def _run(self):
# exec in a secure environment the coderbot
coderbot = CoderBot()
glbs = {
'__name__': self._name,
'program': self,
'config': Config(),
'coderbot': coderbot
}
if Config().get('program_video_rec', False):
coderbot.camera.start_recording()
try:
exec(self._code, glbs)
except:
raise
finally:
coderbot.camera.stop_recording()
coderbot.motors.stop()
for sensor in coderbot.sensors.itervalues():
try:
sensor._stop()
except AttributeError:
pass
self._running = False
self._shutdown = False
def run_server():
global bot
global cam
global motion
global audio
try:
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(
servo=(app.bot_config.get("move_motor_mode") == "servo"),
motor_trim_factor=float(app.bot_config.get("move_motor_trim", 1.0)),
)
audio = Audio.get_instance()
audio.say(app.bot_config.get("sound_start"))
try:
cam = Camera.get_instance()
motion = Motion.get_instance()
except picamera.exc.PiCameraError:
logging.error("Camera not present")
if app.bot_config.get("load_at_start") and len(app.bot_config.get("load_at_start")):
app.prog = app.prog_engine.load(app.bot_config.get("load_at_start"))
app.prog.execute()
except ValueError as e:
app.bot_config = {}
logging.error(e)
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
app.run(host="0.0.0.0", port=8080, debug=True, use_reloader=False, threaded=True)
finally:
if cam:
cam.exit()
if bot:
bot.exit()
app.shutdown_requested = True
def run_server():
bot = None
cam = None
try:
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(motor_trim_factor=float(
app.bot_config.get('move_motor_trim', 1.0)),
encoder=bool(
app.bot_config.get('encoder')))
if app.bot_config.get('load_at_start') and app.bot_config.get(
'load_at_start'):
app.prog = app.prog_engine.load(
app.bot_config.get('load_at_start'))
app.prog.execute()
except ValueError as e:
app.bot_config = {}
logging.error(e)
bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
remove_doreset_file()
app.run(host="0.0.0.0",
port=8080,
debug=False,
use_reloader=False,
threaded=True)
finally:
if cam:
cam.exit()
if bot:
bot.exit()
app.shutdown_requested = True
def run_server():
global bot
global cam
global motion
global audio
global cnn
global conv
global event
try:
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(
servo=(app.bot_config.get("move_motor_mode") == "servo"),
motor_trim_factor=float(
app.bot_config.get('move_motor_trim', 1.0)))
audio = Audio.get_instance()
audio.say(app.bot_config.get("sound_start"))
try:
cam = Camera.get_instance()
motion = Motion.get_instance()
except picamera.exc.PiCameraError:
logging.error("Camera not present")
cnn = CNNManager.get_instance()
event = EventManager.get_instance("coderbot")
conv = Conversation.get_instance()
if app.bot_config.get('load_at_start') and len(
app.bot_config.get('load_at_start')):
app.prog = app.prog_engine.load(
app.bot_config.get('load_at_start'))
app.prog.execute()
except ValueError as e:
app.bot_config = {}
logging.error(e)
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
app.run(host="0.0.0.0",
port=8080,
debug=True,
use_reloader=False,
threaded=True)
finally:
if cam:
cam.exit()
if bot:
bot.exit()
app.shutdown_requested = True
def __init__(self):
self.bot = CoderBot.get_instance()
self.cam = Camera.get_instance()
self.track_len = 2
self.detect_interval = 5
self.tracks = []
self.frame_idx = 0
self.ts = time()
self.frame_gray = None
self.prev_gray = None
self.running = False
self.delta_power = 0.0
self.delta_dist = 0.0
self.target_dist = 0.0
self.delta_angle = 0.0
self.target_angle = 0.0
cfg = Config.get()
self.power_angles = [[15, (int(cfg.get("move_power_angle_1")), -1)], [4, (int(cfg.get("move_power_angle_2")), 0.05)], [1, (int(cfg.get("move_power_angle_3")), 0.02)], [0, (0, 0)]]
def run_server():
global bot
global cam
global motion
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode")=="servo"))
cam = Camera.get_instance()
motion = Motion.get_instance()
except ValueError as e:
app.bot_config = {}
logging.error(e)
if app.bot_config.get('load_at_start') and len(app.bot_config.get('load_at_start')):
app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
bot.say(app.bot_config.get("sound_start"))
app.run(host="0.0.0.0", port=8080, debug=True, use_reloader=False, threaded=True)
def __init__(self):
self.bot = CoderBot.get_instance()
self.cam = Camera.get_instance()
self.track_len = 2
self.detect_interval = 5
self.tracks = []
self.frame_idx = 0
self.ts = time()
self.frame_gray = None
self.prev_gray = None
self.running = False
self.delta_power = 0.0
self.delta_dist = 0.0
self.target_dist = 0.0
self.delta_angle = 0.0
self.target_angle = 0.0
cfg = Config.get()
self.power_angles = [[15, (int(cfg.get("move_power_angle_1")), -1)], [4, (int(cfg.get("move_power_angle_2")), 0.05)], [1, (int(cfg.get("move_power_angle_3")), 0.02)], [0, (0, 0)]]
def run_server(prog=None):
app.shutdown_requested = False
Config().load(DEFAULT_CONFIG_PATH)
app.bot = CoderBot()
app.bot.camera.setDCIMpath(Config().get('record_path', RECORD_PATH))
# TODO : Launch the Config().get('program_launch_at_start', None) program
if prog is not None:
prog()
try:
app.run(host='0.0.0.0',
port=Config().get('listen_port', 8080),
use_reloader=False,
threaded=True)
except:
raise
finally:
app.shutdown_requested = True
app.bot.shutdown()
def run_server():
bot = None
cam = None
try:
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode") == "servo"),
motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)))
audio = Audio.get_instance()
audio.say(app.bot_config.get("sound_start"))
try:
cam = Camera.get_instance()
Motion.get_instance()
except picamera.exc.PiCameraError:
logging.error("Camera not present")
CNNManager.get_instance()
EventManager.get_instance("coderbot")
if app.bot_config.get('load_at_start') and app.bot_config.get('load_at_start'):
app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
app.prog.execute()
except ValueError as e:
app.bot_config = {}
logging.error(e)
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
remove_doreset_file()
app.run(host="0.0.0.0", port=5000, debug=True, use_reloader=False, threaded=True)
finally:
if cam:
cam.exit()
if bot:
bot.exit()
app.shutdown_requested = True
def run_server():
bot = None
cam = None
try:
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
encoder=bool(app.bot_config.get('encoder')))
audio = Audio.get_instance()
audio.say(app.bot_config.get("sound_start"))
try:
cam = Camera.get_instance()
Motion.get_instance()
except picamera.exc.PiCameraError:
logging.error("Camera not present")
CNNManager.get_instance()
EventManager.get_instance("coderbot")
if app.bot_config.get('load_at_start') and app.bot_config.get('load_at_start'):
app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
app.prog.execute()
except ValueError as e:
app.bot_config = {}
logging.error(e)
bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
remove_doreset_file()
app.run(host="0.0.0.0", port=5000, debug=False, use_reloader=False, threaded=True)
finally:
if cam:
cam.exit()
if bot:
bot.exit()
app.shutdown_requested = True
def run_server():
global bot
global cam
global motion
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(
servo=(app.bot_config.get("move_motor_mode") == "servo"))
cam = Camera.get_instance()
motion = Motion.get_instance()
except ValueError as e:
app.bot_config = {}
logging.error(e)
if app.bot_config.get('load_at_start') and len(
app.bot_config.get('load_at_start')):
app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
bot.say(app.bot_config.get("sound_start"))
app.run(host="0.0.0.0",
port=8080,
debug=True,
use_reloader=False,
threaded=True)
from coderbot import CoderBot import sys DISTANCE = float(sys.argv[1]) c = CoderBot() c.move(speed=70, distance=DISTANCE)
"""
This file defines base tests for CoderBot
in order to test its functionality
The function run_test(varargin) lanuches tests
according to required test from the front-end.
e.g. varagrin = ["motor_test", "sonar_test"]
__test_encoder() and __test_sonar() will be launched.
If something goes wrong a -1 is returned for the correspondent failed test.
If a test passes for correspondent component, a 1 is returned.
If no test was executed on that component, 0 is preserved.
"""
from coderbot import CoderBot
c = CoderBot.get_instance()
# Single components tests
# encoder motors
def __test_encoder():
try:
# moving both wheels at speed 100 clockwise
print("moving both wheels at speed 100 clockwise")
assert(c.speed() == 0)
c.move(speed=100, elapse=2)
assert(c.distance() != 0)
assert (c.speed() == 0)
# moving both wheels at speed 40 clockwise
print("moving both wheels at speed 40 clockwise")
assert(c.speed() == 0)
from coderbot import CoderBot import time bot = CoderBot.get_instance() for x in range(1,100): a = bot.get_sonar_distance(0) time.sleep(0.003) b = bot.get_sonar_distance(1) print "sonar_1: " + str(a) + " sonar_2: " + str(b) time.sleep(0.1)
"""
import os
import subprocess
import json
import connexion
from tinydb import TinyDB, Query
from tinydb.operations import delete
from cachetools import cached, TTLCache
from coderbot import CoderBot
from program import ProgramEngine, Program
from config import Config
bot_config = Config.get()
bot = CoderBot.get_instance(
servo=(bot_config.get("move_motor_mode") == "servo"),
motor_trim_factor=float(bot_config.get("move_motor_trim", 1.0)),
)
def get_serial():
"""
Extract serial from cpuinfo file
"""
cpuserial = "0000000000000000"
try:
f = open('/proc/cpuinfo', 'r')
for line in f:
if line[0:6] == 'Serial':
cpuserial = line[10:26]
f.close()
except Exception:
def handle_bot():
"""
Execute a bot command
"""
bot = CoderBot.get_instance()
cam = Camera.get_instance()
motion = Motion.get_instance()
audio = Audio.get_instance()
cmd = request.args.get('cmd')
param1 = request.args.get('param1')
param2 = request.args.get('param2')
print('/bot', json.dumps(request.args))
if cmd == "move":
bot.move(speed=int(param1), elapse=float(param2))
elif cmd == "turn":
bot.turn(speed=int(param1), elapse=float(param2))
elif cmd == "move_motion":
motion.move(dist=float(param2))
elif cmd == "turn_motion":
motion.turn(angle=float(param2))
elif cmd == "stop":
bot.stop()
try:
motion.stop()
except Exception:
logging.warning("Camera not present")
elif cmd == "take_photo":
try:
cam.photo_take()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "video_rec":
try:
cam.video_rec()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "video_stop":
try:
cam.video_stop()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "say":
logging.info("say: " + str(param1) + " in: " + str(get_locale()))
audio.say(param1, get_locale())
elif cmd == "halt":
logging.info("shutting down")
audio.say(app.bot_config.get("sound_stop"))
bot.halt()
elif cmd == "restart":
logging.info("restarting bot")
bot.restart()
elif cmd == "reboot":
logging.info("rebooting")
bot.reboot()
return "ok"
import json
import connexion
from tinydb import TinyDB, Query
from tinydb.operations import delete
from cachetools import cached, TTLCache
from coderbot import CoderBot
from program import ProgramEngine, Program
from config import Config
from coderbotTestUnit import run_test as runCoderbotTestUnit
import pigpio
BUTTON_PIN = 16
bot_config = Config.get()
bot = CoderBot.get_instance(motor_trim_factor=float(
bot_config.get("move_motor_trim", 1.0)),
encoder=bool(bot_config.get("encoder")))
query = Query()
def get_serial():
"""
Extract serial from cpuinfo file
"""
cpuserial = "0000000000000000"
try:
f = open('/proc/cpuinfo', 'r')
for line in f:
if line[0:6] == 'Serial':
cpuserial = line[10:26]
def handle_bot():
"""
Execute a bot command
"""
bot = CoderBot.get_instance()
cam = Camera.get_instance()
motion = Motion.get_instance()
audio = Audio.get_instance()
cmd = request.args.get('cmd')
param1 = request.args.get('param1')
param2 = request.args.get('param2')
print('/bot', json.dumps(request.args))
if cmd == "move":
bot.move(speed=int(param1), elapse=float(param2))
elif cmd == "turn":
bot.turn(speed=int(param1), elapse=float(param2))
elif cmd == "move_motion":
motion.move(dist=float(param2))
elif cmd == "turn_motion":
motion.turn(angle=float(param2))
elif cmd == "stop":
bot.stop()
try:
motion.stop()
except Exception:
logging.warning("Camera not present")
elif cmd == "take_photo":
try:
cam.photo_take()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "video_rec":
try:
cam.video_rec()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "video_stop":
try:
cam.video_stop()
audio.say(app.bot_config.get("sound_shutter"))
except Exception:
logging.warning("Camera not present")
elif cmd == "say":
logging.info("say: " + str(param1) + " in: " + str(get_locale()))
audio.say(param1, get_locale())
elif cmd == "halt":
logging.info("shutting down")
audio.say(app.bot_config.get("sound_stop"))
bot.halt()
elif cmd == "restart":
logging.info("restarting bot")
bot.restart()
elif cmd == "reboot":
logging.info("rebooting")
bot.reboot()
return "ok"