if (len(data) == 0):
if (printData):
print "None"
continue
if (printData):
print "We got:", data
FileLogger().Info("STT, RunSTT(), Input Data: {0}".format(data))
rospy.loginfo("STT|{0}".format(data))
pub.publish("STT|{0}".format(data))
if __name__ == "__main__":
if (Pid.HasPid("STT")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("STT")
printData = False
if len(sys.argv) > 1:
for arg in sys.argv:
if (arg.lower().startswith("-output")):
printData = True
try:
InitSettings()
RunSTT(printData)
except KeyboardInterrupt:
print "End"
def ProcessAnimation(self, animation):
if animation is not None and len(animation) > 0:
print animation, "TODO"
animationData = "FACEMASTER|{0}".format(animation)
rospy.loginfo(animationData)
self.__FaceappPublisher.publish(animationData)
def __TTSActive(self):
storedTimestamp = TTSMemory().GetFloat("TTS.Until")
if(storedTimestamp >= rospy.Time.now().to_sec()):
return True
return False
##### MAIN #####
if __name__ == "__main__":
if(Pid.HasPid("Brain.STT")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("Brain.STT")
try:
BrainSTT()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("Brain.STT")
return fileList
def Purge(basePath, fileList):
for file in fileList:
try:
fullPath = os.path.normpath(os.path.join(basePath, "." + file))
print "Delete:", fullPath
os.remove(fullPath)
except:
print "Deletion failed:", fullPath
PIDName = "Update"
if (Pid.HasPid(PIDName)):
print "Update already running"
exit()
Pid.Create(PIDName)
try:
deploymentPath = os.path.join(Global.RootPath, 'Deployment')
Global.EnsureDirectoryExists(deploymentPath)
versionFilePath = os.path.join(deploymentPath, 'versionfile.txt')
downloadFilename = os.path.join(deploymentPath, 'currentVersion.tar.gz')
if Config().GetBoolean("DEFAULT", "Beta"): # Default False
highestVersionNumber = 'beta'
from EmeraldAI.Logic.Modules import Pid
from EmeraldAI.Logic.Logger import FileLogger
def EnsureModelUpdate():
moduleList = Config().GetList("ComputerVision", "Modules")
for moduleName in moduleList:
if (ModelMonitor().CompareHash(
moduleName,
ModelMonitor().GetStoredHash(moduleName))):
continue
FileLogger().Info(
"CV Model Rebuilder: Rebuild {0} Model".format(moduleName))
ModelMonitor().Rebuild(moduleName)
##### MAIN #####
if __name__ == "__main__":
if (Pid.HasPid("CVModelRebuilder")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("CVModelRebuilder")
try:
EnsureModelUpdate()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("CVModelRebuilder")
camType = "STD"
surveillanceMode = False
if len(sys.argv) > 1:
for arg in sys.argv:
if (arg.lower().startswith("-cam")):
camID = int(arg.lower().replace("-cam", ""))
if (arg.lower().startswith("-type")):
camType = int(arg.lower().replace("-type", ""))
if (arg.lower().startswith("-surveillance")):
surveillanceMode = True
if (camID < 0):
camID = Config().GetInt("ComputerVision", "CameraID")
tmpCamID = "" if camID == -1 else camID
if (Pid.HasPid("CV{0}".format(tmpCamID))):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("CV{0}".format(tmpCamID))
videoStream = None
if Config().GetBoolean("ComputerVision", "UseThreadedVideo"):
videoStream = WebcamVideoStream(camID)
try:
EnsureModelUpdate()
RunCV(camID, camType, surveillanceMode, videoStream)
except KeyboardInterrupt:
print "End"
finally:
videoStream.stop()
continue
self.SendTrigger("KEY", event.key)
def SendTrigger(self, name, pressId):
triggerData = "TRIGGER|{0}|{1}|{2}".format(name, pressId,
rospy.Time.now().to_sec())
rospy.loginfo(triggerData)
self.__Publisher.publish(triggerData)
def GPIOTrigger(self, callback):
self.SendTrigger(self.__GPIOTriggerName, self.__GPIOInputChannel)
if __name__ == "__main__":
if (Pid.HasPid("Trigger")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("Trigger")
try:
tmpTriggername = None
if len(sys.argv) > 1:
for arg in sys.argv:
if (arg.lower().startswith("-name")):
tmpTriggername = int(arg.lower().replace("-name", ""))
if tmpTriggername is None:
HardwareTrigger()
else:
HardwareTrigger(tmpTriggername)
audioPlayer = Config().Get("TextToSpeech",
"AudioPlayer") + " '{0}'"
os.system(audioPlayer.format(data))
FileLogger().Info("TTS, callback(), Play Audio: {0}".format(data))
GLOBAL_FileNamePublisher.publish("TTS|{0}".format(data))
user = User().LoadObject()
if (user.GetName() is not None):
user.UpdateSpokenTo()
user.Update()
except Exception as e:
FileLogger().Error(
"TTS, callback(), Error on processing TTS data: {0}".format(e))
if __name__ == "__main__":
if (Pid.HasPid("TTS")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("TTS")
try:
InitSettings()
RunTTS()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("TTS")
Clock,
queue_size=2)
rate = rospy.Rate(10) # Herz
clockMessage = Clock()
while True:
clockData = "CLOCK|{0}".format(int(round(time.time())))
systemTime.publish(clockData)
clockMessage.clock = rospy.Time.now()
rosTime.publish(clockMessage)
rate.sleep()
##### MAIN #####
if __name__ == "__main__":
if (Pid.HasPid("Clock")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("Clock")
try:
RunClock()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("Clock")
nodeNameToRepeat):
return
for t in data.transforms:
TFLooper().add(t)
def mainLoop():
rateInHz = 20 # in Hz
rospy.init_node(nodeName)
rospy.Subscriber('tf', TFMessage, callback)
rate = rospy.Rate(rateInHz) # hz
while not rospy.is_shutdown():
if not TFLooper().loop():
rate.sleep()
rate.sleep()
if __name__ == '__main__':
if (Pid.HasPid("SerialTFRepeater")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("SerialTFRepeater")
try:
mainLoop()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("SerialTFRepeater")
from EmeraldAI.Logic.Modules import Pid
from EmeraldAI.Config.Config import Config
def RunMovement():
rospy.init_node('movement_node', anonymous=True)
rospy.Subscriber("/emerald_ai/movement/commander", String, callback)
rospy.spin()
def callback(data):
dataParts = data.data.split("|")
print dataParts
if __name__ == "__main__":
if (Pid.HasPid("Movement")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("Movement")
try:
RunMovement()
except KeyboardInterrupt:
print "End"
finally:
Pid.Remove("Movement")
for port in finderResult:
if port in processList:
continue
else:
print "Launching process for", port
process = multiprocessing.Process(name=port,
target=Processing,
args=(
port,
baud,
))
process.start()
processList[port] = process
time.sleep(timeToSleep)
if __name__ == "__main__":
if (Pid.HasPid("SerialToRos")):
print "Process is already runnung. Bye!"
sys.exit()
Pid.Create("SerialToRos")
try:
mainLoop()
except KeyboardInterrupt:
print "End SerialToRos"
finally:
Pid.Remove("SerialToRos")