def left(speed):
global kit
utils.myDebug('left ' + str(speed))
kit.motor4.throttle = speed
kit.motor3.throttle = -1 * speed
kit.motor2.throttle = speed
kit.motor1.throttle = -1 * speed
def stop():
global kit
utils.myDebug('stop')
kit.motor4.throttle = 0
kit.motor3.throttle = 0
kit.motor2.throttle = 0
kit.motor1.throttle = 0
def forward(speed):
global kit
utils.myDebug('forward ' + str(speed))
kit.motor4.throttle = speed
kit.motor3.throttle = speed
kit.motor2.throttle = -1 * speed
kit.motor1.throttle = -1 * speed
def checkPythonProcessRunning(pythonScript):
counter = 0
for proc in psutil.process_iter():
if pythonScript in proc.cmdline():
counter += 1
utils.myDebug('cmd: ' + str(proc.cmdline()))
utils.myLog(pythonScript + ' está en ejecución {} veces'.format(counter))
return counter
def getImage(preview=False):
global camera
if preview:
camera.start_preview() # muestra la previsualizacion
sleep(1) # espera 5 segundos
now = datetime.now()
date_time = now.strftime("%Y%m%d-%H%M%S")
fileName = 'image' + date_time + '.jpg'
fullName = config.ImagesDirectory + fileName
utils.myDebug("image - " + fullName)
camera.capture(fullName) # guarda la imagen
if preview: camera.stop_preview() # cierra la previsualizacion
return fullName
def updateBot(bot):
"""Answer the message the user sent."""
global update_id
global chat_id
global time_between_picture
global welcomeMsg
global nightMode
global bReboot
#utils.myLog('Updating telegramBot')
# Request updates after the last update_id
for update in bot.get_updates(offset=update_id, timeout=10):
update_id = update.update_id + 1
if update.message: # your bot can receive updates without messages
# Proccess the incoming message
comando = update.message.text # message text
command_time = update.message.date # command date
user = update.message.from_user #User full objetct
chat_id = int(update.message.from_user.id)
user_real_name = user.first_name #USER_REAL_NAME
if chat_id not in config.ALLOWED_USERS:
message = 'User: {} not allowed. Chat_id {} command: {}. Will be reported'.format(
str(user_real_name), str(chat_id), comando)
sendMsg2Admin(message)
break
TelegramBase.chat_ids[user_real_name] = [command_time, chat_id]
utils.myLog('Command: ' + comando + ' from user ' +
str(user_real_name) + ' in chat id:' + str(chat_id) +
' at ' + str(command_time))
if comando == cmdStart:
update.message.reply_text(welcomeMsg,
reply_markup=user_keyboard_markup)
elif comando == cmdHi:
update.message.reply_text('Hello {}'.format(
update.message.from_user.first_name),
reply_markup=user_keyboard_markup)
elif comando == cmdInfo:
answer = 'Info: ' + utils.getStrDateTime(
) + '\n==========================\n\n' + 'Tiempo entre imágenes: ' + getTimeLapseStr(
) + '\n ' + str(len(os.listdir(
config.ImagesDirectory))) + ' imágenes'
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdHelp:
bot.send_message(chat_id=chat_id,
text=commandList,
reply_markup=user_keyboard_markup)
elif comando == cmdUsers:
sUsers = TelegramBase.getUsersInfo()
TelegramBase.send_message(sUsers, chat_id)
elif comando == cmdDayMode:
nightMode == False
update.message.reply_text('Day mode',
reply_markup=user_keyboard_markup)
elif comando == cmdNightMode:
nightMode == True
update.message.reply_text('Night mode',
reply_markup=user_keyboard_markup)
elif comando == cmdPhoto:
answer = getImage()
utils.myLog(answer)
TelegramBase.send_picture(answer, chat_id)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdLastPhoto:
imagenes = os.listdir(config.ImagesDirectory)
answer = config.ImagesDirectory + sorted(imagenes)[-1]
TelegramBase.send_picture(answer, chat_id)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdListPhotos:
imagenes = sorted(os.listdir(config.ImagesDirectory))
answer = str(
len(imagenes)) + ' Imágenes\n----------------------\n'
utils.myDebug(answer)
contadorImagenes = 1
for imagen in imagenes:
answer += str(contadorImagenes) + ' ' + imagen + '\n'
contadorImagenes += 1
utils.myDebug(answer)
if len(imagenes) > 70:
answer = answer[0:2041] + ' \n...'
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando.startswith('/N'):
numero = int(comando[2:])
imagenes = sorted(os.listdir(config.ImagesDirectory))
answer = config.ImagesDirectory + imagenes[numero]
utils.myLog(answer)
TelegramBase.send_picture(answer, chat_id)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando.startswith('/T'):
time_between_picture = int(comando[2:])
answer = getTimeLapseStr()
utils.myLog(answer)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando.startswith('/image'):
answer = config.ImagesDirectory + comando[1:]
TelegramBase.send_picture(answer, chat_id)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdTemp:
answer = raspi.getTemp()
utils.myLog(answer)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdDF:
answer = raspi.getDiskUsed()
utils.myLog(answer)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdIP:
answer = raspi.getIP()
utils.myLog(answer)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
elif comando == cmdReboot:
answer = 'Reboot in 10 seconds!!!'
utils.myLog(answer)
update.message.reply_text(
answer,
parse_mode=telegram.ParseMode.MARKDOWN,
reply_markup=user_keyboard_markup)
bReboot = True
else:
update.message.reply_text('echobot: ' + update.message.text,
reply_markup=user_keyboard_markup)
def init():
global kit
utils.myDebug('Robot.py ' + v)
kit = MotorKit()