def main():
#broker = redis.StrictRedis()
#broker = RedisClient().conn
#sub = broker.pubsub()
global sc
try:
'''
UP/DOWN servo => pin 13
LEFT/RIGHT servo => pin 19
'''
sub = BROKER()
sc = SERVO()
sub.subscribe(callback, SC_CH)
# while True:
# topic, message = sub.get()
# if message != None:
# log.debug(message)
# data = json.loads(message)
# log.debug("SC: received data:")
# log.debug(data)
# action = data['action']
# angle = int(data['angle'])
# if not (sc is None):
# execute_action(sc, action, angle)
# else:
# log.error("servos were not initialized not performing action!")
# sleep(0.2)
except Exception as ex:
log.error("exception in ServosController")
log.error(ex, exc_info=True)
sc.clean_up()
def main():
try:
#broker = redis.StrictRedis()
#broker = RedisClient().conn
#sub = broker.pubsub()
#tts = TTS()
sub = BROKER()
sub.subscribe(callback, TTSC_CH)
# while True:
# topic, message = sub.get_b()
# if message != None:
# log.debug(message)
# data = json.loads(message)
# log.debug("TTSC: received data:")
# log.debug(data)
# action = data['action']
# sentence = data['sentence']
# #broker.publish(HC_CH, '{"action": "play", "anime": "talk"}')
# tts.speak(sentence, broker)
# #broker.publish(HC_CH, '{"action": "play", "anime": "standby"}')
# sleep(0.4)
except Exception as ex:
log.error("error in TTSController")
log.error(ex, exc_info=True)
def main():
#broker = redis.StrictRedis()
#broker = RedisClient().conn
#sub = broker.pubsub()
global dcm
sub = BROKER()
try:
dcm = init_dc_motors()
sub.subscribe(callback, DCM_CH)
# while True:
# #message = sub.get_message()
# topic, message = sub.get()
# if message != None:
# log.debug((message))
# data = json.loads(message)
# log.debug("DCMC: received data:")
# log.debug(data)
# action = data['action']
# speed = int(data['speed'])
# time_limit = 0
# if 'time_limit' in data:
# time_limit = float(data['time_limit'])
# if not (dcm is None):
# execute_action(dcm, action, speed, time_limit)
# else:
# log.error("dcm was not initialized not performing action!")
# sleep(0.2)
except Exception as ex:
log.error("exception in DCMController")
log.error(ex, exc_info=True)
dcm.clean_up()
def main():
try:
ava = AVA()
#ava.set_motion(ava.CONFIG.AVA_STANDBY_ANIME)
execute_action(ava, 'play', 'standby')
print(ava.CONFIG.AVA_STANDBY_ANIME + "----------")
#sleep(10)
#ava.set_motion(ava.CONFIG.AVA_TALK_ANIME)
#broker = redis.StrictRedis()
#broker = RedisClient().conn
#sub = broker.pubsub()
sub = BROKER()
sub.subscribe(callback, HC_CH)
# while True:
# ava.process_events()
# topic, message = sub.get()
# if message != None:
# log.debug(message)
# data = json.loads(message)
# log.debug("HC: received data:")
# log.debug(data)
# action = data['action']
# anime = data['anime']
# execute_action(ava, action, anime)
# sleep(0.4)
except Exception as ex:
log.error("error in HeadController")
log.error(ex, exc_info=True)
def main():
try:
global left_dist
global right_dist
global broker
broker = BROKER()
broker.subscribe(callback, MAUC_CH)
# while True:
# topic, message = broker.get()
# if message != None:
# log.debug(message)
# data = json.loads(message)
# log.debug("MainAUC: received data:")
# log.debug(data)
# execute_action(data, broker)
# sleep(0.2)
except Exception as ex:
log.error("exception in MainAUC")
log.error(ex, exc_info=True)
def main():
try:
global us
global broker
us = DSensor()
#broker = redis.StrictRedis()
#broker = RedisClient().conn
#sub = broker.pubsub()
broker = BROKER()
#sub = BROKER()
thread = threading.Thread(target=background_job, args=(us, broker))
thread.daemon = True
thread.start()
broker.subscribe(callback, US_CH)
# while True:
# background_job(us, broker)
# time.sleep(2)
# while True:
# topic, message = sub.get()
# if message != None:
# log.debug(message)
# data = json.loads(message)
# log.debug("US: received data:")
# log.debug(data)
# action = data['action']
# if not (us is None):
# execute_action(us, action, broker)
# else:
# log.error("servos were not initialized not performing action!")
# else:
# background_job(us, broker)
# time.sleep(1)
except Exception as ex:
log.error("exception in USController")
log.error(ex, exc_info=True)
us.clean_up()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import numpy as np
import cv2
import sys
sys.path.append('/home/pi/ava')
from utils.RabbitCtl import BROKER
def callback(ch, method, properties, body):
# create int values from sting
np_arr = np.frombuffer(body, np.uint8)
# convert data from .jpg encoded image to cv2 format
image = cv2.imdecode(np_arr, 1)
cv2.imshow('image', image)
#print("frame header stamp: {}".format(body.header.stamp))
# show images and delay for 10ms
cv2.waitKey(10)
if __name__ == '__main__':
br = BROKER()
br.subscribe(callback, "stream")