def startListener(thread):
thread.start()
while True:
# 標準入力を読み込み続ける
# subprpcessから何か返答があれば標準入力として帰ってくる
# (input()もstdinと同じこと _stubファイルはinputで適当な値を入力するようにしている)
# sys.stdin.flush()
data = json.loads(input())
log.communication('client_data:' + str(data))
request = data['request']
response = data['response']
# 実行したやつのmodule名
module = request['module']
# リスナーのkeyがmodule, valueはcallback
try:
if len(listeners[module]) > 0:
thread = CallbackThread(listeners[module][0], response)
thread.start()
# 各モジュールリストに入ったcallback関数をpopし実行していく
listeners[module].pop(0)
except KeyError:
continue
except EOFError:
request = {'module': 'msg', 'message': 'EOFError'}
print(request, flush=True)
def run(self, request=None):
if not request:
return
if(request['cmd'] == 'check_dist'):
distance = dm()
response = {"dist" : distance}
log.communication('dist_thread:' + str(distance))
jsn = json.dumps({"response": response, 'request': request})
self.app.stdin.write((jsn + '\n').encode('utf-8'))
self.app.stdin.flush()
print('dist_thread->dist: {}:{}'.format(response, request))
def func_motor(request):
cmd = request['command']
if cmd == 'stop':
log.communication('motor: send ' + cmd)
proc['motor'].stdin.write(cmd + '\n')
elif cmd == 'move' or cmd == 'back':
right_speed = request['left_speed']
left_speed = request['right_speed']
right = str(right_speed)
left = str(left_speed)
log.communication('motor: send ' + cmd + ' ' + right + ' ' + left)
proc['motor'].stdin.write('move_spd ' + right + ' ' + left + '\n')
elif cmd == 'right' or cmd == 'left':
angle = request['angle']
log.communication('motor: send ' + cmd + ' ' + str(angle))
proc['motor'].stdin.write(cmd + ' ' + str(angle) + '\n')
elif cmd == 'move_acc':
dst = request['dst']
log.communication('motor: send ' + cmd + ' ' + str(dst))
proc['motor'].stdin.write('move ' + str(dst) + ' ' + str(dst) + '\n')
def run(self, request=None):
if not request:
return
print('viuce_thread->voice: {}:{}'.format(self.cnt, request))
self.cnt += 1
# juliusのプロセスIDを取得
pid = str(self.voice.stdout.read().decode('utf-8'))
time.sleep(5)
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host, port))
data =""
killword = ""
while True:
while (1):
if '</RECOGOUT>\n.' in data:
#data = data + sock.recv(1024)
strTemp = ""
for line in data.split('\n'):
index = line.find('WORD="')
if index != -1:
line = line[index+6:line.find('"',index+6)]
strTemp += str(line)
response={}
if strTemp == 'カメラ':
if killword != 'カメラ':
print ("Result: " + strTemp)
#カメラを立ち上げて，自動的にbreak
response['module'] = 'camera'
print ("<<<please speak>>>")
killword = "カメラ"
elif strTemp == '進め':
if killword != '進め':
print("Result: " + strTemp)
response['module'] = 'motor'
print ("<<<please speak>>>")
killword = "進め"
elif strTemp == '前':
if killword != "前":
print("Result: " + strTemp)
#request['module'] = 'motor'
response['motor_cmd'] = 'front'
print ("<<<please speak>>>")
killword = "前"
elif strTemp == '後ろ':
if killword != "後ろ":
print("Result: " + strTemp)
#request['module'] = 'motor'
response['motor_cmd'] = 'back'
print("<<<please speak>>>")
killword = "後ろ"
elif strTemp == '右':
if killword != "右":
print("Result: " + strTemp)
#request['module'] = 'motor'
response['motor_cmd'] = 'right'
print ("<<<please speak>>>")
killword = "右"
elif strTemp == '左':
if killword != "左":
print("Result: " + strTemp)
#request['module'] = 'motor'
response['motor_cmd'] = 'left'
print ("<<<please speak>>>")
killword = "左"
elif strTemp == 'とまれ':
if killword != "とまれ":
print("Result: " + strTemp)
respinse['motor_cmd'] = 'stop'
print ("<<<please speak>>>")
killword = "とまれ"
elif strTemp == 'ストップ':
if killword != "ストップ":
print("Result: " + strTemp)
response['motor_cmd'] = 'stop'
print ("<<<please speak>>>")
killword = "ストップ"
elif strTemp == '友達':
if killword != "友達":
print("Result: " + strTemp)
#スルー
print ("<<<please speak>>>")
killword = "友達"
elif strTemp == 'ついて来て':
if killword != "ついて来て":
print("Result: " + strTemp)
#何か返答
print ("<<<please speak>>>")
killword = "ついて来て"
elif strTemp == '終了':
if killword != "終了":
print("Result: " + strTemp)
response['module'] = 'quit'
self.exitCore()
print ("<<<please speak>>>")
killword = "終了"
else:
print("Result:" + strTemp)
print ("<<<please speak>>>")
data = ""
jsn = json.dumps({"response":response, "request":request})
log.communication('voice_thread:' + str(response))
self.app.stdin.write((jsn + '\n').encode('utf-8'))
self.app.stdin.flush()
print('voice_thread->app: {}:{}'.format(response, request))
else:
data += str(sock.recv(1024).decode('utf-8'))
def func_speech(request):
cmd = request['command']
if cmd == 'speak':
msg = request['message']
log.communication('speech: send ' + msg)
proc['speech'].stdin.write(msg + '\n')
def func_speech(request):
cmd = request['command']
if cmd == 'speak':
msg = request['message']
log.communication('speech: send ' + msg)
proc['speech'].stdin.write(msg + '\n')
# start voice thread
func_voice()
func_shoe()
while True:
#get module and command from app
raw_request = proc['app'].stdout.readline()
try:
request = json.loads(raw_request)
except ValueError:
continue
log.communication('app: receive ' + raw_request)
if request['module'] == 'camera':
func_camera(request)
elif request['module'] == 'voice':
func_voice(request)
elif request['module'] == 'motor':
func_motor(request)
elif request['module'] == 'sensor':
func_sensor(request)
elif request['module'] == 'speech':
func_speech(request)