async def read_gamepad_inputs():
global head_light_flag
print("Ready to drive!!")
turn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/turn-signal.mp3", card)
horn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/Horn.mp3", card)
while not is_connected():
time.sleep(2) # Wait 2 seconds for controller to come up and try again
while is_connected() and remote_control.button_b == False:
#print(" trigger_right = ", round(remote_control.trigger_right,2),end="\r")
x = round(remote_control.joystick_left_x, 2)
y = round(remote_control.joystick_left_y, 2)
angle = get_angle_from_coords(x, y)
if angle > 180:
angle = 360 - angle
#print("x:", x, " y:", y, " angle: ",angle,end="\r")
turn_head(angle)
direction = get_motor_direction(x, y)
y = adjust_speed(y, angle)
#print("x:", x, " y:", y, " direction: ",direction,end="\r")
drive_motor(direction, y)
if round(remote_control.trigger_right, 2) > 0.0:
horn_sound.play(1.0)
led.blue()
elif round(remote_control.trigger_left, 2) > 0.0:
led.cyan()
elif remote_control.bump_left:
turn_sound.play(1.0)
led.turn_left(5)
elif remote_control.bump_right:
turn_sound.play(1.0)
led.turn_right(5)
elif remote_control.dpad_up:
remote_control.dpad_up = False
elif remote_control.dpad_left:
remote_control.dpad_left = False
elif remote_control.dpad_right:
remote_control.dpad_right = False
elif remote_control.button_a:
remote_control.button_a = False
elif head_light_flag == False:
led.both_off()
led_strip.colorWipe(strip, Color(0, 0, 0))
if turn_sound.isPlaying():
turn_sound.stop()
await asyncio.sleep(100e-3) #100ms
return
class PyQtOSGWidget(QtOpenGL.QGLWidget):
def __init__(self, parent=0, name='', flags=0):
"""constructor """
QtOpenGL.QGLWidget.__init__(self, parent)
self.parent = parent
self.setFocusPolicy(QtCore.Qt.ClickFocus)
self.timer = QtCore.QTimer()
self.timer.setInterval(1000.0 /
config.FPS_RENDERING) # in milliseconds
self.camera = None
self.startTime = 0.0
self.loopTime = 10.0
self.is_paused = False
self.still_frame = True
self.current_time = 0
self.audio = None
self.viewer = None
self.orginal_data = None
self.aspect_ratio = None
self.fps_calculator = FPSCalculator(start_time=self.startTime,
smoothness=30)
self.size = None
def initializeGL(self):
"""initializeGL the context and create the osgViewer, also set manipulator and event handler """
self.gw = self.createContext()
self.viewer = None
QtCore.QObject.connect(self.timer, QtCore.SIGNAL("timeout ()"),
self.updateGL)
def setLoopTime(self, loopTime):
self.loopTime = loopTime
if self.audio is not None:
self.audio.set_loop_time(start_time=self.audio_skip,
end_time=self.audio_skip + self.loopTime)
def embedInContext(self):
"""create a osg.GraphicsWindow for a Qt.QWidget window"""
gw = osgViewer.GraphicsWindowEmbedded(0, 0, self.width(),
self.height())
return gw
def createContext(self):
"""create a opengl context (currently WindowData classes are not wrapped so we can not inherrit the windowdata) """
ds = osg.DisplaySettings_instance()
if False:
traits = osg.GraphicsContext.Traits()
print traits
traits.readDISPLAY()
if (traits.displayNum < 0): traits.displayNum = 0
traits.windowName = "osgViewerPyQt"
traits.screenNum = 0
traits.x = self.x()
traits.y = self.y()
traits.width = self.width()
traits.height = self.height()
traits.alpha = 8 #ds.getMinimumNumAlphaBits()
traits.stencil = 8 #ds.getMinimumNumStencilBits()
traits.windowDecoration = False
traits.doubleBuffer = True
traits.sampleBuffers = 4 #ds.getMultiSamples()
traits.samples = 4 #ds.getNumMultiSamples()
gw = osgViewer.GraphicsWindowEmbedded()
return gw
def createViewer(self):
"""create a osgViewer.Viewer and set the viewport, camera and previously created graphical context """
global viewerFactory
viewer = viewerFactory()
#init the default eventhandler
# self.viewer.setCameraManipulator(osgGA.TrackballManipulator())
viewer.addEventHandler(osgViewer.StatsHandler())
viewer.addEventHandler(osgViewer.HelpHandler())
viewer.getUpdateVisitor().setTraversalMask(UPDATE_MASK)
self.resetCamera(viewer)
return viewer
def resetCamera(self, viewer):
camera = viewer.getCamera()
camera.setComputeNearFarMode(False)
# camera = osg.Camera()
camera.setViewport(osg.Viewport(0, 0, self.width(), self.height()))
# camera.setReferenceFrame(osg.Transform.ABSOLUTE_RF)
CAMERA_ANGLE = 45.0
CAMERA_Z_TRANSLATE = 2.4142135623730949 #1.0 / math.tan(math.radians(CAMERA_ANGLE / 2.0))
cameraPosition = [0.0, 0.0, CAMERA_Z_TRANSLATE]
camera.setProjectionMatrixAsPerspective(
CAMERA_ANGLE,
float(self.width()) / float(self.height()), 0.1, 100.0)
eye = osg.Vec3d(cameraPosition[0], cameraPosition[1],
cameraPosition[2])
center = osg.Vec3d(0, 0, 0)
up = osg.Vec3d(0, 1, 0)
camera.setViewMatrixAsLookAt(eye, center, up)
camera.getOrCreateStateSet().setAttributeAndModes(
osg.BlendFunc(GL.GL_ONE, GL.GL_ONE_MINUS_SRC_ALPHA))
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_TEST, False)
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_WRITEMASK, False)
camera.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
material = osg.Material()
color = osg.Vec4(1.0, 1.0, 1.0, 1.0)
material.setDiffuse(osg.Material.FRONT_AND_BACK, color)
material.setAmbient(osg.Material.FRONT_AND_BACK, color)
camera.getOrCreateStateSet().setAttributeAndModes(material)
camera.setClearColor(osg.Vec4(0, 0, 0, 0))
camera.setClearMask(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
camera.setCullMask(VISIBLE_CULL_MASK)
if not self.gw:
raise Exception("GraphicsWindow not yet created")
self.camera = camera
# viewer.getCamera().setViewport(osg.Viewport(0,0, self.width(), self.height()))
# viewer.getCamera().addChild(camera)
camera.setGraphicsContext(self.gw)
def texture_build(self):
texture = osg.Texture2D()
texture.setTextureSize(self.width(), self.height())
texture.setInternalFormat(GL.GL_RGBA)
texture.setResizeNonPowerOfTwoHint(False)
# bug detected here, if I enable mipmap osg seems to use the view buffer to
# do something. If I disable the mipmap it works.
# you can view the issue with test_09_gaussian_filter.py
#texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR_MIPMAP_LINEAR)
texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR)
texture.setFilter(osg.Texture.MAG_FILTER, osg.Texture.LINEAR)
return texture
def camera_build(self):
texture = self.texture_build()
camera = osg.Camera()
camera.setViewport(osg.Viewport(0, 0, self.width(), self.height()))
camera.setReferenceFrame(osg.Transform.ABSOLUTE_RF)
camera.setRenderOrder(osg.Camera.PRE_RENDER)
camera.setRenderTargetImplementation(osg.Camera.FRAME_BUFFER_OBJECT)
camera.attach(osg.Camera.COLOR_BUFFER, texture, 0, 0, False, 0, 0)
CAMERA_ANGLE = 45.0
CAMERA_Z_TRANSLATE = 2.4142135623730949 #1.0 / math.tan(math.radians(CAMERA_ANGLE / 2.0))
cameraPosition = [0.0, 0.0, CAMERA_Z_TRANSLATE]
camera.setProjectionMatrixAsPerspective(
CAMERA_ANGLE,
float(self.width()) / float(self.height()), 0.1, 10000.0)
eye = osg.Vec3d(cameraPosition[0], cameraPosition[1],
cameraPosition[2])
center = osg.Vec3d(0, 0, 0)
up = osg.Vec3d(0, 1, 0)
camera.setViewMatrixAsLookAt(eye, center, up)
camera.getOrCreateStateSet().setAttributeAndModes(
osg.BlendFunc(GL.GL_ONE, GL.GL_ONE_MINUS_SRC_ALPHA))
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_TEST, False)
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_WRITEMASK, False)
camera.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
material = osg.Material()
color = osg.Vec4(1.0, 1.0, 1.0, 1.0)
material.setDiffuse(osg.Material.FRONT_AND_BACK, color)
material.setAmbient(osg.Material.FRONT_AND_BACK, color)
camera.getOrCreateStateSet().setAttributeAndModes(material)
camera.setClearColor(osg.Vec4(0, 0, 0, 0))
camera.setClearMask(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
return camera, texture
def quad_create(self, texture):
stateset = osg.StateSet()
stateset.setTextureAttributeAndModes(0, texture)
corner = osg.Vec3(-self.aspect_ratio, -1.0, 0)
width = osg.Vec3(2 * self.aspect_ratio, 0, 0)
height = osg.Vec3(0, 2 * 1.0, 0)
geom = osg.createTexturedQuadGeometry(corner, width, height, 0.0, 0.0,
1.0, 1.0)
geom.setStateSet(stateset)
geode = osg.Geode()
geode.addDrawable(geom)
return geode
def build_wrapping_node(self, data):
grp = osg.Group()
camera, texture = self.camera_build()
grp.addChild(camera)
camera.addChild(data)
quad = self.quad_create(texture)
grp.addChild(quad)
grp.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
# ALPHA_TEST should be disabled by default by OpenGL but it's not.
# That's why it is required to explicitly disable it.
grp.getOrCreateStateSet().setMode(GL.GL_ALPHA_TEST,
osg.StateAttribute.OFF)
return grp
def resetSceneData(self, data):
self.timer.stop()
if self.viewer is not None:
self.viewer.setSceneData(None)
if self.audio is not None:
self.audio.terminate()
self.audio = None
def setSceneData(self, data):
if data is not None:
if self.viewer == None:
self.viewer = self.createViewer()
self.orginal_data = data
data = self.build_wrapping_node(data)
self.viewer.setSceneData(data)
# ready to render
self.fps_calculator.reset(self.startTime)
self.still_frame = False
self.timer.start()
def setAudioData(self, data, skip=0.0):
if self.audio is not None:
self.audio.terminate()
self.audio = None
self.audio_data = data
self.audio_skip = float(skip)
self.audio = SoundPlayer(input_data=data,
tmp_dir=jarvis.get_home(),
start=False,
loop_nb=0,
frames_per_buffer=1024,
blocking=False)
if self.audio is not None:
self.audio.set_loop_time(start_time=self.audio_skip,
end_time=self.audio_skip + self.loopTime)
self.audio.set_time(self.audio_skip + self.current_time,
compensate_buffer=False)
def getosgviewer(self):
return self.viewer
def size():
def fget(self):
return self._size
def fset(self, value):
if value is None:
self._size = None
else:
width, height = value
width = int(round(width))
height = int(round(height))
self._size = (width, height)
self.setMinimumSize(width, height)
return locals()
size = property(**size())
def resizeGL(self, w, h):
self.aspect_ratio = w / float(h)
self.parent.toolbar.aspect_ratio_btn_update()
if self.viewer is not None:
self.gw.resized(0, 0, w, h)
self.setSceneData(self.orginal_data)
self.resetCamera(self.viewer)
def paintGL(self):
if self.viewer == None:
return
frame_time = time.time()
if self.audio is not None:
if self.is_paused or self.still_frame:
self.audio.pause()
else:
self.audio.play(blocking=False)
audio_time = self.audio.get_time() - self.audio_skip
# self.current_time = self.align_time(audio_time)
self.current_time = audio_time
else:
if self.is_paused or self.still_frame:
self.startTime = frame_time - self.current_time
else:
self.current_time = frame_time - self.startTime
if self.current_time >= self.loopTime:
self.startTime = frame_time
self.current_time = 0.0
fps = self.fps_calculator.get(frame_time)
self.parent.toolbar.update_time_info(self.current_time, self.loopTime,
fps)
self.viewer.frameAtTime(self.align_time(self.current_time))
def align_time(self, t):
return min(self.loopTime,
max(0.0,
round(t * config.FPS_UI) / config.FPS_UI))
def update_time(self, from_ratio=None, from_delta=None):
if from_ratio is not None:
self.current_time = self.align_time(self.loopTime * from_ratio)
self.startTime = time.time() - self.current_time
elif from_delta is not None:
self.current_time = self.align_time(self.current_time + from_delta)
self.startTime = time.time() - self.current_time
if self.audio is not None:
self.audio.set_time(self.audio_skip + self.current_time,
compensate_buffer=False)
def pause(self):
self.is_paused = True
def play(self):
self.is_paused = False
def mousePressEvent(self, event):
"""put the qt event in the osg event queue"""
self.still_frame = True
button = mouseButtonDictionary.get(event.button(), 0)
self.update_time(from_ratio=float(event.x()) / float(self.width()))
self.gw.getEventQueue().mouseButtonPress(event.x(), event.y(), button)
def mouseMoveEvent(self, event):
"""put the qt event in the osg event queue"""
self.update_time(from_ratio=float(event.x()) / float(self.width()))
self.gw.getEventQueue().mouseMotion(event.x(), event.y())
def mouseReleaseEvent(self, event):
"""put the qt event in the osg event queue"""
button = mouseButtonDictionary.get(event.button(), 0)
self.gw.getEventQueue().mouseButtonRelease(event.x(), event.y(),
button)
self.still_frame = False
def getGraphicsWindow(self):
"""returns the osg graphicswindow created by osgViewer """
return self.gw
# Sound1a.py
import time
from soundplayer import SoundPlayer
# Use device with ID 1 (mostly USB audio adapter)
p = SoundPlayer("/home/pi/sound/salza1.wav", 1)
print "play for 10 s with volume 0.5"
p.play(0.5) # non-blocking, volume = 0.5
time.sleep(10)
print "pause for 5 s"
p.pause()
time.sleep(5)
print "resume for 10 s"
p.resume()
time.sleep(10)
print "stop"
p.stop()
print "done"
# Sound1b.py
from soundplayer import SoundPlayer
import time
# Use device with ID 0 (mostly standard audio output)
# Sound resource in current folder
p = SoundPlayer("salza1.wav", 1)
print "play for 10 s"
p.play() # non blocking, volume = 1
n = 0
while True:
if not p.isPlaying():
break
print "playing:", n
if n == 10:
p.stop()
print "stopped"
n += 1
time.sleep(1)
print "done"
disconnect_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/Disconnected.mp3",
card)
siren_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/siren.mp3", card)
setup()
waiting_for_connect = True
while waiting_for_connect:
remote_control = connect()
if (remote_control != None):
waiting_for_connect = False
time.sleep(2)
init_sound.play(1.0)
strip = led_strip.setup_led()
led_threading = threading.Thread(
target=led_thread) #Define a thread for ws_2812 leds
led_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
led_threading.start() #Thread starts
tasks = [
remote_control.read_gamepad_input(),
remote_control.rumble(),
read_gamepad_inputs()
]
def run(self):
url = gral_url + "records"
continue_reading = True
# Create an object of the class MFRC522
MIFAREReader = MFRC522.MFRC522()
# Welcome message
# This loop keeps checking for chips. If one is near it will get the UID and authenticate
while continue_reading:
# Scan for cards
(status,
TagType) = MIFAREReader.MFRC522_Request(MIFAREReader.PICC_REQIDL)
# If a card is found
if status == MIFAREReader.MI_OK:
print("Card detected")
# Get the UID of the card
(status, uid) = MIFAREReader.MFRC522_Anticoll()
# If we have the UID, continue
if status == MIFAREReader.MI_OK:
rfid = ''.join([
str(hex(i))[2:] if i > 16 else '0' + str(hex(i))[2:]
for i in uid
])[:-2]
rfidreverse = self.rotate(rfid)
rfid = rfid.upper()
rfidreverse = rfidreverse.upper()
print(rfid, rfidreverse)
p = SoundPlayer("/home/pi/guiPythonLABFAB/sounds/BeepIn.mp3",
0)
p.play(1)
time.sleep(0.001)
#try:
req = requests.post(
url, {
'rfid': rfid,
'lab_id': lab_id
},
headers=credentials.totem_credential).json()
if not req:
req = requests.post(
url, {
'rfid': rfidreverse,
'lab_id': lab_id
},
headers=credentials.totem_credential).json()
if not req:
req = rfid
self.sig2.emit(req)
else:
self.sig1.emit(req)
else:
print('resourse not found:', req)
# except:
# req = 'Not Internet Conection'
# self.sig2.emit(req)
time.sleep(5)
GPIO.cleanup()
setup()
print "Bereit..."
p = SoundPlayer("/home/pi/maja.mp3", 1)
sound1 = SoundPlayer("/home/pi/maja.mp3", 1)
sound2 = SoundPlayer("/home/pi/maja.mp3", 1)
sound3 = SoundPlayer("/home/pi/maja.mp3", 1)
sound4 = SoundPlayer("/home/pi/maja.mp3", 1)
sound5 = SoundPlayer("/home/pi/maja.mp3", 1)
sound6 = SoundPlayer("/home/pi/maja.mp3", 1)
while True:
if GPIO.input(P_TON1) == GPIO.LOW:
if not button1_pressed:
print "Ton1..."
sound1.play()
else:
sound1.stop()
button1_pressed = True
elif GPIO.input(P_TON2) == GPIO.LOW:
if not button2_pressed:
print "Ton2..."
sound2.play()
else:
sound2.stop()
button2_pressed = True
elif GPIO.input(P_TON3) == GPIO.LOW:
if not button3_pressed:
print "Ton3..."
sound3.play()
else:
class PyQtOSGWidget(QtOpenGL.QGLWidget):
def __init__(self, parent = 0, name = '' ,flags = 0):
"""constructor """
QtOpenGL.QGLWidget.__init__(self, parent)
self.parent = parent
self.setFocusPolicy(QtCore.Qt.ClickFocus)
self.timer = QtCore.QTimer()
self.timer.setInterval(1000.0 / config.FPS_RENDERING) # in milliseconds
self.camera = None
self.startTime = 0.0
self.loopTime = 10.0
self.is_paused = False
self.still_frame = True
self.current_time = 0
self.audio = None
self.viewer = None
self.orginal_data = None
self.aspect_ratio = None
self.fps_calculator = FPSCalculator(start_time=self.startTime, smoothness=30)
self.size = None
def initializeGL (self):
"""initializeGL the context and create the osgViewer, also set manipulator and event handler """
self.gw = self.createContext()
self.viewer = None
QtCore.QObject.connect(self.timer, QtCore.SIGNAL("timeout ()"), self.updateGL)
def setLoopTime(self, loopTime):
self.loopTime = loopTime
if self.audio is not None:
self.audio.set_loop_time(start_time=self.audio_skip, end_time=self.audio_skip + self.loopTime)
def embedInContext (self):
"""create a osg.GraphicsWindow for a Qt.QWidget window"""
gw = osgViewer.GraphicsWindowEmbedded(0,0,self.width(),self.height())
return gw
def createContext (self):
"""create a opengl context (currently WindowData classes are not wrapped so we can not inherrit the windowdata) """
ds = osg.DisplaySettings_instance()
if False:
traits = osg.GraphicsContext.Traits()
print traits
traits.readDISPLAY()
if (traits.displayNum<0): traits.displayNum = 0
traits.windowName = "osgViewerPyQt"
traits.screenNum = 0
traits.x = self.x()
traits.y = self.y()
traits.width = self.width()
traits.height = self.height()
traits.alpha = 8 #ds.getMinimumNumAlphaBits()
traits.stencil = 8 #ds.getMinimumNumStencilBits()
traits.windowDecoration = False
traits.doubleBuffer = True
traits.sampleBuffers = 4 #ds.getMultiSamples()
traits.samples = 4 #ds.getNumMultiSamples()
gw = osgViewer.GraphicsWindowEmbedded()
return gw
def createViewer(self):
"""create a osgViewer.Viewer and set the viewport, camera and previously created graphical context """
global viewerFactory
viewer = viewerFactory()
#init the default eventhandler
# self.viewer.setCameraManipulator(osgGA.TrackballManipulator())
viewer.addEventHandler(osgViewer.StatsHandler())
viewer.addEventHandler(osgViewer.HelpHandler())
viewer.getUpdateVisitor().setTraversalMask(UPDATE_MASK)
self.resetCamera(viewer)
return viewer
def resetCamera(self, viewer):
camera = viewer.getCamera()
camera.setComputeNearFarMode(False)
# camera = osg.Camera()
camera.setViewport(osg.Viewport(0,0, self.width(), self.height()))
# camera.setReferenceFrame(osg.Transform.ABSOLUTE_RF)
CAMERA_ANGLE = 45.0
CAMERA_Z_TRANSLATE = 2.4142135623730949 #1.0 / math.tan(math.radians(CAMERA_ANGLE / 2.0))
cameraPosition = [0.0, 0.0, CAMERA_Z_TRANSLATE]
camera.setProjectionMatrixAsPerspective(CAMERA_ANGLE,float(self.width())/float(self.height()), 0.1, 100.0)
eye = osg.Vec3d(cameraPosition[0], cameraPosition[1], cameraPosition[2])
center = osg.Vec3d(0,0,0)
up = osg.Vec3d(0,1,0)
camera.setViewMatrixAsLookAt(eye, center, up)
camera.getOrCreateStateSet().setAttributeAndModes(osg.BlendFunc(GL.GL_ONE, GL.GL_ONE_MINUS_SRC_ALPHA))
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_TEST, False)
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_WRITEMASK, False)
camera.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
material = osg.Material()
color = osg.Vec4(1.0,1.0,1.0,1.0)
material.setDiffuse(osg.Material.FRONT_AND_BACK, color)
material.setAmbient(osg.Material.FRONT_AND_BACK, color)
camera.getOrCreateStateSet().setAttributeAndModes(material)
camera.setClearColor(osg.Vec4(0,0,0,0))
camera.setClearMask(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
camera.setCullMask(VISIBLE_CULL_MASK)
if not self.gw:
raise Exception("GraphicsWindow not yet created")
self.camera = camera
# viewer.getCamera().setViewport(osg.Viewport(0,0, self.width(), self.height()))
# viewer.getCamera().addChild(camera)
camera.setGraphicsContext(self.gw)
def texture_build(self):
texture = osg.Texture2D()
texture.setTextureSize(self.width(), self.height())
texture.setInternalFormat(GL.GL_RGBA)
texture.setResizeNonPowerOfTwoHint(False)
# bug detected here, if I enable mipmap osg seems to use the view buffer to
# do something. If I disable the mipmap it works.
# you can view the issue with test_09_gaussian_filter.py
#texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR_MIPMAP_LINEAR)
texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR)
texture.setFilter(osg.Texture.MAG_FILTER, osg.Texture.LINEAR)
return texture
def camera_build(self):
texture = self.texture_build()
camera = osg.Camera()
camera.setViewport(osg.Viewport(0,0, self.width(), self.height()))
camera.setReferenceFrame(osg.Transform.ABSOLUTE_RF)
camera.setRenderOrder(osg.Camera.PRE_RENDER)
camera.setRenderTargetImplementation(osg.Camera.FRAME_BUFFER_OBJECT)
camera.attach(osg.Camera.COLOR_BUFFER, texture, 0, 0, False, 0, 0)
CAMERA_ANGLE = 45.0
CAMERA_Z_TRANSLATE = 2.4142135623730949 #1.0 / math.tan(math.radians(CAMERA_ANGLE / 2.0))
cameraPosition = [0.0, 0.0, CAMERA_Z_TRANSLATE]
camera.setProjectionMatrixAsPerspective(CAMERA_ANGLE,float(self.width())/float(self.height()), 0.1, 10000.0)
eye = osg.Vec3d(cameraPosition[0], cameraPosition[1], cameraPosition[2])
center = osg.Vec3d(0,0,0)
up = osg.Vec3d(0,1,0)
camera.setViewMatrixAsLookAt(eye, center, up)
camera.getOrCreateStateSet().setAttributeAndModes(osg.BlendFunc(GL.GL_ONE, GL.GL_ONE_MINUS_SRC_ALPHA))
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_TEST, False)
camera.getOrCreateStateSet().setMode(GL.GL_DEPTH_WRITEMASK, False)
camera.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
material = osg.Material()
color = osg.Vec4(1.0,1.0,1.0,1.0)
material.setDiffuse(osg.Material.FRONT_AND_BACK, color)
material.setAmbient(osg.Material.FRONT_AND_BACK, color)
camera.getOrCreateStateSet().setAttributeAndModes(material)
camera.setClearColor(osg.Vec4(0,0,0,0))
camera.setClearMask(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
return camera, texture
def quad_create(self, texture):
stateset = osg.StateSet()
stateset.setTextureAttributeAndModes(0, texture)
corner = osg.Vec3(-self.aspect_ratio, -1.0, 0)
width = osg.Vec3(2 * self.aspect_ratio, 0, 0)
height = osg.Vec3(0, 2 * 1.0, 0)
geom = osg.createTexturedQuadGeometry(corner, width, height, 0.0, 0.0, 1.0, 1.0)
geom.setStateSet(stateset)
geode = osg.Geode()
geode.addDrawable(geom)
return geode
def build_wrapping_node(self, data):
grp = osg.Group()
camera,texture = self.camera_build()
grp.addChild(camera)
camera.addChild(data)
quad = self.quad_create(texture)
grp.addChild(quad)
grp.getOrCreateStateSet().setMode(GL.GL_LIGHTING, False)
# ALPHA_TEST should be disabled by default by OpenGL but it's not.
# That's why it is required to explicitly disable it.
grp.getOrCreateStateSet().setMode(GL.GL_ALPHA_TEST, osg.StateAttribute.OFF)
return grp
def resetSceneData(self, data):
self.timer.stop()
if self.viewer is not None:
self.viewer.setSceneData(None)
if self.audio is not None:
self.audio.terminate()
self.audio = None
def setSceneData(self, data):
if data is not None:
if self.viewer == None:
self.viewer = self.createViewer()
self.orginal_data = data
data = self.build_wrapping_node(data)
self.viewer.setSceneData(data)
try:
# when working with conservative viewer
# to enable prefetch an release of image streams
self.viewer.optimizeTimeRanges()
except:
pass
# ready to render
self.fps_calculator.reset(self.startTime)
self.still_frame = False
self.timer.start()
def setAudioData(self, data, skip=0.0):
if self.audio is not None:
self.audio.terminate()
self.audio = None
self.audio_data = data
self.audio_skip = float(skip)
self.audio = SoundPlayer(input_data=data, tmp_dir=jarvis.get_home(), start=False, loop_nb=0, frames_per_buffer=1024, blocking=False)
if self.audio is not None:
self.audio.set_loop_time(start_time=self.audio_skip, end_time=self.audio_skip + self.loopTime)
self.audio.set_time(self.audio_skip + self.current_time, compensate_buffer=False)
def getosgviewer(self):
return self.viewer
def size():
def fget(self):
return self._size
def fset(self, value):
if value is None:
self._size = None
else:
width, height = value
width = int(round(width))
height = int(round(height))
self._size = (width, height)
self.setMinimumSize(width, height)
return locals()
size = property(**size())
def resizeGL(self, w, h):
self.aspect_ratio = w / float(h)
self.parent.toolbar.aspect_ratio_btn_update()
if self.viewer is not None:
self.gw.resized(0, 0, w, h)
self.setSceneData(self.orginal_data)
self.resetCamera(self.viewer)
def paintGL(self):
if self.viewer == None:
return
frame_time = time.time()
if self.audio is not None :
if self.is_paused or self.still_frame:
self.audio.pause()
else:
self.audio.play(blocking=False)
audio_time = self.audio.get_time() - self.audio_skip
# self.current_time = self.align_time(audio_time)
self.current_time = audio_time
else:
if self.is_paused or self.still_frame:
self.startTime = frame_time - self.current_time
else:
self.current_time = frame_time - self.startTime
if self.current_time >= self.loopTime:
self.startTime = frame_time
self.current_time = 0.0
fps = self.fps_calculator.get(frame_time)
self.parent.toolbar.update_time_info(self.current_time, self.loopTime, fps)
self.viewer.frameAtTime(self.align_time(self.current_time))
def align_time(self, t):
return min(self.loopTime, max(0.0, round(t * config.FPS_UI) / config.FPS_UI))
def update_time(self, from_ratio=None, from_delta=None):
if from_ratio is not None:
self.current_time = self.align_time(self.loopTime * from_ratio)
self.startTime = time.time() - self.current_time
elif from_delta is not None:
self.current_time = self.align_time(self.current_time + from_delta)
self.startTime = time.time() - self.current_time
if self.audio is not None:
self.audio.set_time(self.audio_skip + self.current_time, compensate_buffer=False)
def pause(self):
self.is_paused = True
def play(self):
self.is_paused = False
def mousePressEvent( self, event ):
"""put the qt event in the osg event queue"""
self.still_frame = True
button = mouseButtonDictionary.get(event.button(), 0)
self.update_time(from_ratio=float(event.x()) / float(self.width()))
self.gw.getEventQueue().mouseButtonPress(event.x(), event.y(), button)
def mouseMoveEvent(self, event):
"""put the qt event in the osg event queue"""
self.update_time(from_ratio=float(event.x()) / float(self.width()))
self.gw.getEventQueue().mouseMotion(event.x(), event.y())
def mouseReleaseEvent( self, event ):
"""put the qt event in the osg event queue"""
button = mouseButtonDictionary.get(event.button(), 0)
self.gw.getEventQueue().mouseButtonRelease(event.x(), event.y(), button)
self.still_frame = False
def getGraphicsWindow(self):
"""returns the osg graphicswindow created by osgViewer """
return self.gw
if len(os.listdir('/media/PiSoundBoard')) > 0:
os.system("sudo rm /home/pi/soundfiles/*")
os.system("sudo cp -R /media/PiSoundBoard/*.mp3 /home/pi/soundfiles")
def readSwitches():
global lastPushedSwitch
for i in switches:
if GPIO.input(i) == False and lastPushedSwitch != i:
lastPushedSwitch = i
return switches[i]["filename"]
return False
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
initSwitches()
initRelais()
copyMediaFiles()
if __name__ == '__main__':
while True:
if player != False and player.isPlaying() == False:
lastPushedSwitch = False
filename = readSwitches()
if filename != False and os.path.isfile(SoundFilePath + filename):
#print(SoundFilePath + filename)
player = SoundPlayer(SoundFilePath + filename, 0)
player.play(1.0)
# Sound1a.py
import time
from soundplayer import SoundPlayer
# Use device with ID 1 (mostly USB audio adapter)
#p = SoundPlayer("//home/pi/Desktop/Sonido/Beep1.mp3", 0)
#p = SoundPlayer("//home/pi/Desktop/Sonido/Beep2.mp3", 0)
#p = SoundPlayer("//home/pi/Desktop/Sonido/Alarm.mp3", 0)
p = SoundPlayer("//home/pi/Desktop/Sonido/John Cena - My Time Is Now.mp3", 0)
print("play for 10 s with volume 0.5")
p.play(0.5) # non-blocking, volume = 0.5 (0 a 1)
##print ("isPlaying:", p.isPlaying())
time.sleep(1)
##print ("pause for 5 s")
##p.pause()
##print ("isPlaying:", p.isPlaying())
##time.sleep(5)
##print ("resume for 10 s")
##p.resume()
##time.sleep(10)
##print ("stop")
##p.stop()
##print ("isPlaying:", p.isPlaying())
##print ("done")
setup()
nbSongs = 4
songID = 0
state = "STOPPED"
print "ready->stopped"
p = SoundPlayer("/home/pi/songs/song" + str(songID) + ".mp3", 1)
while True:
if GPIO.input(P_PAUSE) == GPIO.LOW and state == "PLAYING":
state = "PAUSED"
p.pause()
print "playing->paused"
elif GPIO.input(P_PLAY) == GPIO.LOW and state == "STOPPED":
state = "PLAYING"
p.play()
print "stopped->playing, song ID", songID
elif GPIO.input(P_PLAY) == GPIO.LOW and state == "PAUSED":
state = "PLAYING"
p.resume()
print "paused->playing"
elif GPIO.input(P_STOP) == GPIO.LOW and (state == "PAUSED"
or state == "PLAYING"):
state = "STOPPED"
p.stop()
print "paused/playing->stopped"
elif GPIO.input(P_SELECT) == GPIO.LOW and state == "STOPPED":
songID += 1
if songID == nbSongs:
songID = 0
p = SoundPlayer("/home/pi/songs/song" + str(songID) + ".mp3", 1)
def playMusic(file):
from soundplayer import SoundPlayer
p = SoundPlayer(file, 1)
print("playing" + file)
p.play() # non-blocking, volume = 0.5
print("done")
GPIO.PUD_UP) # Einschalter abfragen Ein == Low
GPIO.setwarnings(False)
GPIO.setup(P_POWER, GPIO.OUT)
GPIO.output(P_POWER, True) # Netzteil eingeschaltet lassen
DoSound.playTone(440, 0.3, dev)
DoSound.playTone(550, 0.3, dev)
DoSound.playTone(660, 0.3, dev)
time.sleep(1)
DoSound.playTone([440, 550, 660], 3, dev)
time.sleep(2)
setup()
print "Bereit..."
p = SoundPlayer("/home/pi/mp3/Nanue.mp3", 1)
p.play(1)
while True:
if GPIO.input(P_TON1) == GPIO.LOW:
print "Ton1..."
p.stop()
DoSound.playTone(440, 0.3, dev)
elif GPIO.input(P_TON2) == GPIO.LOW:
print "Ton2..."
p.stop()
DoSound.playTone(550, 0.3, dev)
p.play()
elif GPIO.input(P_TON3) == GPIO.LOW:
print "Ton3..."
p.stop()
DoSound.playTone(660, 0.3, dev)
# Sound1c.py
import time
from soundplayer import SoundPlayer
# Use device with ID 1 (mostly USB audio adapter)
#p = SoundPlayer("/home/pi/Music/jew1.mp3", 1)
p = SoundPlayer("/home/pi/Music/jew1.wav", 1)
print "play whole song"
p.play(1, True) # non-blocking, volume = 1
print "done"