def create_route():
options = {}
username = session['username']
try:
form = request.form
# Deal with POST requests.
if request.method == 'POST':
# If the request does not contain an "op" field.
if not 'op' in request.form:
raise RuntimeError('Did you click the button?')
# Add a ingredient.
elif form['op'] == 'add_ingred':
ingred_name = get_text_input(form['ingred_name'])
april_id = get_april_id(form)
database.check_ingred_april_id(username, ingred_name, april_id)
logger.debug('New ingredient: %s at April Tag %s' % \
(ingred_name, april_id))
# Add the ingredient into the database.
database.add_ingredient(username, ingred_name, april_id)
# Delete an ingredient.
elif form['op'] == 'delete_ingred':
# Delete the ingredient from the database.
database.delete_ingredient(username, form['ingred_name'])
else:
raise RuntimeError('Did you click the button?')
except Exception as e:
logger.exception(e)
options['error'] = e
# Retrieve ingredients even if POST request fails.
try:
options['ingredients'] = database.get_ingredients(username)
except Exception as e:
logger.exception(e)
options['error'] = e
return render_template('create.html', **options)
def tell_joke(seed=randint(0, NUM_JOKES - 1)):
logger.debug("wrapper called, seed %s" % seed)
speak("Here is a joke")
sleep(1)
logger.debug("post sleep")
for i in JOKES[seed]:
speak(i)
sleep(0.5)
def is_pressure_sensor_occupied():
ser.write('w')
sleep(0.1)
result = ser.read()
logger.debug('Pressure sensor result: %s' % result)
if result == 'G':
return False
elif result == 'B':
return True
else:
raise RuntimeError('Pressure sensor result: %s' % result)
def send_to_backend(self, username, speech_input):
recipes = database.get_recipes(username)
if not recipes:
return 'You don\'t have any recipes'
else:
drink = {}
found = False
for i in recipes:
if i['drinkname'].lower() in speech_input.lower():
if found:
return 'Find two drinks %s and %s' % \
(drink['drinkname'], i['drinkname'])
found = True
logger.debug('Drink to prepare: %s' % i)
drink['drinkname'] = str(i['drinkname'])
drink['ingred_amounts'], drink['ingred_names'] = \
self.prune_ingredients(i['ingredients'])
if not found:
return 'What drink do you want?'
assert(len(drink['ingred_amounts']) == len(drink['ingred_names']))
logger.debug('Drink to prepare (pruned): %s' % drink)
# Call arm controller.
msg = arm_command_t()
msg.size = len(drink['ingred_amounts'])
msg.hole_indices = self.get_hole_indices(drink['ingred_names'], \
username)
msg.stop_times = self.volume_to_time(drink['ingred_amounts'])
logger.debug('LCM publishing:\n%s' % \
self.msg_to_str(msg))
if not DEBUG:
self.lc.publish("ARM", msg.encode())
return '%s is being prepared...' % drink['drinkname']
def learn_route():
options = {}
username = session['username']
try:
form = request.form
# Deal with POST requests.
if request.method == 'POST':
# If the request does not contain an "op" field.
if not 'op' in request.form:
raise RuntimeError('Did you click the button?')
# Add a recipe.
elif form['op'] == 'add_recipe':
drinkname = get_text_input(form['drinkname'])
if database.recipe_exists(username, drinkname):
raise RuntimeError('Drink ' + drinkname + ' already exists')
# Example ingredients: [('water', 0.0), ('vodka', 10.0)].
ingredients = [(ingredient, get_amount(form[ingredient])) \
for ingredient in database.get_ingredient_names(username)]
check_total_amount(ingredients)
logger.debug('New drink: %s' % ingredients)
# Add the recipe into the database.
database.add_recipe(username, drinkname, ingredients)
# Delete a recipe.
elif form['op'] == 'delete_recipe':
# Delete the recipe from the database.
database.delete_recipe(username, form['drinkname'])
else:
raise RuntimeError('Did you click the button?')
except Exception as e:
logger.exception(e)
options['error'] = e
# Retrieve recipes even if POST request fails.
try:
options['recipes'] = database.get_recipes(username)
options['ingredients'] = database.get_ingredient_names(username)
except Exception as e:
logger.exception(e)
options['error'] = e
return render_template('learn.html', **options)
def get_hole_indices(self, ingred_names, username):
# Call camera controller.
# If ingred_names == ['Orange Juice'],
# return [<hole_id>].
if not DEBUG:
try:
camera_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
camera_socket.connect(('35.2.227.11', 12000))
camera_socket.send("Get Locations" + '\0')
rcv = camera_socket.recv(512)
except Exception as e:
raise RuntimeError('Camera\'s error: ' + str(e) + '. Please ask SM for help.')
else:
rcv = '{7|2}{5|0}{4|1}'
logger.debug('Camera returns: %s' % rcv)
ingred_hole_map = self.parse_camera_rcv(rcv, username)
logger.debug('Mapping btw ingredients and holes: %s' % ingred_hole_map)
rtn = []
for ingred_name in ingred_names:
if not ingred_name in ingred_hole_map:
raise RuntimeError(ingred_name + ' is not in stock')
rtn.append(ingred_hole_map[ingred_name])
return rtn
def infer_route():
options = {}
username = session['username']
if os.environ.get('ASR_ADDR_PO`RT'):
options['asr_addr_port'] = os.environ.get('ASR_ADDR_PORT')
else:
options['asr_addr_port'] = 'ws://localhost:8081'
try:
form = request.form
# Deal with POST requests.
if request.method == 'POST':
# If the request does not contain an "op" field.
if not 'op' in form:
raise RuntimeError('Did you click the Ask button?')
# When the "op" field is equal to "infer".
elif form['op'] == 'infer':
# Check pressure sensor.
if is_pressure_sensor_occupied():
raise RuntimeError(
'Please place an empty cup on the gripper')
# # Classify the query.
speech_input = get_text_input(form['speech_input'] if \
'speech_input' in form else '')
logger.debug('Speech input: %s' % speech_input)
options['result'] = lcm_client.send_to_backend(username, \
speech_input)
tell_joke()
logger.debug('Result: %s' % options['result'])
else:
raise RuntimeError('Did you click the Ask button?')
except Exception as e:
logger.exception(e)
options['result'] = e
return render_template('infer.html', **options)
# Display.
return render_template('infer.html', **options)