def run(self):
print "AutoTakeThread started for", self.interval, "seconds,", "at", self.rotation
while self.go:
ImageUploader.take_and_upload("auto_take.jpg", "400", "300", str(self.rotation), self.server_ip,
self.robot_id)
time.sleep(self.interval)
print "AutoTakeThread ended"
def process(self, message):
if "timed_move_completed" in message:
if ActionThreads.action_thread is not None:
ActionThreads.action_thread.do_proceed()
elif "#stt" in message:
ImageUploader.take_and_upload("stt.jpg", "400", "300", str(RobotInfo.rotation), self.server_ip,
self.robot_id)
self.ws_client.send(
ujson.dumps(ControlMessage("topic.perception", ujson.dumps([self.robot_id, "kick"]))))
def process(self, message):
print str(datetime.now()), " From WebSocket:\n" + message
try:
decoded = ujson.loads(message)
if "command" in decoded:
if decoded["command"] == Protocols.commands[8]:
RobotInfo.auto_take = not RobotInfo.auto_take
if RobotInfo.auto_take:
self.auto_take = AutoTakeThread()
RobotInfo.interval = decoded["content"]["interval"]
RobotInfo.rotation = decoded["content"]["rotation"]
self.auto_take.set_config(self.server_ip, self.robot_id, RobotInfo.interval,
RobotInfo.rotation)
self.auto_take.set_go(True)
self.auto_take.start()
else:
self.auto_take.set_go(False)
self.auto_take = None
elif decoded["command"] == Protocols.commands[1]:
self.serial_client.write("@r\n")
elif decoded["command"] == Protocols.commands[2]:
RobotInfo.turn_a = not RobotInfo.turn_a
self.serial_client.write("@a\n")
elif decoded["command"] == Protocols.commands[4]:
self.serial_client.write("@l\n")
elif decoded["command"] == Protocols.commands[5]:
RobotInfo.model_e = not RobotInfo.model_e
if RobotInfo.model_e:
if RobotInfo.model_t:
self.serial_client.write("@t\n")
RobotInfo.model_t = False
self.serial_client.write("@t\n")
elif decoded["command"] == Protocols.commands[6]:
RobotInfo.model_t = not RobotInfo.model_t
if RobotInfo.model_t:
if RobotInfo.model_e:
self.serial_client.write("@e\n")
RobotInfo.model_e = False
self.serial_client.write("@t\n")
elif decoded["command"] == Protocols.commands[0]:
info = ujson.dumps(RobotInfo)
self.ws_client.send(ujson.dumps(ControlMessage("topic.robot.status", info)))
elif decoded["command"] == Protocols.commands[3]:
RobotInfo.do_explore = not RobotInfo.do_explore
self.serial_client.write("@u\n")
elif decoded["command"] == Protocols.commands[7]:
RobotInfo.do_roomba = not RobotInfo.do_roomba
self.serial_client.write("@j\n")
elif decoded["command"] == Protocols.commands[9]:
RobotInfo.rotation = decoded["content"]["rotation"]
ImageUploader.take_and_upload("one_photo.jpg", "400", "300", str(RobotInfo.rotation),
self.server_ip,
self.robot_id)
elif decoded["command"] == Protocols.commands[10]:
distance = decoded["content"]["driveDistance"]
velocity = decoded["content"]["driveVelocity"]
degrees = decoded["content"]["driveDegrees"]
radius = decoded["content"]["driveRadius"]
if distance > 0 and velocity > 0 and degrees == 0 and radius == 0:
# go straight
serial_command = "@x" + str(distance*10).zfill(4) + str(velocity).zfill(4) + "\n"
elif distance == 0 and velocity > 0 and degrees != 0 and radius == 0:
# go pivot
serial_command = "@p" + str(degrees).zfill(4) + str(velocity).zfill(4) + "\n"
elif distance > 0 and velocity > 0 and degrees == 0 and radius != 0:
# go around
serial_command = "@v" + str(distance).zfill(4) + str(radius).zfill(4) + str(velocity).zfill(
4) + "\n"
else:
print "Invalid driving command"
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, False]))))
return
print "Driving command (test): " + serial_command
self.serial_client.write(serial_command)
elif decoded["command"] == Protocols.commands[11]:
self.serial_client.write("@w\n")
elif decoded["command"] == Protocols.commands[12]:
# shoo
width = decoded["content"]["checkWidth"]
speed = decoded["content"]["checkSpeed"]
flight_distance = decoded["content"]["flightDistance"]
flight_speed = decoded["content"]["flightSpeed"]
randomness = decoded["content"]["randomness"]
if ActionThreads.action_thread is not None:
raise Exception("Previous ActionThread is not finished yet")
ActionThreads.action_thread = ActionShooThread()
ActionThreads.action_thread.set_config(width, speed, flight_distance, flight_speed, randomness,
self.serial_client, self.ws_client, self.robot_id)
ActionThreads.action_thread.start()
elif decoded["command"] == Protocols.commands[13]:
# greet
width = decoded["content"]["checkWidth"]
speed = decoded["content"]["checkSpeed"]
repeat = decoded["content"]["checkRepeat"]
randomness = decoded["content"]["randomness"]
if ActionThreads.action_thread is not None:
raise Exception("Previous ActionThread is not finished yet")
ActionThreads.action_thread = ActionGreetThread()
ActionThreads.action_thread.set_config(width, speed, repeat, randomness,
self.serial_client, self.ws_client, self.robot_id)
ActionThreads.action_thread.start()
elif decoded["command"] == Protocols.commands[14]:
degree = decoded["content"]["cameraTilt"]
# need to write the degree value to serial
serial_command = "@m" + str(degree).zfill(4) + "\n"
self.serial_client.write(serial_command)
else:
raise Exception("Unknown command")
print "Current Robot Status:", ujson.dumps(RobotInfo), "\n"
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, True]))))
except Exception as e:
print "Exception in HandlerForMessageFromWebSocket: ", e
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, False]))))
def process(self, message):
print str(datetime.now()), " From WebSocket:\n" + message
try:
decoded = ujson.loads(message)
if "command" in decoded:
# TURN ON AUTO TAKE OF PHOTOS
if decoded["command"] == Protocols.commands[8]:
RobotInfo.auto_take = not RobotInfo.auto_take
if RobotInfo.auto_take:
self.auto_take = AutoTakeThread()
RobotInfo.interval = decoded["content"]["interval"]
RobotInfo.rotation = decoded["content"]["rotation"]
self.auto_take.set_config(self.server_ip, self.robot_id, RobotInfo.interval,
RobotInfo.rotation)
self.auto_take.set_go(True)
self.auto_take.start()
else:
self.auto_take.set_go(False)
self.auto_take = None
# RESET ARDUINO
elif decoded["command"] == Protocols.commands[1]:
self.serial_client.write("@r\n")
# TOGGLE QUICK SCRIPT TURN (THIS SHOULD BE CHANGED)
elif decoded["command"] == Protocols.commands[2]:
RobotInfo.turn_a = not RobotInfo.turn_a
self.serial_client.write("@a\n")
# 360 DEGREE TURN
elif decoded["command"] == Protocols.commands[4]:
self.serial_client.write("@h\n")
# TURN ON MODEL E DATA COLLECTION
elif decoded["command"] == Protocols.commands[5]:
RobotInfo.model_e = not RobotInfo.model_e
if RobotInfo.model_e:
if RobotInfo.model_t:
self.serial_client.write("@t\n")
RobotInfo.model_t = False
self.serial_client.write("@e\n")
# TURN ON MODEL T DATA COLLECTION
elif decoded["command"] == Protocols.commands[6]:
RobotInfo.model_t = not RobotInfo.model_t
if RobotInfo.model_t:
if RobotInfo.model_e:
self.serial_client.write("@e\n")
RobotInfo.model_e = False
self.serial_client.write("@t\n")
# REPORT STATUS (CHECK ON WHAT THIS DOES)
elif decoded["command"] == Protocols.commands[0]:
info = ujson.dumps(RobotInfo)
self.ws_client.send(ujson.dumps(ControlMessage("topic.robot.status", info)))
# RUN EXPLORATION SCRIPT (OUTMODED)
elif decoded["command"] == Protocols.commands[3]:
RobotInfo.do_explore = not RobotInfo.do_explore
self.serial_client.write("@u\n")
# RUN ROOMBA COVER SCRIPT
elif decoded["command"] == Protocols.commands[7]:
RobotInfo.do_roomba = not RobotInfo.do_roomba
self.serial_client.write("@j\n")
# TAKE ONE PHOTO
elif decoded["command"] == Protocols.commands[9]:
RobotInfo.rotation = decoded["content"]["rotation"]
ImageUploader.take_and_upload("one_photo.jpg", "400", "300", str(RobotInfo.rotation),
self.server_ip,
self.robot_id)
# DRIVE
elif decoded["command"] == Protocols.commands[10]:
distance = decoded["content"]["driveDistance"]
velocity = decoded["content"]["driveVelocity"]
degrees = decoded["content"]["driveDegrees"]
radius = decoded["content"]["driveRadius"]
if distance != 0 and degrees == 0 and radius == 0: #and velocity > 0
# go straight
serial_command = "@x" + str(distance).zfill(4) + str(velocity).zfill(4) + "\n"
elif distance == 0 and degrees != 0 and radius == 0: #and velocity > 0
# go pivot
serial_command = "@p" + str(degrees).zfill(4) + str(velocity).zfill(4) + "\n"
elif distance != 0 and degrees == 0 and radius != 0: #and velocity > 0
# go around
serial_command = "@v" + str(distance).zfill(4) + str(radius).zfill(4) + str(velocity).zfill(
4) + "\n"
else:
print "Invalid driving command"
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, False]))))
return
print "Driving command (test): " + serial_command
self.serial_client.write(serial_command)
#test
self.ws_client.send(
ujson.dumps(
ControlMessage("topic.current.heading", ujson.dumps([self.robot_id, serial_command]))))
#test
self.ws_client.send(
ujson.dumps(
ControlMessage("topic.rear.distance", ujson.dumps([self.robot_id, 0]))))
# STOP
elif decoded["command"] == Protocols.commands[11]:
self.serial_client.write("@w\n")
# SHOO BEHAVIOR
elif decoded["command"] == Protocols.commands[12]:
# shoo
width = decoded["content"]["checkWidth"]
speed = decoded["content"]["checkSpeed"]
flight_distance = decoded["content"]["flightDistance"]
flight_speed = decoded["content"]["flightSpeed"]
randomness = decoded["content"]["randomness"]
if ActionThreads.action_thread is not None:
raise Exception("Previous ActionThread is not finished yet")
ActionThreads.action_thread = ActionShooThread()
ActionThreads.action_thread.set_config(width, speed, flight_distance, flight_speed, randomness,
self.serial_client, self.ws_client, self.robot_id)
ActionThreads.action_thread.start()
# GREET BEHAVIOR
elif decoded["command"] == Protocols.commands[13]:
# greet
width = decoded["content"]["checkWidth"]
speed = decoded["content"]["checkSpeed"]
repeat = decoded["content"]["checkRepeat"]
randomness = decoded["content"]["randomness"]
if ActionThreads.action_thread is not None:
raise Exception("Previous ActionThread is not finished yet")
ActionThreads.action_thread = ActionGreetThread()
ActionThreads.action_thread.set_config(width, speed, repeat, randomness,
self.serial_client, self.ws_client, self.robot_id)
ActionThreads.action_thread.start()
# CAMERA TILT
elif decoded["command"] == Protocols.commands[14]:
degree = decoded["content"]["cameraTilt"]
# need to write the degree value to serial
serial_command = "@m" + str(degree).zfill(4) + "\n"
self.serial_client.write(serial_command)
# BEEP
elif decoded["command"] == Protocols.commands[15]:
self.serial_client.write("@b\n")
# SCAN (NEED TO BUILD IT ON ARDUINO)
elif decoded["command"] == Protocols.commands[16]:
# to-do: "scan" command
self.serial_client.write("\n")
else:
raise Exception("Unknown command")
print "Current Robot Status:", ujson.dumps(RobotInfo), "\n"
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, True]))))
except Exception as e:
print "Exception in HandlerForMessageFromWebSocket: ", e
self.ws_client.send(
ujson.dumps(ControlMessage("topic.execute", ujson.dumps([self.robot_id, False]))))