def getRobot(self, email, password, robot_id):
chosenRobot=None
if(self.allRobots==None):
self.getAllRobots(email,password)
if(self.allRobots==None):
return "No robots found"
for i in range(len(self.allRobots)):
if(self.allRobots[i].robot_details.robot_id==robot_id):
chosen_robot_details = self.allRobots.robots[id]
tempRobot = animus.Robot(chosen_robot_details)
connected_result = self.myrobot.connect()
if not connected_result.success:
# print("Could not connect with robot {}".format(
# self.myrobot.robot_details.robot_id))
animus.close_client_interface()
break
else:
chosenRobot=tempRobot
if (chosenRobot==None):
return "Robot conn error"
else:
return chosenRobot
def gen_frames(self): # generate frame by frame from camera
try:
while True:
try:
image_list, err = self.myrobot.get_modality("vision", True)
except:
continue
if err.success:
clear_img = self.fixImage(image_list[0].image)
ret, buffer = cv2.imencode('.jpg', clear_img)
frame = buffer.tobytes()
# try:
# self.writeVideo
# except Exception as e:
# print(e)
# pass
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame +
b'\r\n') # concat frame one by one and show result
except KeyboardInterrupt:
cv2.destroyAllWindows()
self.videowriterwriter.release()
self.log.info("Closing down")
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
except SystemExit:
cv2.destroyAllWindows()
self.videowriterwriter.release()
self.log.info("Closing down")
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
def closeRobot(self):
# self.myrobot.disconnect()
# animus.close_client_interface()
cv2.destroyAllWindows()
self.log.info("Closing down")
self.vidThread.join()
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
def closeRobot(self, user):
# self.myrobot.disconnect()
# animus.close_client_interface()
print(user)
cv2.destroyAllWindows()
self.log.info("Closing down")
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
def getRobot(self):
for i in range(10):
self.log.info(animus.version())
# print(animus.version())
audio_params = utils.AudioParams(Backends=["notinternal"],
SampleRate=16000,
Channels=1,
SizeInFrames=True,
TransmitRate=30)
setup_result = animus.setup(audio_params, "PythonAnimusBasics",
True)
if not setup_result.success:
time.sleep(5)
continue
login_result = animus.login_user("*****@*****.**", "C3):]RR[Rs$Y",
False)
if login_result.success:
self.log.info("Logged in")
else:
time.sleep(5)
continue
get_robots_result = animus.get_robots(True, True, False)
# print(get_robots_result)
if not get_robots_result.localSearchError.success:
self.log.error(get_robots_result.localSearchError.description)
if not get_robots_result.remoteSearchError.success:
self.log.error(get_robots_result.remoteSearchError.description)
if len(get_robots_result.robots) == 0:
self.log.info("No Robots found")
animus.close_client_interface()
time.sleep(5)
continue
chosen_robot_details = get_robots_result.robots[0]
self.myrobot = animus.Robot(chosen_robot_details)
connected_result = self.myrobot.connect()
if not connected_result.success:
print("Could not connect with robot {}".format(
self.myrobot.robot_details.robot_id))
animus.close_client_interface()
time.sleep(5)
continue
else:
break
def getAllRobots(self,email,password):
for i in range(10):
self.log.info(animus.version())
print(animus.version())
audio_params = utils.AudioParams(
Backends=["notinternal"],
SampleRate=16000,
Channels=1,
SizeInFrames=True,
TransmitRate=30
)
setup_result = animus.setup(
audio_params, "PythonAnimusBasics", True)
if not setup_result.success:
time.sleep(5)
continue
login_result = animus.login_user(email, password, False)
if login_result.success:
self.log.info("Logged in")
else:
time.sleep(5)
continue
get_robots_result = animus.get_robots(True, True, False)
# print(get_robots_result)
if not get_robots_result.localSearchError.success:
self.log.error(get_robots_result.localSearchError.description)
if not get_robots_result.remoteSearchError.success:
self.log.error(get_robots_result.remoteSearchError.description)
if len(get_robots_result.robots) == 0:
self.log.info("No Robots found")
animus.close_client_interface()
time.sleep(5)
continue
if not len(get_robots_result.robots) ==0:
self.allRobots=get_robots_result
robotsRetrieved=animus_wrapper.proto_converters.proto_obj_to_dict(get_robots_result)
robotsRetrieved=json.dumps(robotsRetrieved)
return robotsRetrieved
else:
return None
def gen_frames(self): # generate frame by frame from camera
try:
frame = simplejpeg.encode_jpeg(self.capFrame,
colorspace='BGR',
quality=90)
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n'
) # concat frame one by one and show result
# yield(self.videoImgSrc)
except KeyboardInterrupt:
cv2.destroyAllWindows()
self.log.info("Closing down")
self.vidThread.join()
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
except SystemExit:
cv2.destroyAllWindows()
self.log.info("Closing down")
self.vidThread.join()
self.myrobot.disconnect()
animus.close_client_interface()
sys.exit(-1)
def closeRobot(self):
self.myrobot.disconnect()
animus.close_client_interface()
# print(get_robots_result.robots[0].name)
# print(get_robots_result.robots[0].robot_id)
# print(get_robots_result.robots[0].robot_id)
# print(get_robots_result.robots[0].robot_state.location.ip)
# print(get_robots_result.robots[0].robot_state.location.city)
# print(get_robots_result.robots[0].robot_state.location.region)
if not get_robots_result.localSearchError.success:
log.error(get_robots_result.localSearchError.description)
if not get_robots_result.remoteSearchError.success:
log.error(get_robots_result.remoteSearchError.description)
if len(get_robots_result.robots) == 0:
log.info("No Robots found")
animus.close_client_interface()
sys.exit(-1)
chosen_robot_details = get_robots_result.robots[0]
myrobot = animus.Robot(chosen_robot_details)
connected_result = myrobot.connect()
if not connected_result.success:
print("Could not connect with robot {}".format(
myrobot.robot_details.robot_id))
animus.close_client_interface()
sys.exit(-1)
# # -------------Auditory - Voice Loop------------------------
# #
# # # ----------------Motor Visual Loop------------------------------------