def addHistory(self, ruleName, imageBytes=None, imageType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
historyId = dao.saveHistory(dateNow, ruleName, location)
if (historyId > 0):
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
def addHistory(self, ruleName, imageBytes=None, imageType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
location = dao.getRobotByName(cob.name)["locationId"]
historyId = dao.saveHistory(dateNow, ruleName, location)
if historyId > 0:
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
def __init__(self, robot=None):
super(RobotLocationProcessor, self).__init__()
if robot == None:
from Robots.robotFactory import Factory
self._robot = Factory.getCurrentRobot()
else:
self._robot = robot
robId = self._dao.getRobotByName(self._robot.name)['robotId']
self._targetName = self._robot.name
self._storedLoc = lambda: self._dao.getRobot(robId)
self._curLoc = lambda: self._robot.getLocation(False)
self._updateLoc = lambda locid, x, y, orientation: self._dao.saveRobotLocation(robId, locid, x, y, orientation)
def __init__(self, robot=None):
super(RobotLocationProcessor, self).__init__()
if robot == None:
from Robots.robotFactory import Factory
self._robot = Factory.getCurrentRobot()
else:
self._robot = robot
robId = self._dao.getRobotByName(self._robot.name)['robotId']
self._targetName = self._robot.name
self._storedLoc = lambda: self._dao.getRobot(robId)
self._curLoc = lambda: self._robot.getLocation(False)
self._updateLoc = lambda locid, x, y, orientation: self._dao.saveRobotLocation(robId, locid, x, y, orientation)
def __init__(self, robot=None):
super(RobotLocationProcessor, self).__init__()
if robot == None:
from Robots.robotFactory import Factory
self._robot = Factory.getCurrentRobot()
else:
self._robot = robot
robot = self._dao.getRobotByName(self._robot.name)
if robot:
robId = robot['robotId']
else:
raise ValueError("Error retrieving %s from the database" % self._robot.name)
self._targetName = self._robot.name
self._storedLoc = lambda: self._dao.getRobot(robId)
self._curLoc = lambda: self._robot.getLocation(False)
self._updateLoc = lambda locid, x, y, orientation: self._dao.saveRobotLocation(robId, locid, x, y, orientation)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
# Send the robot to certain location
if request.has_key('location'):
object = self._dao.getLocationByName(request['location']);
robot = Factory.getCurrentRobot();
robot.setComponentState('tray', request['tray'])
robot.setComponentState('base', [object['xCoord'], object['yCoord'], object['orientation']])
# Send voice command to the robot (espeak software required)
elif request.has_key('speech'):
if self._dao.getUserPreferences()[0]['voice'] == 1:
import subprocess
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
subprocess.call(['espeak', request['speech']]); #Linux
else:
raise cherrypy.HTTPError(400)
def addHistory(self, ruleName, imageBytes=None, imageType=None):
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
historyId = dao.saveHistory(dateNow, ruleName, location)
if(historyId > 0):
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
def addHistoryComplete(self, ruleName, imageBytes=None, imageType=None, imageOverheadBytes=None, imageOverheadType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
user = self._dao.users.getActiveUser['userId']
historyId = dao.saveHistoryComplete(dateNow, ruleName, location, user)
if(historyId > 0):
#dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
#the same but for the overhead camera image
if imageOverheadType == None:
imageOverheadType = ActionHistory._defaultImageType
if imageOverheadBytes == None:
imageOverheadBytes = cob.getImageOverhead(retFormat=imageOverheadType)
if imageOverheadBytes != None:
dao.saveHistoryImageOverhead(historyId, imageOverheadBytes, imageOverheadType)
return historyId > 0
target.pose.position.z,
math.degrees(yaw)))
location = [target.pose.position.x, target.pose.position.y, yaw]
print location
ret = self._robot.setComponentState('base', location)
print "++++++++++++++++++++++++++++++++++"
print "setComponentState of base returned", ret
print "++++++++++++++++++++++++++++++++++"
if ret == "SUCCEEDED":
print "returning true for base vs location check"
return True
except self._rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
return False
if __name__ == "__main__":
from optparse import OptionParser
parser = OptionParser('proxemics.py userId userPosture X(m) Y(m) Orientation(deg) taskId')
(_, args) = parser.parse_args()
if(len(args) != 6):
parser.error("incorrect number of arguments")
from Robots.robotFactory import Factory
r = Factory.getCurrentRobot()
if r != None:
p = ProxemicMover(r)
p.gotoTarget(int(args[0]), int(args[1]), float(args[2]), float(args[3]), float(args[4]), int(args[5]))
"Response is: x=%f, y=%f, z=%f yaw=%f" %
(target.pose.position.x, target.pose.position.y,
target.pose.position.z, math.degrees(yaw)))
location = [
target.pose.position.x, target.pose.position.y, yaw
]
if self._robot.setComponentState(
'base', location) in [3, 'SUCCEEDED']:
return True
except self._rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
return False
if __name__ == "__main__":
from optparse import OptionParser
parser = OptionParser(
'proxemics.py userId userPosture X(m) Y(m) Orientation(deg) taskId')
(_, args) = parser.parse_args()
if (len(args) != 6):
parser.error("incorrect number of arguments")
from Robots.robotFactory import Factory
r = Factory.getCurrentRobot()
if r != None:
p = ProxemicMover(r)
p.gotoTarget(int(args[0]), int(args[1]), float(args[2]),
float(args[3]), float(args[4]), int(args[5]))
from Robots.robotFactory import Factory
import time
if __name__ == '__main__':
c = Factory.getRobot('Care-O-Bot 3.2')
time.sleep(10)
# SEQ1
# eyes up and torso left and up
c.setComponentState('head', [[-2.84]], False)
c.setComponentState('torso', [[0, 0, -0.2, 0.0]])
time.sleep(4)
# torso right and up
c.setComponentState('torso', [[0, 0, 0.2, 0.0]])
time.sleep(3)
# SEQ2
# eyes up and torso left and back
c.setComponentState('torso', [[0, 0, -0.15, -0.15]])
time.sleep(5)
# torso right and up
# c.setComponentState('torso', [[0,0,0.0,-0.15]])
# for some reason crashes here
c.setComponentState('torso', [[0, 0, 0.15, -0.15]])
time.sleep(3)
# SEQ3
c.setComponentState('head', [[-3.04]], False)
c.setComponentState('head', [[-2.84]], False)
time.sleep(5)
c.setComponentState('torso', [[0, 0, 0.2, 0]])
from Robots.robotFactory import Factory
import time
if __name__ == '__main__':
c = Factory.getRobot('Care-O-Bot 3.2')
# base straight
# c.setComponentState('base', [4.4,1,0])
# base left
c.setComponentState('base', [4.4, 1, -0.5])
# base right
c.setComponentState('base', [4.4, 1, 0.5])
# torso and base straight
c.setComponentState('base', [4.4, 1, -0.2])
# torso down and left at table
c.setComponentState('torso', [[0, 0, -0.2, 0.66]])
# torso still down and right
c.setComponentState('torso', [[0, 0, 0.2, 0.66]])
# c.setComponentState('torso', [[0,0,0,0.35]])
# torso down and center
c.setComponentState('torso', [[0, 0, 0, 0.66]])
# eyes up
c.setComponentState('head', [[-2.84]], False)
# time.sleep(1)
# eyes down
c.setComponentState('head', [[-3.14]], False)
# time.sleep(1)
# c.setComponentState('torso', 'right')
# torso up
# c.setComponentState('torso', 'left')
# c.setComponentState('torso', 'home', False)
def __init__(self):
self._dao = DataAccess()
self._scenarios = Scenario()
self._host = "nathan@sf1-1-pc1"
self._robot = Factory.getCurrentRobot()
from Robots.robotFactory import Factory
import time
if __name__ == "__main__":
c = Factory.getRobot("Care-O-Bot 3.2")
time.sleep(10)
# SEQ1
# eyes up and torso left and up
c.setComponentState("head", [[-2.84]], False)
c.setComponentState("torso", [[0, 0, -0.2, 0.0]])
time.sleep(4)
# torso right and up
c.setComponentState("torso", [[0, 0, 0.2, 0.0]])
time.sleep(3)
# SEQ2
# eyes up and torso left and back
c.setComponentState("torso", [[0, 0, -0.15, -0.15]])
time.sleep(5)
# torso right and up
# c.setComponentState('torso', [[0,0,0.0,-0.15]])
# for some reason crashes here
c.setComponentState("torso", [[0, 0, 0.15, -0.15]])
time.sleep(3)
# SEQ3
c.setComponentState("head", [[-3.04]], False)
c.setComponentState("head", [[-2.84]], False)
time.sleep(5)
c.setComponentState("torso", [[0, 0, 0.2, 0]])
def __init__(self):
self._dao = DataAccess()
self._robot = Factory.getRobot('UH Sunflower')
self._thread1 = myThreadLights(1, "Thread-1", self._robot)
self._thread2 = myThreadHead(2, "Thread-2", self._robot)
