def setup(self,
minitel_device=DEFAULT_MINITEL_DEVICE,
exit_allowed=False,
**kwargs):
if not os.path.exists(minitel_device):
raise ValueError('device not found : %s' % minitel_device)
self.log_info('initializing Minitel proxy (device=%s)', minitel_device)
self._mt = Minitel(minitel_device)
self._exit_allowed = exit_allowed
self._mt.clear_all()
self._mt.display_status(
self._mt.text_style_sequence(inverse=True) +
u'Démonstration YouPinitel'.ljust(self._mt.get_screen_width()))
def run_demo(self, demo_name, demo_opts=None):
method_name = 'demo_' + demo_name
try:
method = getattr(self, method_name)
except AttributeError:
raise NoSuchDemoError(demo_name)
else:
try:
mt = Minitel(port=self._args.port, baud=self._args.baud, debug=self._args.debug)
except ValueError:
logging.error('unable to initialize the Minitel. Is it connected and powered ?')
except OSError as e:
if e.errno == 2:
logging.error('port not found (%s)' % self._args.port)
else:
raise
else:
mt.show_cursor(False)
mt.clear_all()
mt.display_status(mt.text_style_sequence(inverse=True) + "PyBot Minitel demonstration".ljust(40))
mt.cursor_home()
try:
method(mt, demo_opts)
finally:
mt.clear_all()
mt.display_status("I'll be back...")
mt.close()
class Application(object):
""" The application object.
"""
pose_home = {
"shoulder": 260,
"elbow": 15,
"base": 240,
"wrist": 55,
"gripper": 150
}
def __init__(self, minitel_port=None,
arm_port=None, arm_busname=None,
config_file=None, log=None, debug=False):
self._log = log or DummyLogger()
self._mt = None
self._arm = None
self._debug = debug
self._log.setLevel(logging.DEBUG if debug else logging.INFO)
self._log.info('current logging level : %s', logging.getLevelName(self._log.getEffectiveLevel()))
joints_logger.setLevel(self._log.getEffectiveLevel())
self._log.info('args:')
self._log.info('- minitel_port=%s', minitel_port)
self._log.info('- arm_port=%s', arm_port)
self._log.info('- arm_busname=%s', arm_busname)
self._log.info('- config_file=%s', config_file)
self._demos = [
(m.__doc__, m) for m in (getattr(self, name)for name in sorted(dir(self)) if name.startswith('demo_'))
]
try:
cfg = json.load(config_file)
except ValueError as e:
raise ValueError('invalid configuration data : %s' % e)
cfg_minitel = cfg['minitel']
minitel_port = minitel_port or cfg_minitel['port']
if os.path.exists(minitel_port):
self._minitel_port = minitel_port
else:
raise ValueError('port not found : %s' % minitel_port)
self._arm_port = self._arm_busname = None
self._cfg_arm = cfg["arm"]
arm_port = arm_port or self._cfg_arm.get("port", None)
arm_busname = arm_busname or self._cfg_arm.get("busname", None)
if arm_port:
if os.path.exists(arm_port):
self._arm_port = arm_port
self._arm_baudrate = self._cfg_arm.get("baudrate", 1000000)
else:
raise ValueError('port not found : %s' % arm_port)
elif arm_busname:
self._arm_busname = arm_busname
else:
raise ValueError('at least on of arm_port or arm_busname must be provided')
def run(self):
""" Application run mainline
"""
self._log.info('creating Minitel instance on %s', self._minitel_port)
self._mt = Minitel(self._minitel_port) # , debug=self._debug)
self._mt.clear_all()
self._mt.display_status(
self._mt.text_style_sequence(inverse=True) +
u'Démonstration YouPinitel'.ljust(self._mt.get_screen_width())
)
if self._arm_port:
arm_type = 'AX12' if AX12_ARM else 'Youpi'
if not AX12_ARM:
self._arm_baudrate = 9600
self._log.info('creating %s arm interface instance on %s (baudrate=%d)',
arm_type, self._arm_port, self._arm_baudrate)
if AX12_ARM:
intf = USB2AX(self._arm_port, baudrate=self._arm_baudrate)
self._arm = GestureController(intf)
self._arm.configure_joints(self._cfg_arm['joints'])
else:
self._log.info('initializing Youpi interface and arm')
self._mt.display_text_center("Initialisation du bras", y=5)
self._mt.display_text_center(u"Veuillez patienter...", y=7)
intf = YoupiArduinoInterface(self._arm_port)
intf.wait_for_ready()
self._mt.clear_screen()
self._arm = YoupiArmController(intf)
# self._arm.base.set_goal_angle(150)
# while math.fabs(self._arm.base.get_current_angle() - 150) >= 1:
# time.sleep(0.1)
self.pose_home = dict(self._arm.get_pose())
self._log.info('Youpi home pose:')
for n, a in self.pose_home.iteritems():
self._log.info('- %-10s : %5.1f', n, a)
elif self._arm_busname:
self._log.info("connecting to arm nROS controller '%s'", self._arm_busname)
bus = dbus.SessionBus()
self._arm = bus.get_object(self._arm_busname, DEFAULT_SERVICE_OBJECT_PATH)
self._arm.joints = dict([
(n, bus.get_object(self._arm_busname, '/joint/%s' % n)) for n in self._arm.get_joint_names()
])
else:
raise Exception('no arm controller connection was configured')
title = 'Menu principal'
while True:
self._log.info('displaying main menu')
menu = Menu(
self._mt,
title=[title, '-' * len(title)],
choices=[t[0] for t in self._demos],
prompt='Votre choix',
line_skip=2,
margin_top=1,
prompt_line=20,
addit=[(0, 23, ' SOMMAIRE: fin '.center(40, '-'))]
)
choice = menu.get_choice()
if choice:
label, method = self._demos[choice - 1]
self._log.info('selected demo : %s', label)
method()
else:
break
self._mt.clear_all()
self._mt.display_text(u"Damien & Eric vous disent à bientôt.")
def _move_arm_home(self):
self._log.info('moving arm to its home position...')
if AX12_ARM:
gesture = Gesture([(self.pose_home, 2)])
data = gesture.as_json() if self._arm_busname else gesture
self._arm.execute_gesture(data)
else:
# for j, a in self.pose_home.iteritems():
# self._log.info("- %-10s -> %5.1f", j, a)
# self._arm.joints[j].set_goal_angle(a)
self._arm.reset()
def demo_00_infos(self):
u"""quelques explications"""
self._mt.clear_screen()
for l, text in enumerate([
u'La rencontre des années 80:',
u'',
u"Youpi: ",
u" Un bras robotique pour l'enseignement",
"",
u"Le Minitel: ",
u" L'ancêtre d'Internet",
u'',
u'... et du 21ème siècle:',
u'',
u"L'Arduino: ",
u" Une carte pour l'initiation à la ",
u" programmation des micro-contrôleurs",
'',
u"La RaspberryPi: ",
u" Un ordinateur de la taille d'une ",
u" carte de crédit"
]):
self._mt.display_text(text=text, x=0, y=l + 2)
self._mt.display_text_center(u'Retour : menu principal', y=23)
self._mt.wait_for_key([constants.SEP + constants.KeyCode.RETOUR], max_wait=300)
def _demo_01(self):
u"""dis bonjour avec le bras"""
self._mt.display_text_center(' je vous dis bonjour ', 23, pad_char='-')
pose_extended = {
"shoulder": 170, # 82,
"elbow": 60, # 73,
"base": 240,
"wrist": 202,
"gripper": 150
}
pose_to_the_right = {
"base": 200
}
pose_to_the_left = {
"base": 280
}
gesture = Gesture([
(pose_extended, 1),
(None, 0.5),
(pose_to_the_right, 0.5),
(pose_to_the_left, 1),
(pose_extended, 0.5),
(None, 1),
(self.pose_home, 2)
])
data = gesture.as_json() if self._arm_busname else gesture
self._arm.execute_gesture(data)
def _demo_02(self):
u"""déplace le Rubik's cube"""
self._mt.display_text_center(' moving the cube ', 23, pad_char='-')
time.sleep(3)
def demo_03(self):
u"""contrôle manuel"""
base = self._arm.joints['base']
shoulder = self._arm.joints['shoulder']
elbow = self._arm.joints['elbow']
wrist = self._arm.joints['wrist']
gripper = self._arm.joints['gripper']
wrist_rot = None if AX12_ARM else self._arm.joints['wrist_rot']
speed = 10 if AX12_ARM else None
def _move_joint(joint, step):
goal_pos = joint.get_current_angle() + step
self._log.info('moving joint %s from angle %5.1f to angle %5.1f', joint.servo_id, joint.get_current_angle(), goal_pos)
joint.set_goal_angle(goal_pos, speed, immediate=True, wait=False)
def shoulder_up():
_move_joint(shoulder, 5)
def shoulder_down():
_move_joint(shoulder, -5)
def elbow_up():
_move_joint(elbow, +5 * (1 if AX12_ARM else -1))
def elbow_down():
_move_joint(elbow, -5 * (1 if AX12_ARM else -1))
def wrist_up():
_move_joint(wrist, +5)
def wrist_down():
_move_joint(wrist, -5)
def base_left():
_move_joint(base, 5)
def base_right():
_move_joint(base, -5)
def gripper_open():
if hasattr(self._arm, 'open_gripper'):
self._arm.open_gripper()
else:
gripper.set_goal_angle(100, 0, immediate=True, wait=False)
def gripper_close():
if hasattr(self._arm, 'close_gripper'):
self._arm.close_gripper()
else:
gripper.set_goal_angle(150, 0, immediate=True, wait=False)
def wrist_ccw():
_move_joint(wrist_rot, -5)
def wrist_cw():
_move_joint(wrist_rot, 5)
actions = {
'1': shoulder_up,
'4': shoulder_down,
'2': elbow_up,
'5': elbow_down,
'3': wrist_up,
'6': wrist_down,
'7': base_left,
'9': base_right,
'O': gripper_open,
'F': gripper_close,
'*': wrist_ccw,
'#': wrist_cw,
'R': self._move_arm_home,
}
self._mt.clear_screen()
for l, text in enumerate([
u'Utilisez les touches du clavier',
u'pour contrôler le bras.',
'',
u'1 4 : épaule',
u'2 5 : coude',
u'3 6 : poignet',
u'7 9 : rotation bras',
u'* # : rotation pince',
u'O F : ouverture/fermeture pince',
'',
u' R : retour position initiale'
]):
self._mt.display_text(text=text, x=0, y=l + 4)
self._mt.display_text_center(u'Retour : menu principal', y=23)
key_return = constants.SEP + constants.KeyCode.RETOUR
valid_keys = actions.keys() + [key_return]
while True:
key = self._mt.wait_for_key(valid_keys, max_wait=60)
if key in (None, key_return):
if not key:
self._log.info('no input => return to main menu')
self._mt.clear_screen()
self._mt.display_text_center(u"Réinitialisation du bras", y=5)
self._mt.display_text_center(u"Veuillez patienter...", y=7)
self._move_arm_home()
return
else:
try:
actions[key]()
except KeyError:
self._mt.beep()
class MinitelUIApp(YoupiApplication):
""" This application implements a Videotex server for managing
a user interfaced based on a Minitel.
"""
NAME = 'minitel'
TITLE = "Minitel UI"
VERSION = version
DEFAULT_MINITEL_DEVICE = "/dev/ttyUSB0"
_mt = None
_exit_allowed = False
_actions = []
@classmethod
def add_custom_arguments(cls, parser):
parser.add_argument('--minitel-device',
default=cls.DEFAULT_MINITEL_DEVICE)
parser.add_argument('--exit-allowed',
action='store_true',
default=False)
def setup(self,
minitel_device=DEFAULT_MINITEL_DEVICE,
exit_allowed=False,
**kwargs):
if not os.path.exists(minitel_device):
raise ValueError('device not found : %s' % minitel_device)
self.log_info('initializing Minitel proxy (device=%s)', minitel_device)
self._mt = Minitel(minitel_device)
self._exit_allowed = exit_allowed
self._mt.clear_all()
self._mt.display_status(
self._mt.text_style_sequence(inverse=True) +
u'Démonstration YouPinitel'.ljust(self._mt.get_screen_width()))
def on_terminate(self, *args):
self.log_info('interrupting ongoing read')
self._mt.interrupt()
def teardown(self, exit_code):
self._mt.clear_all()
if Image:
self.log_info('Displaying logo...')
img_path = pkg_resources.resource_filename(
_my_package, 'data/img/pobot-logo-small.png')
self.log_info('.. loading image from %s', img_path)
if os.path.exists(img_path):
img = Image.open(img_path)
self.log_info('.. converting it to Videotex')
vt_img = VideotexImage(img)
code = vt_img.to_videotex()
self.log_info('.. sending stream to Minitel (%d bytes)',
len(code))
self._mt.goto_xy(0, 0)
self._mt.videotex_graphic_mode()
self._mt.send(code)
self.log_info('.. all done.')
else:
self.log_error('!! file not found')
else:
self.log_warning('PIL not installed. Unable to display logo.')
self._mt.display_text(u"I'll be back...", 24, 23)
self._mt.shutdown()
_trans = {
ord(f): t
for f, t in zip(u'àâäéèëêïîöôùüûç', u'aaaeeeeiioouuuc')
}
def display_text(self, s, line=3, centered=True):
if centered:
self.pnl.center_text_at(s.translate(self._trans)[:20], line=line)
else:
self.pnl.write_at(s.translate(self._trans)[:20], line=line, col=1)
def loop(self):
if not self._actions:
raise ApplicationError(
'actions list as not been initialized by decorators')
title = 'Menu principal'
addit = [(0, 23, ' SOMMAIRE: fin '.center(40, '-'))
] if self._exit_allowed else []
while True:
msg = u'displaying main menu'
self.log_info(msg)
self.display_text(msg)
menu = Menu(self._mt,
title=[title, '-' * len(title)],
choices=[t[0] for t in self._actions],
prompt='Votre choix',
line_skip=2,
margin_top=1,
prompt_line=20,
addit=addit,
cancelable=self._exit_allowed)
try:
choice = menu.get_choice()
self.log_info('selected choice : %s', choice)
if self.terminated:
return True
if not choice:
if self._exit_allowed:
return True
else:
continue
label, method = self._actions[choice - 1]
self.log_info('invoking action : %s', label)
self.display_text(label)
method(self)
if self.terminated:
return True
except DeviceCommunicationError as e:
if 'Interrupted system call' in str(
e): # we got an interruption signal from the outside
self.log_info('system call interrupted by external signal')
return True
else:
self.log_error_banner(e, unexpected=True)
self.log_exception(e)
except KeyboardInterrupt:
self.log_info('external interrupt caught')
return True
@action(_actions)
def display_infos(self):
u"""quelques explications"""
self._mt.clear_screen()
for l, text in enumerate([
u'La rencontre des années 80:', u'', u"Youpi: ",
u" Un bras robotique pour l'enseignement", "",
u"Le Minitel: ", u" L'ancêtre d'Internet", u'',
u'... et du 21ème siècle:', u'', u"La RaspberryPi: ",
u" Un ordinateur de la taille d'une ", u" carte de crédit"
]):
self._mt.display_text(text=text, x=0, y=l + 2)
self._mt.display_text_center(u'Retour : menu principal', y=23)
self._mt.wait_for_key([constants.SEP + constants.KeyCode.RETOUR],
max_wait=300)
# def simple_gesture(self):
# u"""dis bonjour avec le bras"""
# self._mt.display_text_center(' je vous dis bonjour ', 23, pad_char='-')
# pose_extended = {
# "shoulder": 170, # 82,
# "elbow": 60, # 73,
# "base": 240,
# "wrist": 202,
# "gripper": 150
# }
# pose_to_the_right = {
# "base": 200
# }
# pose_to_the_left = {
# "base": 280
# }
#
# gesture = Gesture([
# (pose_extended, 1),
# (None, 0.5),
# (pose_to_the_right, 0.5),
# (pose_to_the_left, 1),
# (pose_extended, 0.5),
# (None, 1),
# (self.pose_home, 2)
# ])
# data = gesture.as_json() if self._arm_busname else gesture
# self._arm.execute_gesture(data)
@action(_actions)
def manual_control(self):
u"""contrôle manuel"""
INFO_MSG_LINE = 18
def info_message(s):
self._mt.display_text_center(s, y=INFO_MSG_LINE)
def info_clear():
self._mt.goto_xy(0, INFO_MSG_LINE)
self._mt.clear_line()
def info_ready():
info_message(u'Prêt')
def _move_joint(joint, angle):
self.log_info('moving joint %s %5.1f degrees', joint, angle)
self.arm.move({joint: angle}, True)
def shoulder_up():
_move_joint(YoupiArm.MOTOR_SHOULDER, 5)
def shoulder_down():
_move_joint(YoupiArm.MOTOR_SHOULDER, -5)
def elbow_up():
_move_joint(YoupiArm.MOTOR_ELBOW, 5)
def elbow_down():
_move_joint(YoupiArm.MOTOR_ELBOW, -5)
def wrist_up():
_move_joint(YoupiArm.MOTOR_WRIST, +5)
def wrist_down():
_move_joint(YoupiArm.MOTOR_WRIST, -5)
def base_left():
_move_joint(YoupiArm.MOTOR_BASE, 5)
def base_right():
_move_joint(YoupiArm.MOTOR_BASE, -5)
def gripper_open():
self.arm.open_gripper(True)
def gripper_close():
self.arm.close_gripper(True)
def wrist_ccw():
_move_joint(YoupiArm.MOTOR_HAND_ROT, -5)
def wrist_cw():
_move_joint(YoupiArm.MOTOR_HAND_ROT, 5)
def go_home():
self.arm.go_home([
m for m in YoupiArm.MOTORS_ALL if m != YoupiArm.MOTOR_GRIPPER
], True)
actions = {
'1': shoulder_up,
'4': shoulder_down,
'2': elbow_up,
'5': elbow_down,
'3': wrist_up,
'6': wrist_down,
'7': base_left,
'9': base_right,
'O': gripper_open,
'F': gripper_close,
'*': wrist_ccw,
'#': wrist_cw,
'R': go_home,
}
self._mt.clear_screen()
for l, text in enumerate([
u'Utilisez les touches du clavier', u'pour contrôler le bras.',
'', u'1 4 : épaule', u'2 5 : coude', u'3 6 : poignet',
u'7 9 : rotation bras', u'* # : rotation pince',
u'O F : ouverture/fermeture pince', '',
u' R : retour position initiale'
]):
self._mt.display_text(text=text, x=0, y=l + 4)
self._mt.display_text_center(u'Retour : menu principal', y=23)
key_return = constants.SEP + constants.KeyCode.RETOUR
valid_keys = actions.keys() + [key_return]
hline = '-' * self._mt.get_screen_width()
self._mt.display_text(hline, y=INFO_MSG_LINE - 1)
self._mt.display_text(hline, y=INFO_MSG_LINE + 1)
info_ready()
while True:
key = self._mt.wait_for_key(valid_keys, max_wait=60)
if key in (None, key_return):
if not key:
self.log_info('no input => return to main menu')
self._mt.clear_screen()
self._mt.display_text_center(u"Réinitialisation du bras", y=5)
self._mt.display_text_center(u"Veuillez patienter...", y=7)
self.arm.go_home([
m
for m in YoupiArm.MOTORS_ALL if m != YoupiArm.MOTOR_GRIPPER
], True)
self.arm.soft_hi_Z()
return
else:
info_clear()
try:
action_func = actions[key]
except KeyError:
self._mt.beep()
info_message(u'Touche incorrecte')
else:
try:
info_message(u'Mouvement en cours. Patientez...')
action_func()
except OutOfBoundError as e:
self._mt.beep()
info_message(u'Limite mécanique atteinte')
else:
info_ready()
def run(self):
""" Application run mainline
"""
self._log.info('creating Minitel instance on %s', self._minitel_port)
self._mt = Minitel(self._minitel_port) # , debug=self._debug)
self._mt.clear_all()
self._mt.display_status(
self._mt.text_style_sequence(inverse=True) +
u'Démonstration YouPinitel'.ljust(self._mt.get_screen_width())
)
if self._arm_port:
arm_type = 'AX12' if AX12_ARM else 'Youpi'
if not AX12_ARM:
self._arm_baudrate = 9600
self._log.info('creating %s arm interface instance on %s (baudrate=%d)',
arm_type, self._arm_port, self._arm_baudrate)
if AX12_ARM:
intf = USB2AX(self._arm_port, baudrate=self._arm_baudrate)
self._arm = GestureController(intf)
self._arm.configure_joints(self._cfg_arm['joints'])
else:
self._log.info('initializing Youpi interface and arm')
self._mt.display_text_center("Initialisation du bras", y=5)
self._mt.display_text_center(u"Veuillez patienter...", y=7)
intf = YoupiArduinoInterface(self._arm_port)
intf.wait_for_ready()
self._mt.clear_screen()
self._arm = YoupiArmController(intf)
# self._arm.base.set_goal_angle(150)
# while math.fabs(self._arm.base.get_current_angle() - 150) >= 1:
# time.sleep(0.1)
self.pose_home = dict(self._arm.get_pose())
self._log.info('Youpi home pose:')
for n, a in self.pose_home.iteritems():
self._log.info('- %-10s : %5.1f', n, a)
elif self._arm_busname:
self._log.info("connecting to arm nROS controller '%s'", self._arm_busname)
bus = dbus.SessionBus()
self._arm = bus.get_object(self._arm_busname, DEFAULT_SERVICE_OBJECT_PATH)
self._arm.joints = dict([
(n, bus.get_object(self._arm_busname, '/joint/%s' % n)) for n in self._arm.get_joint_names()
])
else:
raise Exception('no arm controller connection was configured')
title = 'Menu principal'
while True:
self._log.info('displaying main menu')
menu = Menu(
self._mt,
title=[title, '-' * len(title)],
choices=[t[0] for t in self._demos],
prompt='Votre choix',
line_skip=2,
margin_top=1,
prompt_line=20,
addit=[(0, 23, ' SOMMAIRE: fin '.center(40, '-'))]
)
choice = menu.get_choice()
if choice:
label, method = self._demos[choice - 1]
self._log.info('selected demo : %s', label)
method()
else:
break
self._mt.clear_all()
self._mt.display_text(u"Damien & Eric vous disent à bientôt.")
