def checkin(self):
if self.appdisabled:
return False
try:
self.twtaccess = Twitter(
auth=OAuth(tininfo.TiNTwOAToken, tininfo.TiNTwOASecret,
tininfo.TiNTwConKey, tininfo.TiNTwConSecret))
except:
print 'Unable to check into PyRIDE PR2 twitter app. Try again in 10mins.'
return False
self.startupTime = time.localtime()
self.updatestatus(
time.strftime("I'm back online at %H:%M to serve ",
time.localtime()) + tininfo.TiNLocation + ".")
self.token = self.lastoken
self.getmessages()
tinstate.updateStatus(constants.NEW_MESSAGES, len(self.messages) == 0)
tid = PyPR2.addTimer(60, -1, 60)
self.timercontext[tid] = 'getmsg'
timermanager.addTimer(tid, self)
#add purge archive time
purgetime = timermanager.calcTimePeriodFromNow("4:00")
if purgetime > 0:
tid = PyPR2.addTimer(purgetime, -1, 24 * 60 * 3600)
self.timercontext[tid] = 'purgemsg'
timermanager.addTimer(tid, self)
return True
def onHumanTracking(tracking_objs):
#global busymoving
#SHOOTING_TAG = 0
#global start_time,last_action_counter,movement_tracker,msgTryTimer,d,x,y,track_x,track_y,track_d,elapsed_time,focus_obj,HUMAN_DETECTION_COUNTER
global a2,b2,NEW_INTERACTION_INITIALISER, NumPeople, HumanPresence, x, y, msgTryTimer
NumPeople = len(tracking_objs)
a2 +=1
if len(tracking_objs)==0:
NEW_INTERACTION_INITIALISER += 1
if HumanPresence == True:
PyPR2.removeTimer(msgTryTimer)
if NEW_INTERACTION_INITIALISER > 500:
restoreInitialState()
HumanPresence = False
elif len(tracking_objs) > 0:
if HumanPresence== False:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1,-1,0.5)
b2+=1
#st_time = time.time()
#no_objTracker.append(elapsed_time)
HumanPresence = True
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos( chx, chy )
def onHumanTracking(tracking_objs):
#global busymoving
#SHOOTING_TAG = 0
#global start_time,last_action_counter,movement_tracker,msgTryTimer,d,x,y,track_x,track_y,track_d,elapsed_time,focus_obj,HUMAN_DETECTION_COUNTER
global a2, b2, NEW_INTERACTION_INITIALISER, NumPeople, HumanPresence, x, y, msgTryTimer
NumPeople = len(tracking_objs)
a2 += 1
if len(tracking_objs) == 0:
NEW_INTERACTION_INITIALISER += 1
if HumanPresence == True:
PyPR2.removeTimer(msgTryTimer)
if NEW_INTERACTION_INITIALISER > 500:
restoreInitialState()
HumanPresence = False
elif len(tracking_objs) > 0:
if HumanPresence == False:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1, -1, 0.5)
b2 += 1
#st_time = time.time()
#no_objTracker.append(elapsed_time)
HumanPresence = True
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos(chx, chy)
def onHumanTracking(tracking_objs):
global HUMAN_COUNTER,track_data,msgTryTimer,x,y,d,st_time
if len(tracking_objs) !=0:
if HUMAN_COUNTER ==0:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1,-1,2)
elapsed_time = time.time() - st_time
no_objTracker.append((elapsed_time,time.time()))
HUMAN_COUNTER= len(tracking_objs)
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
d = math.sqrt((math.pow(x,2))+(math.pow(y,2)))
# track_y.append(y)
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos( chx, chy )
else:
if HUMAN_COUNTER !=0:
PyPR2.removeTimer(msgTryTimer)
#msgTryTimer = -1
st_time = time.time()
HUMAN_COUNTER =0
def onHumanTracking(tracking_objs):
global HUMAN_COUNTER, track_data, msgTryTimer, x, y, d, st_time
if len(tracking_objs) != 0:
if HUMAN_COUNTER == 0:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1, -1, 2)
elapsed_time = time.time() - st_time
no_objTracker.append((elapsed_time, time.time()))
HUMAN_COUNTER = len(tracking_objs)
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
d = math.sqrt((math.pow(x, 2)) + (math.pow(y, 2)))
# track_y.append(y)
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos(chx, chy)
else:
if HUMAN_COUNTER != 0:
PyPR2.removeTimer(msgTryTimer)
#msgTryTimer = -1
st_time = time.time()
HUMAN_COUNTER = 0
def main():
global myMessenger, msgTryTimer
global extProcCall, iksResolver
extProcCall = extprocall.ProcConduit()
iksResolver = iksresolver.IKSResolver()
PyPR2.onUserLogOn = userLogon
PyPR2.onUserLogOff = userLogoff
PyPR2.onTimer = timerActions
PyPR2.onTimerLapsed = timerLapsedActions
PyPR2.onRemoteCommand = remoteCommandActions
PyPR2.onSystemShutdown = systemShutdownActions
PyPR2.onPowerPluggedChange = powerPlugChangeActions
PyPR2.onBatteryChargeChange = batteryChargeChangeActions
PyPR2.onNodeStatusUpdate = nodeStatusUpdate
myMessenger = messenger.Messenger()
if not myMessenger.checkin():
msgTryTimer = PyPR2.addTimer(10 * 60, -1, 10 * 60)
PyPR2.say(constants.INTRO_TEXT)
PyPR2.setLowPowerThreshold(20)
def onHumanTracking(tracking_objs):
global start_time,last_action_counter,movement_tracker,msgTryTimer,d,x,y,track_x,track_y,track_d,elapsed_time,focus_obj,HUMAN_DETECTION_COUNTER
if len(tracking_objs)==0:
PyPR2.removeTimer(msgTryTimer)
HUMAN_DETECTION_COUNTER=0
elapsed_time = time.time() - start_time
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
track_x.append(x)
track_y.append(y)
#track_d.append((elapsed_time,x,y))
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos( chx, chy )
PyPR2.onTimer = timerActions
if msgTryTimer==-1:
#PyPR2.tuckBothArms()
msgTryTimer = PyPR2.addTimer( 1, -1, 2 ) #changed just for testing the isStationeryCase()
'''
def onHumanTracking(tracking_objs):
global start_time, last_action_counter, movement_tracker, msgTryTimer, d, x, y, track_x, track_y, track_d, elapsed_time, focus_obj, HUMAN_DETECTION_COUNTER
if len(tracking_objs) == 0:
PyPR2.removeTimer(msgTryTimer)
HUMAN_DETECTION_COUNTER = 0
elapsed_time = time.time() - start_time
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
track_x.append(x)
track_y.append(y)
#track_d.append((elapsed_time,x,y))
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos(chx, chy)
PyPR2.onTimer = timerActions
if msgTryTimer == -1:
#PyPR2.tuckBothArms()
msgTryTimer = PyPR2.addTimer(
1, -1, 2) #changed just for testing the isStationeryCase()
'''
def onHumanTracking(tracking_objs):
global HUMAN_COUNTER, st_time,msgTryTimer,x,y,Numpeople,avg_y,avg_x,actionIdentifier,isNearest
#focus_obj = tracking_objs[object_inde x]
Numpeople = len(tracking_objs)
avgPos(tracking_objs)
if len(tracking_objs) == 0:
#PyPR2.cancelMoveBodyAction()
if HUMAN_COUNTER !=0:
PyPR2.removeTimer(msgTryTimer)
PyPR2.moveArmWithJointPos(**initial_left)
PyPR2.moveArmWithJointPos(**initial_right)
#msgTryTimer = -1
#elapsed_time = time.time()-st_time
HUMAN_COUNTER =0
elif len(tracking_objs) > 0:
if HUMAN_COUNTER ==0:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1,-1,0.5)
#a +=1
#st_time = time.time()
#no_objTracker.append(elapsed_time)
HUMAN_COUNTER= Numpeople
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
d = math.sqrt((math.pow(x,2))+(math.pow(y,2)))
if d<0.1:
PyPR2.cancelMoveBodyAction()
PyPR2.cancelMoveArmAction(True)
PyPR2.cancelMoveArmAction(False)
#c+=1
# track_y.append(y)
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos( chx, chy )
if Numpeople ==1:
if x>3.5:
if isNearest == False:
if y>0:
PyPR2.moveArmWithJointPos(**initial_left)
actionIdentifier= "initial_left"
else:
PyPR2.moveArmWithJointPos(**initial_right)
actionIdentifier= "initial_right"
elif 2.5<x<3.5:
PyPR2.moveTorsoBy(0.1,2)
if y>0:
PyPR2.moveArmWithJointPos(**second_left)
actionIdentifier = "second_left"
else:
PyPR2.moveArmWithJointPos(**second_right)
actionIdentifier = "second_right"
elif 1.5<x<2.5:
PyPR2.moveTorsoBy(0.1,2)
isNearest = True
if y>0:
PyPR2.moveArmWithJointPos(**third_left)
actionIdentifier = "third_left"
else:
PyPR2.moveArmWithJointPos(**third_right)
actionIdentifier = "third_right"
else:
isNearest = True
PyPR2.moveArmWithJointPos(**full_stretch_left)
PyPR2.moveArmWithJointPos(**full_stretch_right)
actionIdentifier = "full_stretch"
if 1<Numpeople<3:
if x>3.5:
if isNearest ==False:
PyPR2.moveArmWithJointPos(**initial_left)
PyPR2.moveArmWithJointPos(**initial_right)
actionIdentifier = "Both_initial"
elif 2.5<x<3.5:
PyPR2.moveArmWithJointPos(**second_left)
PyPR2.moveArmWithJointPos(**second_right)
PyPR2.moveTorsoBy(0.1,2)
actionIdentifier = "Multiple_Second"
elif 1.5<x<2.5:
isNearest = True
PyPR2.moveArmWithJointPos(**third_right)
PyPR2.moveArmWithJointPos(**third_left)
PyPR2.moveTorsoBy(0.1,2)
actionIdentifier = "Multiple_third"
else:
isNearest = True
PyPR2.moveArmWithJointPos(**full_stretch_left)
PyPR2.moveArmWithJointPos(**full_stretch_right)
actionIdentifier = "Full_Multiple"
elif Numpeople > 3:
isNearest = True
PyPR2.moveArmWithJointPos(**full_stretch_left)
PyPR2.moveArmWithJointPos(**full_stretch_right)
actionIdentifier = "TooManyPeopleBehaviour"