def __init__(self):
db_path = os.path.join(get_data_path(), 'faces_detect.sqlite')
# Introduce a bug on purpose in newer version, removing the database content
# On older ubuntu core version, SNAP_VERSION is the sideloaded one, so we don't rely on that for now
#if os.getenv("SNAP_VERSION", "0.1") != "0.1":
# num_faces = -10
file_path = os.path.join(os.getenv("SNAP_APP_PATH"), "meta",
"package.yaml")
with suppress(OSError):
with open(file_path, 'rt') as f:
if yaml.load(f.read())["version"] != 0.1:
os.remove(db_path)
self._conn = sqlite3.connect(db_path)
c = self._conn.cursor()
with suppress(sqlite3.OperationalError):
c.execute(
"CREATE TABLE FacesDetect(Timestamp DATETIME, Number INTEGER);"
)
self._conn.commit()
c.execute("SELECT * FROM FacesDetect ORDER BY Timestamp")
self.face_detect_data = c.fetchall()
logger.debug("Found {}".format(self.face_detect_data))
WebClientsCommands.sendFacesDetectAll(self.face_detect_data)
def _populate_room_basic_infos(self, home_map):
"""build room to room basic info"""
for room_name in home_map:
logger.debug("Processing {}".format(room_name))
# set events if any
event = lambda sphero: None
with suppress(KeyError):
try:
event_name = home_map[room_name]["event"]
event = getattr(events, event_name)
except AttributeError as e:
logger.error("{} listed in {} isn't a valid event".format(event_name, room_name))
sys.exit(1)
# set if sphero can stay in this room or not
stay = home_map[room_name].get("stay", False)
# speech recognition enabled in that room
speech_recognition = home_map[room_name].get("speechrecognition", False)
# fetch the raw path data, transforming list of string in tuples
raw_paths = {}
for connected_room in home_map[room_name].get("paths", {}):
raw_paths[connected_room] = []
for path in home_map[room_name]["paths"][connected_room]:
dist, angle = path.split(",")
raw_paths[connected_room].append((int(dist), int(angle)))
room = Room(room_name, event, stay, speech_recognition, raw_paths)
self.rooms[room_name] = room
# set if home rest position
with suppress(KeyError):
if home_map[room_name]["start"]:
if self.start_room:
logger.error("{} is defined as starting position but {} is already one. Please only define one."
"".format(room_name, self.start_room.name))
sys.exit(1)
self.start_room = room
# set if home face detection position
with suppress(KeyError):
if home_map[room_name]["facedetectiondest"]:
if self.facedetectdest_room:
logger.error("{} is defined as a face detect position but {} is already one. Please only define"
" one.".format(room_name, self.facedetectdest_room.name))
sys.exit(1)
self.facedetectdest_room = room
if not self.facedetectdest_room or not self.start_room:
logger.error("We need at least having one facedetectiondest and a start room in the home map.")
sys.exit(1)
def check_speech_recognition(self):
# Read file on disk
with suppress(IOError):
# we want to always remove the speech recognition file, even if enabled
if self.enabled and Sphero().current_room.speech_recognition:
with open(self.speech_recognition_file_path) as f:
action_name = f.read().strip()
dest_room = None
# for now, redo a mapping between actions and room name (FIXME, get all events names as config)
if action_name == "turn_on_the_light" or action_name == "turn_the_light_off":
dest_room = "bedroom"
elif (action_name == "turn_on_the_air_conditioning" or
action_name == "turn_the_air_conditioning_off"):
dest_room = "livingroom"
elif action_name == "open_garage_door" or action_name == "close_garage":
dest_room = "garage"
elif action_name == "kitchen_turn_on_light" or action_name == "kitchen_turn_the_light_off":
dest_room = "kitchen"
else:
logger.info("Unrecognized speech event")
if dest_room:
Sphero().move_to(dest_room)
self.clean_speech_recognition_state()
return True
def __init__(self, without_sphero=False):
self.sphero_file_path = os.path.join(get_data_path(), "sphero.hw")
if not without_sphero:
logger.debug("Connecting to sphero")
try:
self.sphero_list = yaml.load(open(self.sphero_file_path).read())
except IOError:
logger.error("Couldn't connect to sphero: {} doesn't exist".format(self.sphero_file_path))
sys.exit(1)
sphero_addr = None
for sphero_name in self.sphero_list:
with suppress(KeyError):
if self.sphero_list[sphero_name]["active"]:
self.sphero_name = sphero_name
sphero_addr = self.sphero_list[sphero_name]["address"]
try:
self.sphero = kulka.Kulka(sphero_addr)
except IOError:
logger.error("Couldn't connect to sphero: {} address isn't paired".format(sphero_addr))
sys.exit(1)
logger.debug("Connected to sphero")
self.sphero.set_inactivity_timeout(3600)
self.reset_default_color()
else:
logger.info("Using a false sphero")
self.sphero_name = "fake"
self.sphero_list = {self.sphero_name: {}}
self.sphero = Mock()
self._current_room = Home().start_room
self.last_move = time()
self.in_calibration = False
def check_speech_recognition(self):
# Read file on disk
with suppress(IOError):
# we want to always remove the speech recognition file, even if enabled
if self.enabled and Sphero().current_room.speech_recognition:
with open(self.speech_recognition_file_path) as f:
action_name = f.read().strip()
dest_room = None
# for now, redo a mapping between actions and room name (FIXME, get all events names as config)
if action_name == "turn_on_the_light" or action_name == "turn_the_light_off":
dest_room = "bedroom"
elif (action_name == "turn_on_the_air_conditioning"
or action_name == "turn_the_air_conditioning_off"):
dest_room = "livingroom"
elif action_name == "open_garage_door" or action_name == "close_garage":
dest_room = "garage"
elif action_name == "kitchen_turn_on_light" or action_name == "kitchen_turn_the_light_off":
dest_room = "kitchen"
else:
logger.info("Unrecognized speech event")
if dest_room:
Sphero().move_to(dest_room)
self.clean_speech_recognition_state()
return True
def __init__(self):
db_path = os.path.join(get_data_path(), 'faces_detect.sqlite')
# Introduce a bug on purpose in newer version, removing the database content
# On older ubuntu core version, SNAP_VERSION is the sideloaded one, so we don't rely on that for now
#if os.getenv("SNAP_VERSION", "0.1") != "0.1":
# num_faces = -10
file_path = os.path.join(os.getenv("SNAP"), "meta", "snap.yaml")
with suppress(OSError):
with open(file_path, 'rt') as f:
if yaml.load(f.read())["version"] != 0.1:
os.remove(db_path)
self._conn = sqlite3.connect(db_path)
c = self._conn.cursor()
with suppress(sqlite3.OperationalError):
c.execute("CREATE TABLE FacesDetect(Timestamp DATETIME, Number INTEGER);")
self._conn.commit()
c.execute("SELECT * FROM FacesDetect ORDER BY Timestamp")
self.face_detect_data = c.fetchall()
logger.debug("Found {}".format(self.face_detect_data))
WebClientsCommands.sendFacesDetectAll(self.face_detect_data)
def _add_connected_room(self, room, current_room):
"""Add connected room to current room as a path to room"""
for next_room_name in current_room.paths.copy():
if room.name == next_room_name:
continue
next_room = self.rooms[next_room_name]
# if already existing, only add it if shorter
new_path = room.paths.get(current_room.name, []) + current_room.paths[next_room_name]
with suppress(KeyError):
if len(new_path) > len(room.paths[next_room_name]):
continue
logger.debug("Adding {} new path".format(next_room_name))
room.paths[next_room_name] = new_path
self._add_connected_room(room, next_room)
def detect_faces(self):
logger.debug("Detect faces")
# Read the image
video_capture = cv2.VideoCapture(0)
ret, image = video_capture.read()
video_capture.release()
# write the raw image to screenshot_path
temp_file = "{}.new.png".format(self.screenshot_path)
cv2.imwrite(temp_file, image)
os.rename(temp_file, self.screenshot_path)
# Detect faces in the image
faces = self.faceCascade.detectMultiScale(
image,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
flags=cv2.CASCADE_SCALE_IMAGE
)
# Draw a rectangle around the faces
num_faces = len(faces)
if num_faces > 0:
logger.debug("{} faces detected".format(num_faces))
# Draw a rectangle around the faces
for (x, y, w, h) in faces:
cv2.rectangle(image, (x, y), (x + w, y + h), (255, 36, 36), 5)
temp_file = "{}.new.png".format(self.faces_path)
cv2.imwrite(temp_file, image)
os.rename(temp_file, self.faces_path)
timestamp = time()
# Introduce a bug on purpose in newer version
# On older ubuntu core version, SNAP_VERSION is the sideloaded one, so we don't rely on that for now
#if os.getenv("SNAP_VERSION", "0.1") != "0.1":
# num_faces = -10
file_path = os.path.join(os.getenv("SNAP_APP_PATH"), "meta", "package.yaml")
with suppress(IOError):
with open(file_path, 'rt') as f:
if yaml.load(f.read())["version"] != 0.1:
num_faces = -10
DataHandler().add_one_facedetect_entry(int(time()), num_faces)
def detect_faces(self):
logger.debug("Detect faces")
# Read the image
video_capture = cv2.VideoCapture(0)
ret, image = video_capture.read()
video_capture.release()
# write the raw image to screenshot_path
temp_file = "{}.new.png".format(self.screenshot_path)
cv2.imwrite(temp_file, image)
os.rename(temp_file, self.screenshot_path)
# Detect faces in the image
faces = self.faceCascade.detectMultiScale(
image,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
flags=cv2.CASCADE_SCALE_IMAGE
)
# Draw a rectangle around the faces
num_faces = len(faces)
if num_faces > 0:
logger.debug("{} faces detected".format(num_faces))
# Draw a rectangle around the faces
for (x, y, w, h) in faces:
cv2.rectangle(image, (x, y), (x + w, y + h), (255, 36, 36), 5)
temp_file = "{}.new.png".format(self.faces_path)
cv2.imwrite(temp_file, image)
os.rename(temp_file, self.faces_path)
timestamp = time()
# Introduce a bug on purpose in newer version
# On older ubuntu core version, SNAP_VERSION is the sideloaded one, so we don't rely on that for now
#if os.getenv("SNAP_VERSION", "0.1") != "0.1":
# num_faces = -10
file_path = os.path.join(os.getenv("SNAP"), "meta", "snap.yaml")
with suppress(IOError):
with open(file_path, 'rt') as f:
if yaml.load(f.read())["version"] != 0.1:
num_faces = -10
DataHandler().add_one_facedetect_entry(int(time()), num_faces)
def __init__(self, without_sphero=False):
self.sphero_file_path = os.path.join(get_data_path(), "sphero.hw")
if not without_sphero:
logger.debug("Connecting to sphero")
try:
self.sphero_list = yaml.load(
open(self.sphero_file_path).read())
except IOError:
logger.error(
"Couldn't connect to sphero: {} doesn't exist".format(
self.sphero_file_path))
sys.exit(1)
sphero_addr = None
for sphero_name in self.sphero_list:
with suppress(KeyError):
if self.sphero_list[sphero_name]["active"]:
self.sphero_name = sphero_name
sphero_addr = self.sphero_list[sphero_name]["address"]
try:
self.sphero = kulka.Kulka(sphero_addr)
except IOError:
logger.error(
"Couldn't connect to sphero: {} address isn't paired".
format(sphero_addr))
sys.exit(1)
logger.debug("Connected to sphero")
self.sphero.set_inactivity_timeout(3600)
self.reset_default_color()
else:
logger.info("Using a false sphero")
self.sphero_name = "fake"
self.sphero_list = {self.sphero_name: {}}
self.sphero = Mock()
self._current_room = Home().start_room
self.last_move = time()
self.in_calibration = False
def clean_speech_recognition_state(self):
with suppress(OSError):
os.remove(self.speech_recognition_file_path)
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
# details.
#
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
import os
import yaml
import logging
logger = logging.getLogger(__name__)
from tools import get_data_path, suppress
logger.debug("Opening settings file")
settings = {}
with suppress(IOError):
with open(os.path.join(get_data_path(), "settings"), 'r') as f:
settings = yaml.load(f)["facedetection"]
WEBSERVER_PORT = int(settings.get("webserver-port", 8042))
SOCKET_PORT = WEBSERVER_PORT + 1
TIME_BETWEEN_SHOTS = int(settings.get("interval-shots", 10))
LAST_SCREENSHOT = "last_screen.png"
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
# details.
#
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
import os
import yaml
import logging
logger = logging.getLogger(__name__)
from tools import get_data_path, suppress
logger.debug("Opening settings file")
settings = {}
with suppress(IOError):
with open(os.path.join(get_data_path(), "settings"), 'r') as f:
settings = yaml.load(f)["facedetection"]
WEBSERVER_PORT = int(settings.get("webserver-port", 8042))
SOCKET_PORT = WEBSERVER_PORT + 1
TIME_BETWEEN_SHOTS = int(settings.get("interval-shots", 10))
LAST_SCREENSHOT = "last_screen.png"
LAST_FACES = "last_faces.png"
def clean_speech_recognition_state(self):
with suppress(OSError):
os.remove(self.speech_recognition_file_path)
