class RobotCommands(object):
def __init__(self):
self._dao = DataAccess()
exposed = True
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
# Send the robot to certain location
if request.has_key('location'):
object = self._dao.getLocationByName(request['location']);
robot = Factory.getCurrentRobot();
robot.setComponentState('tray', request['tray'])
robot.setComponentState('base', [object['xCoord'], object['yCoord'], object['orientation']])
# Send voice command to the robot (espeak software required)
elif request.has_key('speech'):
if self._dao.getUserPreferences()[0]['voice'] == 1:
import subprocess
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
subprocess.call(['espeak', request['speech']]); #Linux
else:
raise cherrypy.HTTPError(400)
def __init__(self):
super(LocationProcessor, self).__init__()
self._dao = DataAccess()
self._storedLoc = lambda: {'locationName': '', 'xCoord': 0, 'yCoord': 0, 'orientation': 0, 'driftThreshold': 0 }
self._curLoc = lambda: ('', (0, 0, 0))
self._updateLoc = lambda locid, x, y, orientation: True
self._targetName = ''
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
class SensorLog(PollingProcessor):
""" Handles updating sensors of all types to the database """
def __init__(self, channels, name=''):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
def start(self):
""" Begin asynchronously updating changes in sensors """
if self._name != '':
print "Started updating database for %s sensor changes" % (
self._name)
else:
print "Started updating database for [unknown] sensor changes"
self._addPollingProcessor('sensorHistory', self.checkUpdateSensors,
(self._channels, ), 0.01)
def stop(self):
""" Stop updating the sensor table """
if self._name != '':
print "Stopped updating database for %s sensor changes" % (
self._name)
else:
print "Stopped updating database for [unknown] sensor changes"
self._removePollingProcessor('sensorHistory')
def checkUpdateSensors(self, channels):
""" Check the specified channels and update the database whenever changes are detected to the 'value' or 'status'"""
for uuid, sensor in channels.items():
if not self._logCache.has_key(uuid):
current = self._dao.getSensor(sensor['id'])
self._logCache[uuid] = {
'value': current['value'],
'status': current['status']
}
status = str(sensor['status']).capitalize()
if self._logCache[uuid]['status'] != status or self._logCache[
uuid]['value'] != sensor['value']:
val = sensor['value'] if len(
sensor['value']) > 1 else sensor['value'][0]
timestamp = datetime.datetime.now().strftime(
'%Y-%m-%d %H:%M:%S')
success = self._dao.saveSensorLog(sensor['id'], val, status,
timestamp, sensor['room'],
sensor['channel'])
if success:
print "Updated sensor log for %(id)s to %(status)s (%(value)s)" % {
'id': sensor['channel'],
'status': status,
'value': val,
}
self._logCache[uuid]['value'] = sensor['value']
self._logCache[uuid]['status'] = status
class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._robot = Factory.getRobot('UH Sunflower')
self._thread1 = myThreadLights(1, "Thread-1", self._robot)
self._thread2 = myThreadHead(2, "Thread-2", self._robot)
def Scenario1(self):
#self._thread1.start()
time.sleep(25)
self._dao.setResponse('fromDiningArea', None)
class SensorLog(PollingProcessor):
""" Handles updating sensors of all types to the database """
def __init__ (self, channels, name=''):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
def start(self):
""" Begin asynchronously updating changes in sensors """
if self._name != '':
print "Started updating database for %s sensor changes" % (self._name)
else:
print "Started updating database for [unknown] sensor changes"
self._addPollingProcessor('sensorHistory', self.checkUpdateSensors, (self._channels,), 0.01)
def stop(self):
""" Stop updating the sensor table """
if self._name != '':
print "Stopped updating database for %s sensor changes" % (self._name)
else:
print "Stopped updating database for [unknown] sensor changes"
self._removePollingProcessor('sensorHistory')
def checkUpdateSensors(self, channels):
""" Check the specified channels and update the database whenever changes are detected to the 'value' or 'status'"""
for uuid, sensor in channels.items():
if not self._logCache.has_key(uuid):
current = self._dao.getSensor(sensor['id'])
self._logCache[uuid] = { 'value': current['value'], 'status': current['status']}
status = str(sensor['status']).capitalize()
if self._logCache[uuid]['status'] != status or self._logCache[uuid]['value'] != sensor['value']:
val = sensor['value'] if len(sensor['value']) > 1 else sensor['value'][0]
timestamp = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
success = self._dao.saveSensorLog(
sensor['id'],
val,
status,
timestamp,
sensor['room'],
sensor['channel'])
if success:
print "%(time)s: Updated sensor log for %(id)s to %(status)s (%(value)s)" % {
'time':timestamp,
'id':sensor['channel'],
'status': status,
'value': val,
}
self._logCache[uuid]['value'] = sensor['value']
self._logCache[uuid]['status'] = status
def addHistory(self, ruleName, imageBytes=None, imageType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
historyId = dao.saveHistory(dateNow, ruleName, location)
if (historyId > 0):
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
class MapImage(object):
exposed = True
def __init__(self):
#TODO: Handle multiple robots
self._dao = DataAccess()
self._sr = StateResolver()
activeLocation = Locations().getActiveExperimentLocation()
if activeLocation == None:
return cherrypy.HTTPError(500, "Unable to determine active location")
robot = Robots().getRobot(activeLocation['activeRobot'])
self._robotName = robot['robotName']
self._emptyMap = locations_config[activeLocation['location']]['map']
def GET(self, *args, **kwargs):
#if len(args) < 1:
#raise cherrypy.HTTPError(403, 'Directory Listing Denied')
mp = MapProcessor(self._emptyMap)
sensors = self._sr.resolveStates(self._dao.findSensors())
#sensors = self._sr.appendSensorMetadata(sensors, self._emptyMap) #adds location and type
cob = self._dao.getRobotByName(self._robotName)
robot = {
'icon':self._dao.sensors.getSensorIconByName('robot')['id'],
'name':cob['robotName'],
'xCoord': cob['xCoord'],
'yCoord': cob['yCoord'],
'orientation': '%sd' % cob['orientation'],
'id':'r%s' % (cob['robotId'])
}
elements = []
elements.extend(sensors)
#important to put robot last as z-order is determined by render order in svg and we want the robot icon
#to always be on top
elements.append(robot)
img = mp.buildMap(elements)
data = io.BytesIO(img)
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type('img.svg')[0]
cherrypy.response.headers['Cache-Control'] = "max-age=0, no-cache, must-revalidate"
cherrypy.response.headers['Pragma'] = "no-cache"
# In the past to prevent browser caching
cherrypy.response.headers['Expires'] = (datetime.datetime.utcnow() - datetime.timedelta(hours=1)).strftime('%a, %d %b %Y %H:%M:%S GMT')
return file_generator(data)
def __init__(self):
super(LocationProcessor, self).__init__()
self._dao = DataAccess()
self._storedLoc = lambda: {'locationName': '', 'xCoord': 0, 'yCoord': 0, 'orientation': 0, 'driftThreshold': 0 }
self._curLoc = lambda: ('', (0, 0, 0))
self._updateLoc = lambda locid, x, y, orientation: True
self._targetName = ''
class Images(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
self._basePath = os.path.join(
os.path.dirname(os.path.realpath(__file__)), 'images')
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(403, 'Directory Listing Denied')
img = self._dao.getBinary(args[0])
if img['data'] == None:
path = os.path.join(self._basePath, args[0])
if os.path.exists(path):
data = io.FileIO(path)
else:
raise cherrypy.HTTPError(404)
else:
data = io.BytesIO(img['data'])
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type(
img['meta']['name'] + '.' + img['meta']['type'])[0]
return file_generator(data)
class SensorLog(PollingProcessor):
def __init__ (self, channels, name=''):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
def start(self):
if self._name != '':
print "Started updating database for %s sensor changes" % (self._name)
else:
print "Started updating database for [unknown] sensor changes"
self._addPollingProcessor('sensorHistory', self.checkUpdateSensors, (self._channels,), 0.01)
def stop(self):
if self._name != '':
print "Stopped updating database for %s sensor changes" % (self._name)
else:
print "Stopped updating database for [unknown] sensor changes"
self._removePollingProcessor('sensorHistory')
def checkUpdateSensors(self, channels):
for uuid, sensor in channels.items():
if not self._logCache.has_key(uuid):
current = self._dao.getSensor(sensor['id'])
self._logCache[uuid] = { 'value': current['value'], 'status': current['status']}
status = str(sensor['status']).capitalize()
if self._logCache[uuid]['status'] != status:
timestamp = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
success = self._dao.saveSensorLog(
sensor['id'],
sensor['value'],
status,
timestamp,
sensor['room'],
sensor['channel'])
if success:
print "Updated sensor log for %(id)s to %(status)s" % {
'id':sensor['channel'],
'status': status
}
self._logCache[uuid]['value'] = sensor['value']
self._logCache[uuid]['status'] = status
def addHistory(self, ruleName, imageBytes=None, imageType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
location = dao.getRobotByName(cob.name)["locationId"]
historyId = dao.saveHistory(dateNow, ruleName, location)
if historyId > 0:
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
class SensorLog(PollingProcessor):
def __init__ (self, channels, name=''):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
def start(self):
if self._name != '':
print "Started polling sensor changes for %s" % (self._name)
else:
print "Started polling sensor changes"
self._addPollingProcessor('sensorHistory', self.checkUpdateSensors, (self._channels, ), 0.01)
def stop(self):
if self._name != '':
print "Stopped polling sensor changes for %s" % (self._name)
else:
print "Stopped polling sensor changes"
self._removePollingProcessor('sensorHistory')
def checkUpdateSensors(self, channels):
for k in channels.keys():
if not self._logCache.has_key(k):
current = self._dao.getSensor(channels[k]['id'])
self._logCache.setdefault(k, { 'value': current['value'], 'status': current['status']})
if self._logCache[k]['status'] != channels[k]['status']:
timestamp = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
success = self._dao.saveSensorLog(
channels[k]['id'],
channels[k]['value'],
channels[k]['status'],
timestamp,
channels[k]['room'],
channels[k]['channel'])
if success:
print "Updated sensor log for %(id)s to %(status)s" % {
'id':channels[k]['channel'],
'status': channels[k]['status']
}
self._logCache[k]['value'] = channels[k]['value']
self._logCache[k]['status'] = channels[k]['status']
class MapImage(object):
exposed = True
def __init__(self):
self._robotName = CareOBot().name
self._dao = DataAccess()
self._sr = StateResolver()
def GET(self, *args, **kwargs):
#if len(args) < 1:
#raise cherrypy.HTTPError(403, 'Directory Listing Denied')
mp = MapProcessor()
sensors = self._sr.resolveStates(self._dao.findSensors())
sensors = self._sr.appendSensorMetadata(
sensors) #adds location and type
cob = self._dao.getRobotByName(self._robotName)
robot = {
'type':
'robot',
'name':
cob['robotName'],
'location':
(cob['xCoord'], cob['yCoord'], '%sd' % (cob['orientation'] * -1)
), #svg rotates opposite of our cooridnate system
'id':
'r%s' % (cob['robotId'])
}
elements = []
elements.extend(sensors)
#important to put robot last as z-order is determined by render order in svg and we want the robot icon
#to always be on top
elements.append(robot)
img = mp.buildMap(elements)
data = io.BytesIO(img)
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type(
'img.svg')[0]
return file_generator(data)
def __init__(self):
#TODO: Handle multiple robots
self._dao = DataAccess()
self._sr = StateResolver()
activeLocation = Locations().getActiveExperimentLocation()
if activeLocation == None:
return cherrypy.HTTPError(500, "Unable to determine active location")
robot = Robots().getRobot(activeLocation['activeRobot'])
self._robotName = robot['robotName']
self._emptyMap = locations_config[activeLocation['location']]['map']
class MapImage(object):
exposed = True
def __init__(self):
self._robotName = CareOBot().name
self._dao = DataAccess()
self._sr = StateResolver()
def GET(self, *args, **kwargs):
# if len(args) < 1:
# raise cherrypy.HTTPError(403, 'Directory Listing Denied')
mp = MapProcessor()
sensors = self._sr.resolveStates(self._dao.findSensors())
sensors = self._sr.appendSensorMetadata(sensors) # adds location and type
cob = self._dao.getRobotByName(self._robotName)
robot = {
"type": "robot",
"name": cob["robotName"],
"location": (
cob["xCoord"],
cob["yCoord"],
"%sd" % (cob["orientation"] * -1),
), # svg rotates opposite of our cooridnate system
"id": "r%s" % (cob["robotId"]),
}
elements = []
elements.extend(sensors)
# important to put robot last as z-order is determined by render order in svg and we want the robot icon
# to always be on top
elements.append(robot)
img = mp.buildMap(elements)
data = io.BytesIO(img)
cherrypy.response.headers["Content-Type"] = mimetypes.guess_type("img.svg")[0]
return file_generator(data)
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
questionNo = args[0]
if questionNo == 'current':
ques = self._dao.getActiveQuestion()
if ques != None:
questionNo = ques['sequenceName']
else:
questionNo = None
if questionNo != None:
resp = self._dao.getResponses(questionNo)
obj = {'query': questionNo, 'responses': resp}
else:
obj = {'query': 'none'}
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('response'):
raise cherrypy.HTTPError(400)
else:
userresponse = int(request['response'])
if self._dao.setResponse(args[0], userresponse):
return 'OK'
else:
raise cherrypy.HTTPError(500)
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
questionNo = args[0]
if questionNo == 'current':
ques = self._dao.getActiveQuestion()
if ques != None:
questionNo = ques['sequenceName']
else:
questionNo = None
if questionNo != None:
resp = self._dao.getResponses(questionNo)
obj = {'query': questionNo, 'responses':resp}
else:
obj = {'query': 'none'}
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('response'):
raise cherrypy.HTTPError(400)
else:
userresponse = int(request['response'])
if self._dao.setResponse(args[0], userresponse):
return 'OK'
else:
raise cherrypy.HTTPError(500)
class LocationProcessor(PollingProcessor):
"""Abstract location processor, current concrete implementations are Human and Robot processors"""
def __init__(self):
super(LocationProcessor, self).__init__()
self._dao = DataAccess()
self._storedLoc = lambda: {'locationName': '', 'xCoord': 0, 'yCoord': 0, 'orientation': 0, 'driftThreshold': 0 }
self._curLoc = lambda: ('', (0, 0, 0))
self._updateLoc = lambda locid, x, y, orientation: True
self._targetName = ''
def start(self):
print "Started polling location for %s" % (self._targetName)
self._addPollingProcessor('location', self.checkUpdateLocation, (self._curLoc, self._storedLoc, self._updateLoc), 2)
def stop(self):
print "Stopped polling location for %s" % (self._targetName)
self._removePollingProcessor('location')
def checkUpdateLocation(self, getCurrentLocation, getSavedLocation, updateLocation):
savedLoc = getSavedLocation()
(name, (x, y, orientation)) = getCurrentLocation()
if x == None or y == None:
return
update = False
if name != savedLoc['locationName']:
update = True
else:
dist = 0
dist += math.pow(x - savedLoc['xCoord'], 2)
dist += math.pow(y - savedLoc['yCoord'], 2)
dist = math.sqrt(dist)
if not savedLoc.has_key('driftThreshold') or dist > savedLoc['driftThreshold']:
update = True
else:
if abs(savedLoc['orientation'] - orientation) > 5:
update = True
if update:
loc = self._dao.getLocationByName(name)
if loc == None:
locid = None
else:
locid = loc['locationId']
print "Updating %(target)s location to Name:%(name)s, X:%(x)s, Y:%(y)s, O:%(orientation)s" % dict({'target':self._targetName}.items() + locals().items())
updateLocation(locid, x, y, orientation)
class LocationProcessor(PollingProcessor):
"""Abstract location processor, current concrete implementations are Human and Robot processors"""
def __init__(self):
super(LocationProcessor, self).__init__()
self._dao = DataAccess()
self._storedLoc = lambda: {'locationName': '', 'xCoord': 0, 'yCoord': 0, 'orientation': 0, 'driftThreshold': 0 }
self._curLoc = lambda: ('', (0, 0, 0))
self._updateLoc = lambda locid, x, y, orientation: True
self._targetName = ''
def start(self):
print "Started polling location for %s" % (self._targetName)
self._addPollingProcessor('location', self.checkUpdateLocation, (self._curLoc, self._storedLoc, self._updateLoc), 2)
def stop(self):
print "Stopped polling location for %s" % (self._targetName)
self._removePollingProcessor('location')
def checkUpdateLocation(self, getCurrentLocation, getSavedLocation, updateLocation):
savedLoc = getSavedLocation()
(name, (x, y, orientation)) = getCurrentLocation()
if x == None or y == None:
return
update = False
if name != savedLoc['locationName']:
update = True
else:
dist = 0
dist += math.pow(x - savedLoc['xCoord'], 2)
dist += math.pow(y - savedLoc['yCoord'], 2)
dist = math.sqrt(dist)
if not savedLoc.has_key('driftThreshold') or dist > savedLoc['driftThreshold']:
update = True
else:
if abs(savedLoc['orientation'] - orientation) > 5:
update = True
if update:
loc = self._dao.getLocationByName(name)
if loc == None:
locid = None
else:
locid = loc['locationId']
print "Updating %(target)s location to Name:%(name)s, X:%(x)s, Y:%(y)s, O:%(orientation)s" % dict({'target':self._targetName}.items() + locals().items())
updateLocation(locid, x, y, orientation)
class UserData(object):
def __init__(self):
self._dao = DataAccess()
exposed = True
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
questionNo = args[0]
if questionNo == 'preferences':
value = self._dao.getUserPreferences()
elif questionNo == 'persona':
value = self._dao.getPersonaValues()
elif questionNo == 'username':
value = self._dao.getActiveUserName()
elif questionNo == 'experimentLocation':
value = self._dao.getActiveExperimentLocation()
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(value)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if request.has_key('time'):
time = datetime.datetime.now().strftime('%H:%M:%S') #strftime('%Y-%m-%d %H:%M:%S')
self._dao.setSessionControlTime(time)
elif request.has_key('preferences'):
for column, value in request.iteritems():
if column != 'preferences':
print column + " " + value
self._dao.setUserPreferences(column, value)
else:
raise cherrypy.HTTPError(400)
def addHistory(self, ruleName, imageBytes=None, imageType=None):
cob = CareOBot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
historyId = dao.saveHistory(dateNow, ruleName, location)
if(historyId > 0):
dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
return historyId > 0
class MapHistory(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(403, 'Directory Listing Denied')
key = args[0]
sensorHist = self._dao.getSensorHistory(key)
if len(sensorHist) > 0:
mp = MapProcessor()
s = StateResolver()
sensors = s.resolveStates(sensorHist)
img = mp.buildMap(sensors)
data = io.BytesIO(img)
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type('img.svg')[0]
return file_generator(data)
class Images(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
self._basePath = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'images')
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(403, 'Directory Listing Denied')
from PIL import Image
fileName, fileExtension = os.path.splitext(args[0])
if fileExtension=='.jpg':
#path = os.path.join(self._basePath, args[0])
data = Image.open(os.path.join(self._basePath, args[0]))
img = {
'data': None,
'meta': {
'type': '',
'name': ''
}
}
else:
img = self._dao.getBinary(args[0])
if img['data'] == None:
path = os.path.join(self._basePath, args[0])
if os.path.exists(path):
data = io.FileIO(path)
else:
raise cherrypy.HTTPError(404)
else:
data = io.BytesIO(img['data'])
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type(img['meta']['name'] + '.' + img['meta']['type'])[0]
return file_generator(data)
class ImagesOverhead(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
self._basePath = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'imagesOverhead')
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(403, 'Directory Listing Denied')
img = self._dao.getBinaryOverhead(args[0])
if img['data'] == None:
path = os.path.join(self._basePath, args[0])
if os.path.exists(path):
data = io.FileIO(path)
else:
raise cherrypy.HTTPError(404)
else:
data = io.BytesIO(img['data'])
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type(img['meta']['name'] + '.' + img['meta']['type'])[0]
return file_generator(data)
class MapHistory(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(403, 'Directory Listing Denied')
key = args[0]
sensorHist = self._dao.getSensorHistory(key)
if len(sensorHist) > 0:
mp = MapProcessor()
s = StateResolver()
sensors = s.resolveStates(sensorHist)
#[{'id': sensor['sensorId'], 'value': sensor['value'], 'state':'on'},]
sensors = s.appendSensorMetadata(sensors) #adds location and type
img = mp.buildMap(sensors)
data = io.BytesIO(img)
cherrypy.response.headers['Content-Type'] = mimetypes.guess_type(
'img.svg')[0]
return file_generator(data)
def addHistoryComplete(self, ruleName, imageBytes=None, imageType=None, imageOverheadBytes=None, imageOverheadType=None):
""" updates the action history table, blocking until all data is retrieved and stored """
""" returns true on successful update """
from Robots.robotFactory import Factory
cob = Factory.getCurrentRobot()
dao = DataAccess()
dateNow = datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
location = dao.getRobotByName(cob.name)['locationId']
user = self._dao.users.getActiveUser['userId']
historyId = dao.saveHistoryComplete(dateNow, ruleName, location, user)
if(historyId > 0):
#dao.saveSensorHistory(historyId)
if imageType == None:
imageType = ActionHistory._defaultImageType
if imageBytes == None:
imageBytes = cob.getImage(retFormat=imageType)
if imageBytes != None:
dao.saveHistoryImage(historyId, imageBytes, imageType)
#the same but for the overhead camera image
if imageOverheadType == None:
imageOverheadType = ActionHistory._defaultImageType
if imageOverheadBytes == None:
imageOverheadBytes = cob.getImageOverhead(retFormat=imageOverheadType)
if imageOverheadBytes != None:
dao.saveHistoryImageOverhead(historyId, imageOverheadBytes, imageOverheadType)
return historyId > 0
def __init__(self):
self._dao = DataAccess()
self._robot = Factory.getRobot('UH Sunflower')
self._thread1 = myThreadLights(1, "Thread-1", self._robot)
self._thread2 = myThreadHead(2, "Thread-2", self._robot)
def __init__(self, channels, name=""):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
dataType = args[0]
if len(args) > 1:
dataKey = args[1]
elif kwargs.has_key('key'):
dataKey = kwargs['key']
else:
dataKey = None
obj = None
if dataType == 'user':
obj = {}
elif dataType == 'robot':
obj = {}
elif dataType == 'events':
if kwargs.has_key('tags'):
tags = kwargs['tags'].split(',')
else:
tags = ()
obj = self.getEvents(dataKey, tags)
else :
raise cherrypy.HTTPError(400)
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('historyId'):
raise cherrypy.HTTPError(400)
else:
historyId = request['historyId']
tags = request['tags']
if type(tags) != tuple and type(tags) != list:
tags = (tags, )
if type(tags) == list:
tags = tuple(tags)
if self._dao.actionHistory.updateTags(historyId, tags) >= 0:
return 'OK'
else:
raise cherrypy.HTTPError(500)
def getEvents(self, key, tags):
events = self._dao.getHistory(key, tags)
#if len(events) == 0:
# raise cherrypy.HTTPError(404)
for event in events:
if event['imageId'] != None:
event['imageUrl'] = 'images/%s' % event['imageId']
event.pop('imageId')
if event['sensors'] != None and len(event['sensors']) > 0:
event['sensorMapUrl'] = 'mapHistory/%s' % event['id']
return {'Episodes': [{'Events': events}]}
def __init__(self):
self._robotName = CareOBot().name
self._dao = DataAccess()
self._sr = StateResolver()
def __init__(self, threadID, name, robot):
threading.Thread.__init__(self)
self._threadID = threadID
self._robot = robot
self._name = name
self._dao = DataAccess()
def __init__(self):
self._dao = DataAccess()
self._basePath = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'images')
class RobotCommands(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
self._scenarios = Scenario()
self._host = "nathan@sf1-1-pc1"
self._robot = Factory.getCurrentRobot()
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
# Send the robot to certain location (The behaviour depends on the scenario)
if request.has_key('location'):
if request['scenario'] == 1:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell1(request, self._host)
else:
self._scenarios.Scenario1(request, self._host)
elif request['scenario'] == 2:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell2(request, self._host)
elif request['scenarioType'] == 'LivingDrink':
self._scenarios.Scenario2(request, self._host)
else:
self._scenarios.Scenario1(request, self._host)
elif request['scenario'] == 3:
if request['scenarioType'] == 'HallDoorbell':
self._scenarios.ScenarioDoorbell1(request, self._host)
else:
self._scenarios.Scenario3(request, self._host)
# Send voice command to the robot (espeak software required)
elif request.has_key(
'speech') and self._dao.getActiveQuestion()['repeated'] == 0:
#Block other interfaces to repeat the message
self._dao.setResponse(request['messageId'], None, 1)
self._preferences = self._dao.users.getUserPreferences()
if request['scenario'] == 3 or request[
'messageId'] == 'doorbellAssistLowPro':
time.sleep(0.5) #Including delay to help transition
elif request['scenario'] == 1 or request['scenario'] == 2:
time.sleep(7) #Time to wait for the body movement to finish
if self._preferences[0]['voice'] == 1:
self._robot.setComponentState('head', 'front')
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace(
"User,", request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>",
"") #Remove end of line if exists
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh",
"%s" % self._host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
if request['scenario'] == 1 or request['scenario'] == 2:
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
else:
time.sleep(1)
## Determine the speech time
wait = 0.3 * (len(message.split()) - 1)
time.sleep(wait)
#It means the robot has already spoken and the dialog can be shown
self._dao.setResponse(request['messageId'], None, 2)
# Open Tray
if self._robot.getComponentState('tray')[0] == 'lowered':
self._robot.setComponentState('tray', 'raised')
#Finish Action
self._robot.setComponentState('head', 'back')
self._robot.setLight(eval(self._preferences[0]['light']))
# Open Tray (Sometimes the first attempt is failing)
if self._robot.getComponentState('tray')[0] != 'raised':
self._robot.setComponentState('tray', 'raised')
else:
raise cherrypy.HTTPError(400)
def __init__(self):
self._robotName = CareOBot().name
self._dao = DataAccess()
self._sr = StateResolver()
def __init__(self, channels, name=''):
super(SensorLog, self).__init__()
self._dao = DataAccess().sensors
self._channels = channels
self._logCache = {}
self._name = name
def __init__(self):
self._dao = DataAccess()
self._basePath = os.path.join(
os.path.dirname(os.path.realpath(__file__)), 'images')
class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
def Scenario1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._robot.setComponentState('head',
'front') #Set default head position
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
self._threadLights.start()
#Send the robot to the location
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
if 'KitchenDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goKitchen', None)
elif 'TransportDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadHead.start()
self._dao.setResponse('transportDrink', None)
elif 'LivingDrink' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goLivingRoom', None)
elif 'TransportObject' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('transportObject', None)
elif 'DoorbellGoToHall' == request['scenarioType']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('doorbellAssistance', None)
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def Scenario2(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._threadLights.start()
self._robot.setComponentState('head',
'front') #Set default head position
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1)
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('fromDiningArea', None)
def Scenario3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head',
'front') #Set default head position
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
#Send the robot to the location
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
self._threadLights.stopLights(eval(self._preferences[0]['light']))
if 'KitchenDrink' == request['scenarioType']:
self._dao.setResponse('goKitchen', None)
elif 'TransportDrink' == request['scenarioType']:
self._dao.setResponse('transportDrink', None)
elif 'LivingDrink' == request['scenarioType']:
self._dao.setResponse('goLivingRoom', None)
elif 'TransportObject' == request[
'scenarioType'] or 'DoorbellGoToHall' == request[
'scenarioType']:
self._dao.setResponse('transportObject', None)
elif 'DoorbellGoToHall' == request['scenarioType']:
self._dao.setResponse('transportObject', None)
else:
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def ScenarioDoorbell1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head', 'front')
self._threadLights.start()
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
#Send the robot to the location (if it is not there already)
#time.sleep(4)
if request['scenario'] == 1:
livingRoomLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area')
self._robot.setComponentState('base', [
livingRoomLoc['xCoord'], livingRoomLoc['yCoord'],
livingRoomLoc['orientation']
])
else:
livingRoomSocialLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area Social')
self._robot.setComponentState('base', [
livingRoomSocialLoc['xCoord'], livingRoomSocialLoc['yCoord'],
livingRoomSocialLoc['orientation']
])
if request['scenario'] == 1:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.075, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
#Compose speech
if request['scenario'] == 1 or request['scenario'] == 2:
message = request['speech'].replace("User,",
request['username'] + ",")
else:
message = request['speech'].replace("User, ", "")
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._preferences[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', message]) #Linux
subprocess.Popen(
["ssh", "%s" % host,
"espeak -s 135 '%s'" % message],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
if request['scenario'] == 1:
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
else:
time.sleep(1)
## Determine the speech time
wait = 0.4 * (len(message.split()) - 1)
time.sleep(wait)
#Send the robot to the location
time.sleep(1)
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
#Stop blinking lights and tell user about help to transport
if request['scenario'] == 1 or request['scenario'] == 2:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._dao.setResponse('doorbellAssistance', None)
def ScenarioDoorbell2(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head', 'front')
self._threadLights.start()
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
livingRoomSocialLoc = self._dao.locations.getLocationByName(
'Living Room Sofa Area Social')
self._robot.setComponentState('base', [
livingRoomSocialLoc['xCoord'], livingRoomSocialLoc['yCoord'],
livingRoomSocialLoc['orientation']
])
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.075, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
#Wait until the tray finishes
time.sleep(1.5)
self._dao.setResponse('doorbellAssistLowPro', None)
class Data(object):
exposed = True
def __init__(self):
self._dao = DataAccess()
def GET(self, *args, **kwargs):
if len(args) < 1:
raise cherrypy.HTTPError(400)
dataType = args[0]
if len(args) > 1:
dataKey = args[1]
elif kwargs.has_key('key'):
dataKey = kwargs['key']
else:
dataKey = None
obj = None
if dataType == 'user':
obj = {}
elif dataType == 'robot':
obj = {}
elif dataType == 'events':
if kwargs.has_key('tags'):
tags = kwargs['tags'].split(',')
else:
tags = ()
obj = self.getEvents(dataKey, tags)
else:
raise cherrypy.HTTPError(400)
cherrypy.response.headers['Content-Type'] = 'application/json'
return json.dumps(obj)
def POST(self, *args, **kwargs):
request = json.loads(cherrypy.request.body.read())
if not request.has_key('historyId'):
raise cherrypy.HTTPError(400)
else:
historyId = request['historyId']
tags = request['tags']
if type(tags) != tuple and type(tags) != list:
tags = (tags, )
if type(tags) == list:
tags = tuple(tags)
if self._dao.actionHistory.updateTags(historyId, tags) >= 0:
return 'OK'
else:
raise cherrypy.HTTPError(500)
def getEvents(self, key, tags):
events = self._dao.getHistory(key, tags)
#if len(events) == 0:
# raise cherrypy.HTTPError(404)
for event in events:
if event['imageId'] != None:
event['imageUrl'] = 'images/%s' % event['imageId']
event.pop('imageId')
if event['sensors'] != None and len(event['sensors']) > 0:
event['sensorMapUrl'] = 'mapHistory/%s' % event['id']
return {'Episodes': [{'Events': events}]}
def __init__(self):
self._dao = DataAccess()
self._scenarios = Scenario()
self._host = "nathan@sf1-1-pc1"
self._robot = Factory.getCurrentRobot()
def __init__(self):
self._dao = DataAccess()
def __init__(self):
self._dao = DataAccess()
class Scenario(object):
def __init__(self):
self._dao = DataAccess()
self._preferences = self._dao.users.getUserPreferences()
self._robot = Factory.getCurrentRobot()
self._threadLights = myThreadLights(1, "Thread-Lights", self._robot)
self._threadHead = myThreadHead(2, "Thread-Head", self._robot)
self._threadBase = myThreadBase(3, "Thread-BaseDirect", self._robot)
self._threadTray = myThreadTray(4, "Thread-Tray", self._robot)
def Scenario1(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
#Preferred LED colour
self._robot.setComponentState('head',
'front') #Set default head position
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#time.sleep(1.5)
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
self._threadLights.start()
#Send the robot to the location
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
if "Kitchen Entrance" in request['location']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
self._threadBase.start()
self._dao.setResponse('goKitchen', None)
elif "Living" in request['location']:
self._threadLights.arrivedPlace(eval(
self._preferences[0]['light']))
if "Transporting" not in request['speech']:
self._threadBase.start()
self._dao.setResponse('goLivingRoom', None)
else:
self._threadHead.start()
self._dao.setResponse('transportLivingRoom', None)
else:
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def Scenario3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._robot.setComponentState('head',
'front') #Set default head position
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
time.sleep(1.5)
#Send the robot to the location
self._threadLights.start()
#time.sleep(4)
self._robot.setComponentState(
'base',
[location['xCoord'], location['yCoord'], location['orientation']])
self._threadLights.stopLights(eval(self._preferences[0]['light']))
if "Kitchen Entrance" in request['location']:
self._dao.setResponse('goKitchen', None)
elif "Living" in request['location']:
if "Transporting" not in request['speech']:
self._dao.setResponse('goLivingRoom', None)
else:
self._dao.setResponse('transportLivingRoom', None)
else:
self._robot.setComponentState('tray', 'raised')
self._robot.setComponentState('head', 'back') #Set head position
def ScenarioDoorbell3(self, request, host):
#Get the location selected by the user
location = self._dao.locations.getLocationByName(request['location'])
self._threadLights.start()
time.sleep(2)
self._robot.setComponentState('head', 'front')
self._threadLights.arrivedPlace(eval(self._preferences[0]['light']))
#Set base movement (expressive behaviour)
self._robot.setComponentState('head', 'up')
self._robot.setComponentState('base_direct', [0.2, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.4, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.3, 0.0])
self._robot.setComponentState('head', 'up_look_left')
self._robot.setComponentState('base_direct', [-0.2, 0.0])
self._robot.setComponentState('head', 'up_look_right')
self._robot.setComponentState('base_direct', [0.1, 0.0])
self._robot.setComponentState('head', 'up')
time.sleep(0.5)
self._robot.setComponentState('head', 'front')
#Compose speech
message = request['speech'].replace(
"User",
self._dao.users.getActiveUser()['firstName'])
message = message.replace("<br/>", "") #Remove end of line if exists
#If robot voice is activated
if self._dao.users.getUserPreferences()[0]['voice'] == 1:
#subprocess.call(['C:\\Program Files (x86)\\eSpeak\\command_line\\espeak.exe', request['speech']]) #Windows
#subprocess.call(['espeak', request['speech']]) #Linux
subprocess.Popen(
["ssh",
"%s" % host,
"espeak -s 135 '%s'" % request['speech']],
shell=False,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE) #Remote Linux
self._robot.setComponentState('head', 'front_bend_left')
time.sleep(0.150)
self._robot.setComponentState('head', 'front_bend_right')
time.sleep(0.150)
self._robot.setComponentState('head', 'front')
#Open or close tray
if 'lowered' == request['tray']:
self._robot.setComponentState('tray', 'lowered')
else:
self._robot.setComponentState('tray', 'raised')
#Wait until the tray finishes
time.sleep(1.5)
#Send the robot to the location #time.sleep(4)
self._threadLights.start()
time.sleep(4)
#self._robot.setComponentState('base', [location['xCoord'], location['yCoord'], location['orientation']])
#Stop blinking lights and tell user about help to transport
self._threadLights.stopLights(eval(self._preferences[0]['light']))
self._dao.setResponse('doorbellAssistance', None)