def startWebSocketClient(self):
self.cannybot = CannybotClient() # Connects to the default Cannybot
self.cannybot.registerReceiveCallback(self.processCannybotEvent)
# If there's any trouble just exit, the service daemon will restart us
self.cannybot.registerErrorCallback(self.stop)
self.cannybot.registerClosedCallback(self.stop)
self.joypad = JoypadClient(self.cannybot)
class ScratchAgent:
def __init__(self):
log("Cannybots Scratch Agent v{} starting...".format(VERSION))
self.keepRunning = True
self.scratchInterface = None
self.cannybot = None
def startWebSocketClient(self):
self.cannybot = CannybotClient() # Connects to the default Cannybot
self.cannybot.registerReceiveCallback(self.processCannybotEvent)
# If there's any trouble just exit, the service daemon will restart us
self.cannybot.registerErrorCallback(self.stop)
self.cannybot.registerClosedCallback(self.stop)
self.joypad = JoypadClient(self.cannybot)
def startScratchClient(self):
self.scratchInterface = scratch.Scratch()
self.scratchInterface.connect()
def send2scratch(self, msg):
if self.scratchInterface:
log("sending to scratch: " + str(msg))
try:
self.scratchInterface.broadcast(msg)
except scratch.ScratchConnectionError as sce:
log("ERROR: (ScratchConnection) " + sce.message)
self.keepRunning = False
except Exception as err:
log("ERROR: (General, whilst sending to Scatch) " +
err.message)
self.keepRunning = False
else:
print "WARN: Scratch not yet initialised"
def send2cannybot(self, message):
self.cannybot.send(format(ord(message), '02X'))
# TODO: make this configurable and general purpose
def processScratchSensorUpdate(self, message):
log("processScratchSensorUpdate: {}".format(message))
for sensor, value in message[1].iteritems():
log("INFO: processScratchSensorUpdate {} = {}".format(
sensor, value))
if sensor == "CannybotSpeed":
self.joypad.setSpeed(value)
# TODO: make this configurable and general purpose
def processScratchBroadcast(self, message):
commands = {
'MoveForward': self.maze_forward,
'TurnRight': self.maze_right,
'TurnLeft': self.maze_left,
'Spin': self.maze_spin,
'Stop': self.maze_stop
}
command = message[1]
#log( "Command: " + command)
if command in commands:
commands[command](message)
else:
log("WARN: Unrecognised broadcast: {}".format(message))
# TODO: make this configurable and general purpose
def processCannybotEvent(self, message):
log("cannybot event {}".format(message))
eventTextMappings = {
'RGB:R': "Red",
'RGB:G': "Green",
'RGB:B': "Blue",
'RGB:Y': "Yellow",
'LINE:N': "OffTheLine",
'LINE:Y': "OnTheLine",
}
eventText = message
#log( "Command: " + command)
if eventText in eventTextMappings:
eventText = eventTextMappings[eventText]
self.send2scratch(eventText)
# Mazing
def maze_forward(self, message):
self.send2cannybot('f')
def maze_right(self, message):
self.send2cannybot('r')
def maze_left(self, message):
self.send2cannybot('l')
def maze_spin(self, message):
self.send2cannybot('p')
def maze_stop(self, message):
self.send2cannybot('s')
#motor commands
#led and other sensor commands
def isConnected(self):
wsOK = self.cannybot.isConnected()
scratchOK = self.scratchInterface.connected = True
if (wsOK and scratchOK and self.keepRunning):
return True
else:
if (not scratchOK):
log("Not connected to scratch")
if (not wsOK):
log("Not connected to webocket API")
return False
def connect(self):
self.startScratchClient()
self.startWebSocketClient()
def run(self):
self.workerThread = Thread(target=self._scratch_message_worker)
self.workerThread.daemon = True
self.workerThread.name = 'ScratchMsgWorker'
self.workerThread.start()
def _scratch_message_worker(self):
try:
while self.keepRunning:
for msg in self.listen():
if msg[0] == 'broadcast':
log("From scratch (broadcast): " + str(msg))
self.processScratchBroadcast(msg)
elif msg[0] == 'sensor-update':
log("From scratch (sensor): " + str(msg))
self.processScratchSensorUpdate(msg)
except scratch.ScratchError as se:
log("ERROR: MsgWorker (Scratch) " + se.message)
except StopIteration as si:
log("ERROR: MsgWorker (MsgProc) " + si.message)
except Exception as err:
log("ERROR: MsgWorker (General) " + err.message)
self.keepRunning = False
def listen(self):
while True:
try:
yield self.scratchInterface.receive()
except scratch.ScratchError:
raise StopIteration
def start(self):
try:
self.connect()
self.run()
while True:
sleep(CONNECTION_CHECK_DELAY)
if not self.isConnected():
break
except scratch.ScratchError as se:
log("ERROR: Main (Scratch) " + se.message)
except Exception as err:
log("ERROR: Main (General) " + err.message)
def stop(self):
log("Cannybots Scratch Agent exiting...")
self.keepRunning = False
from time import sleep
from cannybots.clients.wsclient import CannybotClient
from cannybots.clients.joypad import JoypadClient
SPEED_DURATION = 2 # Number of seconds to hold a speed for
cannybot1 = CannybotClient(
botId='2'
) # Connects to the default Cannybot configured in NodeRED (using a local WebSocket API)
cannybot2 = CannybotClient(botId='3')
sleep(2)
rider1 = JoypadClient(
cannybot1
) # Creates a Joystick helper that can create and send joystick messages
rider2 = JoypadClient(cannybot2)
# Open a csv files that has rows of Speeds in
# This uses the first row in the CSV for the column names (see the speeds.csv)
input_file = csv.DictReader(
open("Cycling Data for Cannybots.xlsx - Cyclists.csv"))
for row in input_file:
# Read the speed from column which has the title of 'Speed' in the current row
inputDataRider1Speed = float(row["Rider One Speed (km/Hr)"])
inputDataRider2Speed = float(row["Rider Two Speed (km/Hr)"])
# scale the input speed to between 0 (stop) and 255 (full speed)
import csv
from time import sleep
from cannybots.clients.wsclient import CannybotClient
from cannybots.clients.joypad import JoypadClient
SPEED_DURATION = 2 # Number of seconds to hold a speed for
cannybot = CannybotClient() # Connects to the default Cannybot configured in NodeRED (using a local WebSocket API)
joypad = JoypadClient(cannybot) # Creates a Joystick helper that can create and send joystick messages
# Open a csv files that has rows of Speeds in
# This uses the first row in the CSV for the column names (see the speeds.csv)
input_file = csv.DictReader(open("speeds.csv"))
for row in input_file:
# Read the speed from column which has the title of 'Speed' in the current row
inputDataSpeed = float(row["Speed"])
# scale the input speed to between 0 (stop) and 255 (full speed)
# these values were chosen by hand after inspecting the input data
cannybotSpeed = 50 + inputDataSpeed * 10
print "Input Data speed: {} => Cannybot speed: {}".format(inputDataSpeed, cannybotSpeed)
# send the forward speed
joypad.update(0, cannybotSpeed, 0, 0)
import csv
from time import sleep
from cannybots.clients.wsclient import CannybotClient
from cannybots.clients.joypad import JoypadClient
SPEED_DURATION = 2 # Number of seconds to hold a speed for
cannybot1 = CannybotClient(botId='2') # Connects to the default Cannybot configured in NodeRED (using a local WebSocket API)
cannybot2 = CannybotClient(botId='3')
sleep(2)
rider1 = JoypadClient(cannybot1) # Creates a Joystick helper that can create and send joystick messages
rider2 = JoypadClient(cannybot2)
# Open a csv files that has rows of Speeds in
# This uses the first row in the CSV for the column names (see the speeds.csv)
input_file = csv.DictReader(open("Cycling Data for Cannybots.xlsx - Cyclists.csv"))
for row in input_file:
# Read the speed from column which has the title of 'Speed' in the current row
inputDataRider1Speed = float(row["Rider One Speed (km/Hr)"])
inputDataRider2Speed = float(row["Rider Two Speed (km/Hr)"])
# scale the input speed to between 0 (stop) and 255 (full speed)
# these values were chosen by hand after inspecting the input data
rider1Speed = 255 - (50 + inputDataRider1Speed * 8)
rider2Speed = 255 - (50 + inputDataRider2Speed * 8)
import sys
import os
import csv
from time import sleep
from cannybots.clients.wsclient import CannybotClient
from cannybots.clients.joypad import JoypadClient
def dataReceived(message):
print "Received: " + message
cannybot = CannybotClient() # Connects to the first available Cannybot
joypad = JoypadClient(cannybot)
cannybot.registerReceiveCallback(dataReceived)
sleep(2) # wait a bit for connection setup
joypad.requestStatus()
#for speed in range(-255 , 255):
# print "Speed: " + str(speed)
# joypad.update(speed, speed, 0, 0)
# sleep(0.25)
for speed in range(1,5):
motorASpeed = speed*50
motorBSpeed = speed*50
joypad.update(motorASpeed, motorBSpeed, 0, 0)
sleep(1)
