'say', {'text': 'Map updated.'})
logging.info('Map updated with building ' + building + ' at floor ' + floor)
except requests.exceptions.RequestException as e:
logging.error('Oops! Failed to update map building=%s floor=%s. Is server connected?' % (building, floor))
def getPathTo(self, nodeFrom, nodeTo):
"""Gets shortest path from point from current location, and updates internal
path accordingly.
"""
try:
self._resetNavParams()
r = requests.get(Nav.HOST_ADDR + '/map/shortest/' + str(nodeFrom) + '/' + str(nodeTo) )
self.__model['path'] = Path.fromString(r.text)
self._dispatcherClient.send(9002, 'say', {'text': 'Retrieved new path.'})
logging.info('Retrieved new path.')
except requests.exceptions.RequestException as e:
logging.info('Oops! Failed to retrieve shortest path. Is server connected?')
def _resetNavParams(self):
"""Reset nav flags and relevant info.
"""
self._hasPassedStart = False # Variable to test if start pt has passed
self.achievedNode = -1 # Variable to test if previous point was the SAME point!!
self.__model['path'] = None # Reset path
def path(self):
"""Returns the current path of nav, as a Path instance.
"""
return self.__model['path']
def loc(self):
""" Returns the current location of user, as a Point instance.
"""
return self.__model['currLoc']
def isNavigating(self):
""" Check for existence of path, and use that to detect
isNavigating state
"""
return not (path == None)
def exeLevelNorm(self):
""" Called for run level RUNLVL_NORMAL. Do not call externally.
"""
path = self.path()
pt = self.loc()
## Return if no path set!
if path == None:
logging.debug('No path set.')
return
logging.debug('Point: %s' % pt)
logging.debug('>>>>>> Current target: %s' % path.get())
feedback = path.isOnPath(pt, self.THRESHOLD_DIST, self.THRESHOLD_ANGLE)
status = feedback['status']
angleCorrection = int(angles.r2d(float(feedback['angleCorrection'])))
## Collision detection first
if (self.collisionLocked):
if (self.obstacle == None):
# Unlock collisionLocked
self._dispatcherClient.send(9002, 'say', {'text': 'Obstacle cleared. Move forward!'})
logging.debug('Obstacle cleared. Move forward!')
self.collisionLocked = False
time.sleep(5)
logging.debug('Time to clear obstacle has passed.')
elif (self.obstacle == 'FRONT'):
self._dispatcherClient.send(9002, 'say', {'text': 'Obstacle ahead. Turn left or right!'})
logging.debug('Obstacle ahead. Turn left or right!')
elif (self.obstacle == 'LEFT'):
self._dispatcherClient.send(9002, 'say', {'text': 'Obstacle on the left!'})
logging.debug('Obstacle on the left!')
elif (self.obstacle == 'RIGHT'):
self._dispatcherClient.send(9002, 'say', {'text': 'Obstacle on the right!'})
logging.debug('Obstacle on the right!')
# Do not execute below
return
if (status is Point.REACHED):
##TODO: Implement print to voice
checkpointName = '' ## initialize it first
if (path.isAtDest() is False):
if ((self._hasPassedStart == False) and (self.__model['path'].ref == 0)):
self.__model['path'].next()
self._hasPassedStart = True # So this does not trigger again at start
self.achievedNode = 0
# elif ( (self.__model['path'].ref != 0) and (self.achievedNode == int(self.__model['path'].ref - 1)) ):
else:
if (self.achievedNode == (self.__model['path'].ref - 1)):
self.achievedNode = self.__model['path'].ref # Update to current node before incrementing
##TODO: Fix this tomorrow
try:
currNode = self.__model['path'].get() ## Get current node
checkpointName = currNode.name()
except:
logging.error('Oops. Invalid name?')
self.__model['path'].next()
## Store the last value, i.e. 'delay'
if checkpointName == '':
self._dispatcherClient.send(9002, 'say', {'text': 'Checkpoint reached!'})
else:
self._dispatcherClient.send(9002, 'say', {'text': 'Checkpoint ' + checkpointName + ' reached!'})
logging.debug('checkpoint reached!')
else:
self._dispatcherClient.send(9002, 'say', {'text': 'Destination ' + checkpointName + ' reached!'})
self._resetNavParams() # Reset all navigation params and await new path
logging.debug('Reached destination, done!')
pass
elif (status is Point.MOVE_FORWARD):
self._dispatcherClient.send(9002, 'say', {'text': 'Move forward!'})
logging.debug('move forward!')
pass
elif (status is Point.OUT_OF_PATH):
self._dispatcherClient.send(9002, 'say', {'text': 'Out of path!'})
logging.debug('Out of path!')
## DEPRECATED --------------------------------
# self.getPathTo( self.path().dest().name() )
## /DEPRECATED --------------------------------
pass
elif (status is Point.ALIGNED):
##TODO: Implement print to voice
# self._dispatcherClient.send(9002, 'say', {'text': 'Out of path!'})
logging.debug('Point aligned!')
pass
elif (status is Point.TURN_LEFT):
self._dispatcherClient.send(9002, 'say', {'text': 'Turn left ' + str(angleCorrection) + ' degrees' })
logging.debug('Turn left ' + str(angleCorrection) + ' degrees')
pass
elif (status is Point.TURN_RIGHT):
self._dispatcherClient.send(9002, 'say', {'text': 'Turn right ' + str(angleCorrection) + ' degrees' })
logging.debug('Turn right ' + str(angleCorrection) + ' degrees')
pass
else:
## Oops uncaught feedback
logging.warn('Oops, did we account for all feedback flags?')
pass
pass
# print ('--------------curr node--------', self.__model['path'].ref)
# print 'VAL ACHIEVED--------------------', self.achievedNode
# print 'VAL TARGETED--------------------', self.__model['path'].ref
def exeLevelWarnObstacle(self):
""" Called for run level RUNLVL_WARN_OBSTACLE. Do not call externally.
"""
# TODO: Code warn obstacle stuff
self._dispatcherClient.send(9002, 'say', {'text': 'Near obstacle!'})
logging.warn('Near obstacle!!')
pass
def feedbackCorrection(self):
"""Feedback correction control, called by Nav daemon automatically.
"""
if (self.runLevel == Nav.RUNLVL_NORMAL):
self.exeLevelNorm()
elif (self.runLevel == Nav.RUNLVL_WARNING_OBSTACLE):
self.exeLevelWarnObstacle()
pass
def tick(self, debug=False):
"""Tick function executed every run cycle, called by #run
Param:
debug: If False, do not not update position from server
Instead do dependency injection manually.
"""
if (self.toPause == False):
self.feedbackCorrection()
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello": "world"})
client1.send(9002, 'update', {"something": "here"})
client1.send(9002, 'fun event', {"count": "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
client.stop()
def test_generic(self):
## Event handler. Note the use of smokesignal label.
@smokesignal.on('update')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello": "world"})
client1.send(9002, 'update', {"something": "here"})
client1.send(9002, 'fun event', {"count": "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
client1.stop()
client2.stop()
logging.info('Ended. Goodbye!')
pass
class Nav(object):
""" This is the Nav class, which handles navigation on the Raspberry Pi.
It retrieves remote location information and navigates to the point. In addition,
this class implements the REST API endpoints from the server.
"""
HOST_ADDR = "http://*****:*****@smokesignal.on('newPath')
def onNewPath(args):
logging.debug('Event triggered: Request for new path.')
nodeTo = args.get('to')
if ((nodeTo == None)):
logging.error('Received no start / end nodes')
return
self.getPathTo(nodeTo)
@smokesignal.on('obstacle')
def onObstacle(args):
##TODO: Implement obstacle detection
pass
def resetMap(self):
"""Resets the map.
"""
r = requests.delete(Nav.HOST_ADDR + '/map')
logging.info('Map deleted.')
def updateMap(self):
"""Updates the map on server.
"""
r = requests.get(Nav.HOST_ADDR + '/map/update')
# self._dispatcherClient.send(9002, 'say', {'text': 'Map updated.'})
logging.info('Map updated.')
def getPos(self):
"""Gets the position from server, and updates internal
coordinates in Nav module.
"""
r = requests.get(Nav.HOST_ADDR + '/heartbeat/location')
self.__model['currLoc'] = Point.fromJson(r.text)
def getPathTo(self, pointId):
"""Gets shortest path from point from current location, and updates internal
path accordingly.
"""
r = requests.get(Nav.HOST_ADDR + '/map/goto/' + str(pointId))
self.__model['path'] = Path.fromString(r.text)
self._dispatcherClient.send(9002, 'say', {'text': 'Retrieved new path.'})
logging.info('Retrieved new path.')
def path(self):
"""Returns the current path of nav, as a Path instance.
"""
return self.__model['path']
def loc(self):
""" Returns the current location of user, as a Point instance.
"""
return self.__model['currLoc']
def exeLevelNorm(self):
""" Called for run level RUNLVL_NORMAL. Do not call externally.
"""
path = self.path()
pt = self.loc()
## Return if no path set!
if path == None:
return
logging.debug('Point: %s' % pt)
logging.debug('Current target: %s' % path.get())
feedback = path.isOnPath(pt, self.THRESHOLD_DIST, self.THRESHOLD_ANGLE)
status = feedback['status']
if (status is Point.REACHED):
##TODO: Implement print to voice
if (path.isAtDest() is False):
self.__model['path'].next()
self._dispatcherClient.send(9002, 'say', {'text': 'Checkpoint reached!'})
logging.debug('checkpoint reached!')
else:
self._dispatcherClient.send(9002, 'say', {'text': 'You have reached your destination!'})
logging.debug('Reached destination, done!')
pass
elif (status is Point.MOVE_FORWARD):
self._dispatcherClient.send(9002, 'say', {'text': 'Move forward!'})
logging.debug('move forward!')
pass
elif (status is Point.OUT_OF_PATH):
self._dispatcherClient.send(9002, 'say', {'text': 'Out of path!'})
logging.debug('Out of path!')
self.getPathTo( self.path().dest().name() )
pass
elif (status is Point.ALIGNED):
##TODO: Implement print to voice
# self._dispatcherClient.send(9002, 'say', {'text': 'Out of path!'})
logging.debug('Point aligned!')
pass
elif (status is Point.TURN_LEFT):
self._dispatcherClient.send(9002, 'say', {'text': 'Turn left!'})
logging.debug('Turn left!')
pass
elif (status is Point.TURN_RIGHT):
self._dispatcherClient.send(9002, 'say', {'text': 'Turn right!'})
logging.debug('Turn right!')
pass
else:
## Oops uncaught feedback
logging.warn('Oops, did we account for all feedback flags?')
pass
pass
def exeLevelWarnObstacle(self):
""" Called for run level RUNLVL_WARN_OBSTACLE. Do not call externally.
"""
# TODO: Code warn obstacle stuff
self._dispatcherClient.send(9002, 'say', {'text': 'Near obstacle!'})
logging.warn('Near obstacle!!')
pass
def feedbackCorrection(self):
"""Feedback correction control, called by Nav daemon automatically.
"""
if (self.runLevel == Nav.RUNLVL_NORMAL):
self.exeLevelNorm()
elif (self.runLevel == Nav.RUNLVL_WARNING_OBSTACLE):
self.exeLevelWarnObstacle()
pass
def tick(self, debug=False):
"""Tick function executed every run cycle, called by #run
Param:
debug: If False, do not not update position from server
Instead do dependency injection manually.
"""
self.getPos() if (debug is False) else True
self.feedbackCorrection()
pass
def test_generic(self):
## Event handler. Note the use of smokesignal label.
@smokesignal.on('update')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: Update!')
logging.info('JSON output: %s' % args)
@smokesignal.on('fun event')
def doSomething(args):
"""This is an event callback. Payload data is passed
as args, and is a JSON object
"""
logging.info('Event triggered: A fun event!')
logging.info('JSON output: %s' % args)
## Create two clients. One at 9001, the other 9002
client1 = DispatcherClient(port=9001)
client2 = DispatcherClient(port=9002)
client1.start()
client2.start()
client1.send(9002, 'update', {"hello" : "world"})
client1.send(9002, 'update', {"something" : "here"})
client1.send(9002, 'fun event', {"count" : "counting numbers"})
logging.info('finished sending.')
## Keep clients alive for 5 seconds. Note how both are unaffected by block.
time.sleep(5)
client1.stop()
client2.stop()
logging.info('Ended. Goodbye!')
pass
httpClient.post_heartbeat_sonar("left", ns.data['left'])
print "Sent sonar to server ", ns.data
except :
print "Server communications failed."
pass
# Extract sonar data from generic packet
def convertPacketToSonarData(strpkt):
sonarData = { strpkt[0] : strpkt[2:5] }
return sonarData
sprotapi.SPROTInit("/dev/ttyAMA0", baudrate=SERIALMOD_BAUDRATE)
dc = DispatcherClient(port=9005)
dc.start()
PRINT_EVERY_N_ITER = 10
canPrint = False
iterationCount = 0
sonar1Data = 0 # Left Sonar
sonar2Data = 0 # Right Sonar
sonar3Data = 0 # Middle Sonar
compassData = 0
footsensData = 0
footsensMutex = threading.Lock()
manager = multiprocessing.Manager()
ns = manager.Namespace()
ns.data = 0
class Alert(object):
PORT_NAV_MODULE = 9001
# Maximum sonar readings
SONAR_MAX_DISTANCE = 700
OBSTACLE_RIGHT = 3
OBSTACLE_LEFT = 2
OBSTACLE_BOTH = 1
OBSTACLE_NONE = 0
# How close an object has to be before it is declared an obstacle (cm)
OBSTACLE_DIST_THRESHOLD = 50
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
# Latest sonar readings
self.sonarLeft = Alert.SONAR_MAX_DISTANCE
self.sonarRight = Alert.SONAR_MAX_DISTANCE
def start(self):
## Start inter-process comms
self._dispatcherClient.start()
def sendAlert(self, alertType):
print "Alert : ", alertType
self._dispatcherClient.send(Alert.PORT_NAV_MODULE, 'obstacle',
{'status': alertType})
# Check for obstacle position and returns OBSTACLE_X, where X is
# one of LEFT, RIGHT, BOTH, NONE
def checkForObstacle(self):
leftObstacle = (self.sonarLeft < Alert.OBSTACLE_DIST_THRESHOLD)
rightObstacle = (self.sonarRight < Alert.OBSTACLE_DIST_THRESHOLD)
if (leftObstacle and rightObstacle):
return Alert.OBSTACLE_BOTH
elif (leftObstacle):
return Alert.OBSTACLE_LEFT
elif (rightObstacle):
return Alert.OBSTACLE_RIGHT
else:
return Alert.OBSTACLE_NONE
def convertStr(self, str):
maxIndex = 3
for i in range(3):
if (str[i].isdigit()):
maxIndex = i
return str[0:maxIndex + 1]
def attachEvents(self):
smokesignal.clear()
@smokesignal.on('sonarData')
def sonardata(args):
payload = eval(args.get("payload"))
strSonarLeft = self.convertStr(payload['1'])
self.sonarLeft = int(strSonarLeft)
strSonarRight = self.convertStr(payload['2'])
self.sonarRight = int(strSonarRight)
self.sendAlert(self.checkForObstacle())
class Notifications(object):
def __init__(self):
self.speaker = speaker.newSpeaker()
# #interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## For collision detection: lock navigation until ready
self.collisionLocked = False
self.obstacle = None
self.OngoingNav = 0
self.cruncherAlert = 0
self.infotosay =None
self.cruncherInfotosay=""
## Attach event listeners
self.attachEvents(self.speaker)
def attachEvents(self, mic):
## clear all signals
smokesignal.clear()
text = ""
@smokesignal.on('say')
def onSay(args):
print "Info from Nav"
infoFromNav = eval(args.get('payload'))
print infoFromNav
self.infotosay = infoFromNav["text"]
try:
if(self.infotosay != None and self.infotosay == 'Retrieved new path.'):
self.OngoingNav = 1
#self.speaker.say(self.infotosay)
if self.infotosay != None and "Destination" in self.infotosay:
self.OngoingNav = 0
self.speaker.say(self.infotosay)
# if self.infotosay != None and "reset" in self.infotosay:
# self.OngoingNav = 0
# if "paused" in self.infotosay:
# self.OngoingNav = 0
# if "resumed" in self.infotosay:
# self.OngoingNav=1
if self.infotosay != None and "Checkpoint" in self.infotosay:
self.speaker.say(self.infotosay)
print self.infotosay
except:
pass
@smokesignal.on('cruncherAlert')
def onSay(args):
print "Info from Nav"
try:
if(self.OngoingNav == 1):
os.system("sudo pkill -SIGTERM -f \"aplay\" ")
infoFromCruncher = eval(args.get('payload'))
print infoFromCruncher
self.cruncherInfotosay = infoFromCruncher["text"]
self.cruncherAlert = 1
print self.cruncherInfotosay
except:
pass
@smokesignal.on('obstacle')
def onObstacle(args):
try:
response = int(json.loads(args.get('payload')).get('status'))
if (response == 0):
self.obstacle = None
return
elif (response == 1):
self.obstacle = 'FRONT'
self.collisionLocked = True
elif (response == 2):
self.obstacle = 'LEFT'
self.collisionLocked = True
elif (response == 3):
self.obstacle = 'RIGHT'
self.collisionLocked = True
# If collision, set to true
if(self.OngoingNav==1 and not self.collisionLocked):
os.system("sudo pkill -SIGTERM -f \"aplay\" ")
#self.collisionLocked = True
except:
pass
@smokesignal.on('reset')
def onObstacle(args):
self.speaker.say("Voice reset")
self.OngoingNav = 0 #clear ongoing nav
def start(self):
self.dispatcherClient.start()
#run notifier forever
while(1):
try:
regis = ns.sem
## Collision detection first
if (self.collisionLocked and self.OngoingNav == 1 and regis == 0):
if (self.obstacle == None):
# Unlock collisionLocked
self.speaker.say('Obstacle cleared.')
self.collisionLocked = False
elif (self.obstacle == 'FRONT'):
self.speaker.say('Obstacle ahead. Turn 45 degrees left or right!')
elif (self.obstacle == 'LEFT'):
self.speaker.say('Obstacle on the left!')
elif (self.obstacle == 'RIGHT'):
self.speaker.say('Obstacle on the right!')
elif(self.cruncherAlert == 1 and self.OngoingNav == 1 and regis == 0):
self.speaker.say(self.cruncherInfotosay)
self.cruncherAlert=0
self.cruncherInfotosay=None
else:
if(self.infotosay != None and regis == 0):
self.speaker.say(self.infotosay)
self.infotosay=None
except:
pass
time.sleep(0.1)
class Voice(object):
HOST_ADDR = "http://localhost:1337/"
def __init__(self):
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
self.inputBuffer =[]
self.checkNavigation = []
#update locations
# self.getLocation = GetLocations.Locations()
# self.getLocation.getLoc()
def presentMenu(self):
self.speaker.say("Key * 1 # to choose map and level and locations")
self.speaker.say("Key * 2 # to choose locations")
self.speaker.say("Key * 3 # to change destination")
self.speaker.say("Key * 4 # to end")
def getLocations(self):
#get a list of locations
filename = "locations.txt"
locationFile = open(filename, "r")
print "Opened file!!"
locations = []
for line in locationFile.readlines():
line = line.replace("\n", "")
locations.append(line)
print locations
return locations
def getCoord(self, index):
filename = "CoordinateFile.txt"
CoordinateFile = open(filename, "r")
ctr = 0
startCoord = ""
for line in CoordinateFile.readlines():
if ctr == index:
line = line.replace("\n", "")
startCoord = line
ctr+=1
return startCoord
def getSUIDIndex(self, SUID):
print "in method"
filename = "SUIDFile.txt"
SUIDFile = open(filename, "r")
print "Opened file"
index = 0
for line in SUIDFile.readlines():
line = line.replace("\n", "")
print line
if int(line) == SUID:
return index
ctr+=1
return -1
def isCancel(self, inputVal):
if(inputVal == '999'):
self.speaker.say("Cancelling operation")
return True
return False
def start(self):
self.dispatcherClient.start()
#present menu
#self.presentMenu();
#keep listening for keypad activity
while(1):
try:
# self.checkNavigation[0] = ns.OngoingNavigation
print self.checkNavigation
self.inputBuffer = KeypadLogic.getInput(self.speaker)
strInput = ''.join(self.inputBuffer)
print strInput
if (strInput == '*1'):
startBuildingBuf = []
startLevelBuff=[]
startNodeBuff=[]
endBuildingBuf = []
endLevelBuff=[]
endNodeBuff=[]
self.speaker.say("Key in start building ID, one for com one, two for com two")
startBuildingBuf = KeypadLogic.getInput(self.speaker)
strStartBuildingID = ''.join(startBuildingBuf)
if(self.isCancel(strStartBuildingID)):
continue
else:
self.speaker.say("you have chosen building " + strStartBuildingID)
self.speaker.say("Key in start level ID, zero is basement.")
startLevelBuff = KeypadLogic.getInput(self.speaker)
strStartLevelID = ''.join(startLevelBuff)
if(self.isCancel(strStartLevelID)):
continue
else:
self.speaker.say("you have entered level " + strStartLevelID)
self.speaker.say("Key in start node ID")
startNodeBuff = KeypadLogic.getInput(self.speaker)
strStartNodeID = ''.join(startNodeBuff)
if(self.isCancel(strStartNodeID)):
continue
else:
self.speaker.say("you have entered start node " + strStartNodeID)
self.speaker.say("Key in destination building ID ")
endBuildingBuf = KeypadLogic.getInput(self.speaker)
strEndBuildingID = ''.join(endBuildingBuf)
if(self.isCancel(strEndBuildingID)):
continue
else:
self.speaker.say("you have entered building " + strEndBuildingID)
self.speaker.say("Key in destination level ID")
endLevelBuff = KeypadLogic.getInput(self.speaker)
strEndLevelID = ''.join(endLevelBuff)
if(self.isCancel(strEndLevelID)):
continue
else:
self.speaker.say("you have entered level " + strEndLevelID)
self.speaker.say("Key in destination node ID")
endNodeBuff = KeypadLogic.getInput(self.speaker)
strEndNodeID = ''.join(endNodeBuff)
if(self.isCancel(strEndNodeID)):
continue
else:
self.speaker.say("you have entered destination node " + strEndNodeID)
#construct start point SUid
strStartSUID = strStartBuildingID+strStartLevelID+strStartNodeID
#construct dest SUid
strEndSUID = strEndBuildingID+strEndLevelID+strEndNodeID
try:
startSUID = int(strStartSUID)
endSUID = int(strEndSUID)
print startSUID
print endSUID
print "not int problem"
#get coord
r = requests.get(Voice.HOST_ADDR + "node/?SUID=" + strStartSUID)
print r
for location in r.json():
print location
startCoord = location['loc']
print startCoord
self.dispatcherClient.send(9003, "starting", eval(startCoord))
self.dispatcherClient.send(9001, "newPath", {"from":startSUID, "to": endSUID})
self.speaker.say("Routing!")
except:
self.speaker.say("Invalid ID")
#find builiding map and get coordinates
elif (strInput == '*2'):
print "note"
startNodeBuff=[]
endNodeBuff=[]
self.speaker.say("Key in start point ID")
startNodeBuff = KeypadLogic.getInput(self.speaker)
strStart = ''.join(startNodeBuff)
self.speaker.say("you have entered " + strStart)
print strStart
self.speaker.say("Key in destination ID")
endNodeBuff = KeypadLogic.getInput(self.speaker)
strEnd = ''.join(endNodeBuff)
self.speaker.say("you have entered " + strEnd)
try:
startSUID = int(strStart)
endSUID = int(strEnd)
print startSUID
print endSUID
#get coord
r = requests.get(Voice.HOST_ADDR + "node/?SUID=" + strStart)
print r
for location in r.json():
print location
startCoord = location['loc']
print startCoord
self.dispatcherClient.send(9003, "starting", eval(startCoord))
self.dispatcherClient.send(9001, "newPath", {"from":startSUID, "to": endSUID})
self.speaker.say("Routing!")
except:
self.speaker.say("Invalid ID")
elif (strInput == '*33'):
ns.sem=1
self.speaker.say("Resetting Nav")
self.dispatcherClient.send(9001, "reset", {"text": None})
# os.system("sudo pkill -SIGTERM -f \"nav\"")
# os.system("sudo pkill -SIGTERM -f \"voice\"")
ns.sem=0
elif(strInput == '*55'):
ns.sem=1
self.speaker.say("Resuming Nav")
self.dispatcherClient.send(9001, "unpause", {"text": None})
ns.sem=0
elif (strInput == '*4'):
self.speaker.say("Ending EasyNav, Are you sure?")
self.speaker.say("Key in 1 to confirm, 2 to cancel")
option = KeypadLogic.getInput(self.speaker)
strOption = ''.join(option)
try:
if(strOption == '1'):
self.speaker.say("Hope you had a good journey!")
self.speaker.say("Ending all processes, Please wait")
time.sleep(1)
self.speaker.say("Please remember to switch off the shoe and bag switches...GoodBye")
os.system("sudo pkill -SIGTERM -f \"node\" ")
time.sleep(1)
os.system("sudo sh /home/pi/repos/easyNav-IO/shutdown.sh")
else:
self.speaker.say("Cancelling")
except ValueError:
self.speaker.say("Error, key in a proper ID")
#troubleshooting commands
elif (strInput == "*66"):
#lock speech mechanism
ns.sem = 1
self.speaker.say("Finding i p")
os.system("ifconfig wlan0 | grep inet > myIp.txt")
ipFound = False
with open("myIp.txt") as IPText:
for line in IPText:
if "inet" in line:
ipFound=True
print line
lineDic = line.split(" ")
for word in lineDic:
print word
if "addr" in word:
print "here"
ipAddr = word.replace("addr:", "")
self.speaker.say("The I P is " + ipAddr)
print word
if(not ipFound):
self.speaker.say("No i p assigned")
#unlock speech mechanism
ns.sem = 0
except:
pass
time.sleep(0.1)
class Alert(object):
PORT_NAV_MODULE = 9001
# Maximum sonar readings
SONAR_MAX_DISTANCE = 700
OBSTACLE_RIGHT = 3
OBSTACLE_LEFT = 2
OBSTACLE_BOTH = 1
OBSTACLE_NONE = 0
# How close an object has to be before it is declared an obstacle (cm)
OBSTACLE_DIST_THRESHOLD = 50
def __init__(self):
## For interprocess comms
self.DISPATCHER_PORT = 9004
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
# Latest sonar readings
self.sonarLeft = Alert.SONAR_MAX_DISTANCE
self.sonarRight = Alert.SONAR_MAX_DISTANCE
def start(self):
## Start inter-process comms
self._dispatcherClient.start()
def sendAlert(self, alertType):
print "Alert : ", alertType
self._dispatcherClient.send(Alert.PORT_NAV_MODULE, 'obstacle', {'status': alertType})
# Check for obstacle position and returns OBSTACLE_X, where X is
# one of LEFT, RIGHT, BOTH, NONE
def checkForObstacle(self):
leftObstacle = (self.sonarLeft < Alert.OBSTACLE_DIST_THRESHOLD)
rightObstacle = (self.sonarRight < Alert.OBSTACLE_DIST_THRESHOLD)
if (leftObstacle and rightObstacle):
return Alert.OBSTACLE_BOTH
elif (leftObstacle):
return Alert.OBSTACLE_LEFT
elif (rightObstacle):
return Alert.OBSTACLE_RIGHT
else:
return Alert.OBSTACLE_NONE
def convertStr(self,str):
maxIndex = 3
for i in range(3):
if(str[i].isdigit()):
maxIndex = i
return str[0:maxIndex+1]
def attachEvents(self):
smokesignal.clear()
@smokesignal.on('sonarData')
def sonardata(args):
payload = eval(args.get("payload"))
strSonarLeft = self.convertStr(payload['1'])
self.sonarLeft = int(strSonarLeft)
strSonarRight = self.convertStr(payload['2'])
self.sonarRight = int(strSonarRight)
self.sendAlert(self.checkForObstacle())
class Voice(object):
def __init__(self):
# Set $JASPER_HOME
if not os.getenv('VOICE'):
os.environ["VOICE"] = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir))
# # for testing
# if len(sys.argv) > 1 and "--local" in sys.argv[1:]:
# from client.local_mic import Mic
# else:
# from client.mic import Mic
# Change CWD to $JASPER_HOME/jasper/client
client_path = os.path.join(os.getenv("VOICE"), "easyNav-Voice", "client")
os.chdir(client_path)
# Add $JASPER_HOME/jasper/client to sys.path
sys.path.append(client_path)
self.speaker = speaker.newSpeaker()
#interprocess
self.DISPATCHER_PORT = 9002
self.dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners
# self.attachEvents(self.speaker)
def start(self):
def testConnection():
if Diagnostics.check_network_connection():
print "CONNECTED TO INTERNET"
else:
print "COULD NOT CONNECT TO NETWORK"
self.speaker.say(
"Warning: I was unable to connect to a network. Parts of the system may not work correctly, depending on your setup.")
def fail(message):
traceback.print_exc()
self.speaker.say(message)
sys.exit(1)
def configure():
try:
print "COMPILING DICTIONARY FOR MODULES"
vocabcompiler.compile(
"sentences.txt", "dictionary.dic", "languagemodel.lm")
print "COMPILING DICTIONARY OF LOCATIONS OPTIONS"
vocabcompiler.compileLocations(
"sentences_locations.txt", "dictionary_locations.dic", "languagemodel_locations.lm");
print "STARTING CLIENT PROGRAM"
except OSError:
print "BOOT FAILURE: OSERROR"
fail(
"There was a problem starting EasyNav. You may be missing the language model and associated files. Please read the documentation to configure your Raspberry Pi.")
except IOError:
print "BOOT FAILURE: IOERROR"
fail(
"There was a problem starting EasyNav. You may have set permissions incorrectly on some part of the filesystem. Please read the documentation to configure your Raspberry Pi.")
except:
print "BOOT FAILURE"
fail(
"There was a problem starting EasyNav.")
old_client = os.path.abspath(os.path.join(os.pardir, "old_client"))
if os.path.exists(old_client):
shutil.rmtree(old_client)
print "==========================================================="
print " JASPER The Talking Computer "
print " Copyright 2013 Shubhro Saha & Charlie Marsh "
print "==========================================================="
self.speaker.say("Hello.... I am EASYNAV... Please wait one moment while I configure.")
configure()
profile = yaml.safe_load(open("profile.yml", "r"))
try:
api_key = profile['keys']['GOOGLE_SPEECH']
except KeyError:
api_key = None
try:
stt_engine_type = profile['stt_engine']
except KeyError:
print "stt_engine not specified in profile, defaulting to PocketSphinx"
stt_engine_type = "sphinx"
mic = Mic(self.speaker, stt.PocketSphinxSTT(),
stt.newSTTEngine(stt_engine_type, api_key=api_key))
mic.say("Hi...i'm EasyNav.....your friendly navigation assistant....")
mic.say("To invoke me, please say my Name......and i will beep....then proceed with your command")
mic.say("To find out about commands...please say help......")
self.dispatcherClient.start()
#GetLocations.getLoc()
conversation = Conversation("EASYNAV", mic, profile, self.dispatcherClient)
conversation.handleForever()
