class Roobert:
_hardwareDevices = None
_faceGfx = None
_speechOutput = None
_camera = None
_body_leds = None
_ended = False
_released = False
showFace = True
_lastFace = time.time() - 1000
_rotate = 1
def __init__(self):
self._hardwareDevices = HardwareDevices.singleton()
self._speechOutput = SpeechOutput(soundcard="plughw:1",
voice="-vmb-de6")
self._faceGfx = FaceGfx(self.showFace)
self._camera = Camera()
self._hardwareDevices.arms.SetArm(gesture=Arms._armHanging, left=True)
self._hardwareDevices.arms.SetArm(gesture=Arms._armHanging, left=False)
def Release(self):
if (self._released == False):
self._released = True
print("shutting down roobert")
# shut down other treads
if (self._camera != None):
self._camera.Release()
if (self._faceGfx != None):
self._faceGfx.Release()
if (self._hardwareDevices != None):
self._hardwareDevices.Release()
self._ended = True
def __del__(self):
self.Release()
class Roobert:
I2cIoExpanderPcf8574Adress = 0x38
MotorLeftRightAdress = 0x0f
MotorUpDownAdress = 0x3e
sens_3d_servo_adress = 0x46
_hardwareDevices = None
FirstI2cIoExpanderPcf8574 = None
_roomba = None
_faceGfx = None
_neckLeftRight = None
_neckUpDown = None
_speechOutput = None
_camera = None
_body_leds = None
_ended = False
_released = False
showFace = True
_lastFace = time.time() - 1000
_rotate = 1
def __init__(self):
self._hardwareDevices = HardwareDevices.singleton()
self.FirstI2cIoExpanderPcf8574 = I2cIoExpanderPcf8574(
self.I2cIoExpanderPcf8574Adress, useAsInputs=True)
endStop = self.FirstI2cIoExpanderPcf8574
self._neckUpDown = NeckUpDown(
I2cIoExpanderPcf8574(self.MotorUpDownAdress, useAsInputs=False),
endStop)
self._neckUpDown.targetPos = int(self._neckUpDown.MaxSteps * 0.85)
self._neckLeftRight = NeckLeftRight(self.MotorLeftRightAdress, endStop)
self._neckLeftRight.targetPos = int(self._neckLeftRight.MaxSteps *
0.25)
self._speechOutput = SpeechOutput()
self._faceGfx = FaceGfx(self.showFace)
self._body_leds = self._hardwareDevices.body_leds
self._camera = Camera()
def Release(self):
if (self._released == False):
self._released = True
print("shutting down roobert")
# shut down other treads
if (self._camera != None):
self._camera.Release()
if (self._faceGfx != None):
self._faceGfx.Release()
if (self._neckUpDown != None):
self._neckUpDown.Release()
if (self._neckLeftRight != None):
self._neckLeftRight.Release()
if (self._hardwareDevices != None):
self._hardwareDevices.Release()
self._ended = True
def Update(self):
if (self.showFace == True):
self._faceGfx.speaking = self._speechOutput.speaking
def RandomHeadMovement(self):
if (self._neckLeftRight.targetReached == True):
movementArea = int(self._neckLeftRight.MaxSteps / 2)
self._neckLeftRight.targetPos = randrange(0, movementArea)
if (self._neckUpDown.targetReached == True):
movementArea = int(self._neckUpDown.MaxSteps / 2)
self._neckUpDown.targetPos = randrange(0, movementArea)
def Greet(self):
print("greetings!")
self._speechOutput.Speak("Guten Tag.")
self._speechOutput.Speak("Mein Name ist Robert")
self._hardwareDevices.hand_arm_right.gestureGreet()
while (self._speechOutput.speaking == True):
time.sleep(1)
self._speechOutput.Speak("Ich freue mich, Sie kennen zu lernen")
self._hardwareDevices.hand_arm_right.gesturePointForward()
while (self._speechOutput.speaking == True):
time.sleep(1)
self._hardwareDevices.hand_arm_right.home()
def drive_avoiding_obstacles(self):
#print (self._sens3d.nearest)
if (self._sens3d.nearest > 40):
self._roomba.move(3)
#time.sleep(0.5)
else:
if (self._sens3d.x_weight < 0.45):
self._roomba.rotate(-20)
else:
if (self._sens3d.x_weight > 0.55):
self._roomba.rotate(20)
else:
self._roomba.rotate(180 * self._rotate)
self._rotate = self._rotate * -1
def RotateDemoForPhoto(self):
self._hardwareDevices.hand_arm_right.gesturePointForward()
#self._hardwareDevices.roomba.rotate(10);
def FollowFace(self):
faceX = self._camera.posXFace
faceY = self._camera.posYFace
timeSinceLastFace = time.time() - self._lastFace
if (faceX != -1 and faceY != -1):
# oh, there is a face
if (timeSinceLastFace > 60):
# see a face after a long time: say hello!
start_new_thread(self.Greet, ())
#self.Greet()
a = 0
self._lastFace = time.time()
self._camera.ResetFace()
diffX = (faceX - 0.5)
diffY = (faceY - 0.5)
if (math.fabs(diffX) > 0.1):
self._neckLeftRight.targetPos = self._neckLeftRight.targetPos - int(
diffX * 100)
if (math.fabs(diffY) > 0.1):
self._neckUpDown.targetPos = self._neckUpDown.targetPos - int(
diffY * 100)
self._faceGfx.SetEyePos(faceX, faceY)
else:
# there is no face
if (timeSinceLastFace > 20):
# long time no face seen
self._faceGfx.SetEyePos(0.5, 0.5)
def __del__(self):
self.Release()
