def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'failure'}
try:
r_mode = get_attr_value(content, 'r_mode')
posx = get_attr_value(content, 'x')
posy = get_attr_value(content, 'y')
deviceid = get_id(content)
floor = self.get_floor_by_robot(deviceid)
logger.info(
f'received position: r_mode={r_mode}, posx={posx}, posy={posy}, robot_id={deviceid}, floor={floor}'
)
if r_mode == 'Standby':
content = self.orion.get_attrs(deviceid, 'r_state')['r_state']
current_state = content['value'].strip()
state_datetime = parser.parse(
content['metadata']['TimeInstant']['value'].strip())
now = datetime.datetime.now(timezone('Asia/Tokyo'))
delta_sec = (now - state_datetime).total_seconds()
if current_state not in (
const.GUIDING, const.RETURNING
) or delta_sec < self.robot_state_check_wait_sec:
message = f'cannot accept command at StopMovmentAPI, current_state={current_state}, deviceid={deviceid} '\
f'r_mode={r_mode}, posx={posx}, posy={posy}, floor={floor}, delta_sec={delta_sec}'
logger.debug(message)
result['result'] = 'not acceptable'
result['message'] = message
else:
if current_state == const.GUIDING:
r_state = const.SUSPENDING
else:
r_state = const.WAITING
attributes = [{
'name': 'r_state',
'value': r_state,
}]
message = self.orion.update_attributes(
deviceid, self.type, attributes)
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except DestinationFormatError as e:
logger.error(f'DestinationFormatError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'ignore'}
try:
r_mode = get_attr_value(content, 'r_mode')
posx = get_attr_value(content, 'x')
posy = get_attr_value(content, 'y')
deviceid = get_id(content)
floor = self.get_floor_by_robot(deviceid)
logger.info(
f'received position: r_mode={r_mode}, posx={posx}, posy={posy}, robot_id={deviceid}, floor={floor}'
)
robot_attrs = self.robot_orion.get_attrs(deviceid,
'r_state,destx,desty')
current_state = robot_attrs['r_state']['value'].strip()
destx = robot_attrs['destx']['value'].strip()
desty = robot_attrs['desty']['value'].strip()
if posx is not None and posy is not None and floor is not None and current_state == const.GUIDING:
destinations = Destination().get_destinations_by_dest_led_pos(
posx, posy, floor)
if destinations is not None:
for destination in destinations:
try:
if const.DEST_POS_X in destination and float(destination[const.DEST_POS_X]) == float(destx) and \
const.DEST_POS_Y in destination and float(destination[const.DEST_POS_Y]) == float(desty):
if const.DEST_LED_ID in destination and destination[
const.DEST_LED_ID] is not None:
dest_led_id = destination[
const.DEST_LED_ID]
message = self.dest_led_orion.send_cmd(
dest_led_id, self.dest_led_type,
'action', 'on')
result['result'] = 'success'
result['message'] = message
break
except (ValueError, TypeError):
pass
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except DestinationFormatError as e:
logger.error(f'DestinationFormatError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'failure'}
try:
value = get_attr_value(content, 'dest')
dest = Destination().get_destination_by_name(value)
dest_name = dest.get(DEST_NAME)
if not dest_name:
raise DestinationFormatError('dest_name is empty')
try:
dest_floor = int(dest.get(DEST_FLOOR))
except (TypeError, ValueError):
raise DestinationFormatError('dest_floor is invalid')
if const.SLACK_WEBHOOK in dest:
slack.send_message_to_slack(dest[const.SLACK_WEBHOOK], dest_name)
if dest_floor == 2:
logger.info(f'call facedetect to pepper({self.pepper_2_id}), dest_name={dest_name}, floor={dest_floor}')
message = self.orion.send_cmd(self.pepper_2_id, self.type, 'facedetect', 'start')
else:
message = f'nothing to do, dest_name={dest_name}, floor={dest_floor}'
logger.info(message)
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except DestinationDoesNotExist as e:
logger.error(f'DestinationDoesNotFound: {str(e)}')
raise BadRequest(str(e))
except DestinationFormatError as e:
logger.error(f'DestinationFormatError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'failure'}
try:
value = get_attr_value(content, 'state')
if value == 'on':
message = self.orion.send_cmd(self.pepper_1_id, self.type, 'welcome', 'start')
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'failure'}
try:
robot_id = get_id(content)
state = get_attr_value(content, 'r_state')
message = self.orion.send_cmd(robot_id + const.TABLET_SUFFIX,
self.type, 'state', state)
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'failure'}
try:
destx = get_attr_value(content, 'destx')
desty = get_attr_value(content, 'desty')
visitor_id = get_attr_value(content, 'visitor_id')
try:
floor = int(get_attr_value(content, 'floor'))
except (TypeError, ValueError):
raise DestinationFormatError('dest_floor is invalid')
if destx is not None and desty is not None and floor in (
1, 2) and visitor_id is not None:
robot_id = self.get_available_robot_from_floor(floor)
current_state = self.orion.get_attrs(
robot_id, 'r_state')['r_state']['value'].strip()
if current_state != const.WAITING:
message = f'cannot accept command at StartMovementAPI, current_state={current_state}, robot_id={robot_id} '\
f'destx={destx}, desty={desty}, floor={floor}, visitor_id={visitor_id}'
logger.warning(message)
result['result'] = 'not acceptable'
result['message'] = message
else:
attributes = [{
'name': 'r_state',
'value': const.GUIDING,
}, {
'name': 'destx',
'value': destx,
}, {
'name': 'desty',
'value': desty,
}, {
'name': 'visitor',
'value': visitor_id,
}]
self.orion.update_attributes(robot_id, self.type,
attributes)
value = f'r_cmd|Navi|x|{destx}|y|{desty}'
message = self.orion.send_cmd(robot_id, self.type,
'robot_request', value)
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except DestinationFormatError as e:
logger.error(f'DestinationFormatError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
def post(self):
content = request.data.decode('utf-8')
logger.info(f'request content={content}')
result = {'result': 'ignore'}
try:
arrival = get_attr_value(content, 'arrival')
if arrival is not None:
id = get_id(content)
destService = Destination()
destination = destService.get_destination_by_dest_human_sensor_id(
id)
if destination is not None and const.DEST_FLOOR in destination:
try:
floor = int(destination[const.DEST_FLOOR])
except (TypeError, ValueError):
raise DestinationFormatError('dest_floor is invalid')
robot_id = self.get_available_robot_from_floor(floor)
robot_attrs = self.robot_orion.get_attrs(
robot_id, 'r_state,destx,desty')
current_state = robot_attrs['r_state']['value']
try:
destx = float(robot_attrs['destx']['value'])
desty = float(robot_attrs['desty']['value'])
except (TypeError, ValueError):
destx = float('inf')
desty = float('inf')
if (current_state != const.SUSPENDING or
destx != float(destination.get(const.DEST_POS_X))
or
desty != float(destination.get(const.DEST_POS_Y))):
message = f'cannot accept command at Arrival, current_state={current_state}, robot_id={robot_id}'\
f'destx={destx}, desty={desty}, floor={floor}'
logger.warning(message)
result['result'] = 'not acceptable'
result['message'] = message
else:
if const.DEST_LED_ID in destination and destination[
const.DEST_LED_ID] is not None:
dest_led_id = destination[const.DEST_LED_ID]
self.dest_led_orion.send_cmd(
dest_led_id, self.dest_led_type, 'action',
'off')
initial = destService.get_initial_of_floor(floor)
initial_pos_x = initial.get(const.DEST_POS_X)
initial_pos_y = initial.get(const.DEST_POS_Y)
if initial_pos_x is None or initial_pos_y is None:
raise DestinationFormatError(
'initial dest_pos_x or dest_pos_y is empty')
attributes = [{
'name': 'r_state',
'value': const.RETURNING,
}, {
'name': 'destx',
'value': '',
}, {
'name': 'desty',
'value': '',
}]
self.robot_orion.update_attributes(
robot_id, self.robot_type, attributes)
value = f'r_cmd|Navi|x|{initial_pos_x}|y|{initial_pos_y}'
message = self.robot_orion.send_cmd(
robot_id, self.robot_type, 'robot_request', value)
logger.info(
f'guide_robot({robot_id}) return to the initial position of floor({floor})'
)
result['result'] = 'success'
result['message'] = message
except AttrDoesNotExist as e:
logger.error(f'AttrDoesNotExist: {str(e)}')
raise BadRequest(str(e))
except NGSIPayloadError as e:
logger.error(f'NGSIPayloadError: {str(e)}')
raise BadRequest(str(e))
except DestinationFormatError as e:
logger.error(f'DestinationFormatError: {str(e)}')
raise BadRequest(str(e))
except Exception as e:
logger.exception(e)
raise e
return jsonify(result)
