def speak(msg, override=False):
global previousMsg
if (audioOn and msg != previousMsg) or override:
robot.speak(msg)
elif msg != previousMsg:
robot.makeToast(msg)
outputToOperator(msg)
previousMsg = msg
def initializeBluetooth():
robot.toggleBluetoothState(True)
if bluetoothAddress:
robot.bluetoothConnect(
'00001101-0000-1000-8000-00805F9B34FB',
bluetoothAddress) #this is a magic UUID for serial BT devices
robot.makeToast("Initializing Bluetooth connection")
time.sleep(3)
def speak(msg,override=False):
global previousMsg
if (audioOn and msg != previousMsg) or override:
robot.speak(msg)
elif msg != previousMsg:
robot.makeToast(msg)
outputToOperator(msg)
previousMsg=msg
def main():
outputToOperator("Send the letter 'q' or say 'quit' to exit the program.\n")
robot.startSensing()
robot.startLocating()
if outputMethod == "outputBluetooth":
initializeBluetooth()
readerThread = bluetoothReader()
#TEMP REM THIS OUT UNTIL ASE FIXES BLUETOOTH HANDLING readerThread.start()
else:
serialReader.lifeline = re.compile(r"(\d) received")
readerThread = serialReader()
readerThread.start()
global currentSpeed
if microcontroller == "arduino":
commandOut(str(currentSpeed))
robot.makeToast("Initiating input method...\n")
globals()[inputMethod]()
def main():
outputToOperator(
"Send the letter 'q' or say 'quit' to exit the program.\n")
robot.startSensing()
robot.startLocating()
if outputMethod == "outputBluetooth":
initializeBluetooth()
readerThread = bluetoothReader()
#TEMP REM THIS OUT UNTIL ASE FIXES BLUETOOTH HANDLING readerThread.start()
else:
serialReader.lifeline = re.compile(r"(\d) received")
readerThread = serialReader()
readerThread.start()
global currentSpeed
if microcontroller == "arduino":
commandOut(str(currentSpeed))
robot.makeToast("Initiating input method...\n")
globals()[inputMethod]()
def commandParse(input):
# Split the incoing string into a command and up to two values
try:
commandList = shlex.split(input)
except:
commandList = []
outputToOperator("Could not parse command")
try:
command = commandList[0].lower()
except IndexError:
command = ""
try:
commandValue = commandList[1]
except IndexError:
commandValue = ""
try:
commandValue2 = commandList[2]
except IndexError:
commandValue2 = ""
# Process known commands
if command in ["a", "audio", "record"]:
global audioRecordingOn
audioRecordingOn = not audioRecordingOn
fileName = time.strftime("/sdcard/cellbot_%Y-%m-%d_%H-%M-%S.3gp")
if audioRecordingOn:
outputToOperator("Starting audio recording")
robot.makeToast("Starting audio recording")
robot.startAudioRecording(fileName)
else:
robot.stopAudioRecording()
robot.makeToast("Stopping audio recording")
outputToOperator(
"Stopped audio recording. Audio file located at '%s'" %
fileName)
elif command in ["b", "back", "backward", "backwards"]:
speak("Moving backward")
cmd = "w %s %s" % (currentSpeed * -10, currentSpeed * -10)
commandOut(cmd)
elif command in ["compass", "heading"]:
orientToAzimuth(int(commandValue[:3]))
elif command in ["d", "date"]:
speak(time.strftime("Current time is %_I %M %p on %A, %B %_e, %Y"))
elif command in ["f", "forward", "forwards", "scoot"]:
speak("Moving forward")
cmd = "w %s %s" % (currentSpeed * 10, currentSpeed * 10)
commandOut(cmd)
elif command in ["h", "hi", "hello"]:
speak("Hello. Let's play.")
elif command in ["l", "left"]:
speak("Moving left")
cmd = "w %s %s" % (currentSpeed * -10, currentSpeed * 10)
commandOut(cmd)
elif command in ["m", "mute", "silence"]:
global audioOn
audioOn = not audioOn
speak("Audio mute toggled")
elif command in ["p", "point", "pointe", "face", "facing"]:
msg = "Orienting %s" % cardinals[commandValue[:1].lower()][0]
speak(msg)
try:
orientToAzimuth(int(cardinals[commandValue[:1].lower()][1]))
except:
outputToOperator("Could not orient towards " + commandValue)
elif command in ["q", "quit", "exit"]:
speak("Bye bye!")
exitCellbot("Exiting program after receiving 'q' command.")
elif command in ["r", "right"]:
speak("Moving right")
cmd = "w %s %s" % (currentSpeed * 10, currentSpeed * -10)
commandOut(cmd)
elif command in ["s", "stop"]:
commandOut('w 0 0')
outputToOperator("Stopping")
elif command in ["t", "talk", "speak", "say"]:
msg = robot.replaceInsensitive(input, command, '').strip()
speak(msg, True)
elif command in ["v", "voice", "listen", "speech"]:
robot.makeToast("Launching voice recognition")
outputToOperator("Launching voice recognition")
commandByVoice("onceOnly")
elif command in ["x", "location", "gps"]:
try:
robot.startLocating()
location = robot.readLocation().result
addresses = robot.geocode(location['latitude'],
location['longitude']).result
firstAddr = addresses[0]
msg = 'You are in %(locality)s, %(admin_area)s' % firstAddr
except:
msg = "Failed to find location."
speak(msg)
elif command == "speed":
if commandValue in ["0", "1", "2", "3", "4", "5", "6", "7", "8", "9"]:
changeSpeed(commandValue)
else:
outputToOperator("Invalid speed setting: '%s'" % command)
elif command in ["faster", "hurry", "fast", "quicker"]:
changeSpeed(currentSpeed + 1)
elif command in ["slower", "slow", "chill"]:
changeSpeed(currentSpeed - 1)
# Prefixes that we ignore and then process the following word
elif command in ["move", "go", "turn", "take"]:
commandParse(commandValue)
elif command in ["send", "pass"]:
commandOut(commandValue)
print "Passing %s" % commandValue
elif command in ["range", "distance", "dist", "z"]:
commandOut("fr")
outputToOperator("Checking distance")
#ReaderThread thread will handle the response.
elif command in ["c", "config", "calibrate"]:
commandOut("c" + commandValue + " " + commandValue2)
msg = "Calibrating servos to center at %s and %s" % (commandValue,
commandValue2)
outputToOperator(msg)
elif command in ["w", "wheel"]:
if microcontroller == "arduino":
commandOut("w" + commandValue + " " + commandValue2)
elif microcontroller == "serialservo":
serialServoDrive(commandValue, commandValue2)
elif microcontroller == "AVR_Stepper":
AVR_Stepper_Controll(commandValue, commandValue2)
else:
msg = "Unknown microcontroller type: " + microcontroller
outputToOperator(msg)
addToWhiteboard("w", commandValue + " " + commandValue2)
elif command in ["i", "infinite"]:
commandOut("i")
outputToOperator("Toggled infinite rotation mode on robot")
elif command in ["picture", "takepicture"]:
fileName = time.strftime("/sdcard/cellbot_%Y-%m-%d_%H-%M-%S.jpg")
robot.cameraTakePicture(fileName)
outputToOperator("Took picture. Image file located at '%s'" % fileName)
addToWhiteboard("Picture", fileName)
elif command in ["whiteboard", "whiteboardfull"]:
if command == "whiteboardfull":
outputToOperator(WhiteboardToString(True))
else:
outputToOperator(WhiteboardToString())
elif command in ["reset"]:
commandOut("reset")
outputToOperator("Reset hardwares settings to default")
elif command in ["pair", "pairing"]:
commandOut("p")
outputToOperator("Asking Bluetooth module to go into pairing")
else:
outputToOperator("Unknown command: '%s'" % command)
def commandParse(input):
# Split the incoing string into a command and up to two values
try:
commandList = shlex.split(input)
except:
commandList = []
outputToOperator("Could not parse command")
try:
command = commandList[0].lower()
except IndexError:
command = ""
try:
commandValue = commandList[1]
except IndexError:
commandValue = ""
try:
commandValue2 = commandList[2]
except IndexError:
commandValue2 = ""
# Process known commands
if command in ["a", "audio", "record"]:
global audioRecordingOn
audioRecordingOn = not audioRecordingOn
fileName=time.strftime("/sdcard/cellbot_%Y-%m-%d_%H-%M-%S.3gp")
if audioRecordingOn:
outputToOperator("Starting audio recording")
robot.makeToast("Starting audio recording")
robot.startAudioRecording(fileName)
else:
robot.stopAudioRecording()
robot.makeToast("Stopping audio recording")
outputToOperator("Stopped audio recording. Audio file located at '%s'" % fileName)
elif command in ["b", "back", "backward", "backwards"]:
speak("Moving backward")
cmd = "w %s %s" % (currentSpeed * -10, currentSpeed * -10)
commandOut(cmd)
elif command in ["compass", "heading"]:
orientToAzimuth(int(commandValue[:3]))
elif command in ["d", "date"]:
speak(time.strftime("Current time is %_I %M %p on %A, %B %_e, %Y"))
elif command in ["f", "forward", "forwards", "scoot"]:
speak("Moving forward")
cmd = "w %s %s" % (currentSpeed * 10, currentSpeed * 10)
commandOut(cmd)
elif command in ["h", "hi", "hello"]:
speak("Hello. Let's play.")
elif command in ["l", "left"]:
speak("Moving left")
cmd = "w %s %s" % (currentSpeed * -10, currentSpeed * 10)
commandOut(cmd)
elif command in ["m", "mute", "silence"]:
global audioOn
audioOn = not audioOn
speak("Audio mute toggled")
elif command in ["p", "point", "pointe", "face", "facing"]:
msg = "Orienting %s" % cardinals[commandValue[:1].lower()][0]
speak(msg)
try:
orientToAzimuth(int(cardinals[commandValue[:1].lower()][1]))
except:
outputToOperator("Could not orient towards " + commandValue)
elif command in ["q", "quit", "exit"]:
speak("Bye bye!")
exitCellbot("Exiting program after receiving 'q' command.")
elif command in ["r", "right"]:
speak("Moving right")
cmd = "w %s %s" % (currentSpeed * 10, currentSpeed * -10)
commandOut(cmd)
elif command in ["s", "stop"]:
commandOut('w 0 0')
outputToOperator("Stopping")
elif command in ["t", "talk", "speak", "say"]:
msg = robot.replaceInsensitive(input, command, '').strip()
speak(msg,True)
elif command in ["v", "voice", "listen", "speech"]:
robot.makeToast("Launching voice recognition")
outputToOperator("Launching voice recognition")
commandByVoice("onceOnly")
elif command in ["x", "location", "gps"]:
try:
robot.startLocating()
location = robot.readLocation().result
addresses = robot.geocode(location['latitude'], location['longitude']).result
firstAddr = addresses[0]
msg = 'You are in %(locality)s, %(admin_area)s' % firstAddr
except:
msg = "Failed to find location."
speak(msg)
elif command == "speed":
if commandValue in ["0","1","2","3","4","5","6","7","8","9"]:
changeSpeed(commandValue)
else:
outputToOperator("Invalid speed setting: '%s'" % command)
elif command in ["faster", "hurry", "fast", "quicker"]:
changeSpeed(currentSpeed + 1)
elif command in ["slower", "slow", "chill"]:
changeSpeed(currentSpeed - 1)
# Prefixes that we ignore and then process the following word
elif command in ["move", "go", "turn", "take"]:
commandParse(commandValue)
elif command in ["send", "pass"]:
commandOut(commandValue)
print "Passing %s" % commandValue
elif command in ["range", "distance", "dist", "z"]:
commandOut("fr")
outputToOperator("Checking distance")
#ReaderThread thread will handle the response.
elif command in ["c", "config", "calibrate"]:
commandOut("c" + commandValue + " " + commandValue2)
msg = "Calibrating servos to center at %s and %s" % (commandValue, commandValue2)
outputToOperator(msg)
elif command in ["w", "wheel"]:
if microcontroller == "arduino":
commandOut("w" + commandValue + " " + commandValue2)
elif microcontroller == "serialservo":
serialServoDrive(commandValue, commandValue2)
elif microcontroller == "AVR_Stepper":
AVR_Stepper_Controll(commandValue, commandValue2)
else:
msg = "Unknown microcontroller type: " + microcontroller
outputToOperator(msg)
addToWhiteboard("w", commandValue + " " + commandValue2)
elif command in ["i", "infinite"]:
commandOut("i")
outputToOperator("Toggled infinite rotation mode on robot")
elif command in ["picture", "takepicture"]:
fileName=time.strftime("/sdcard/cellbot_%Y-%m-%d_%H-%M-%S.jpg")
robot.cameraTakePicture(fileName)
outputToOperator("Took picture. Image file located at '%s'" % fileName)
addToWhiteboard("Picture", fileName)
elif command in ["whiteboard", "whiteboardfull"]:
if command == "whiteboardfull":
outputToOperator(WhiteboardToString(True))
else:
outputToOperator(WhiteboardToString())
elif command in ["reset"]:
commandOut("reset")
outputToOperator("Reset hardwares settings to default")
elif command in ["pair", "pairing"]:
commandOut("p")
outputToOperator("Asking Bluetooth module to go into pairing")
else:
outputToOperator("Unknown command: '%s'" % command)
def initializeBluetooth():
robot.toggleBluetoothState(True)
if bluetoothAddress:
robot.bluetoothConnect('00001101-0000-1000-8000-00805F9B34FB', bluetoothAddress) #this is a magic UUID for serial BT devices
robot.makeToast("Initializing Bluetooth connection")
time.sleep(3)