def __init__(self, path):
# needs /etc/dbus-1/system.d/openroberta.conf
bus_name = dbus.service.BusName('org.openroberta.lab', bus=dbus.SystemBus())
dbus.service.Object.__init__(self, bus_name, path)
logger.info('object registered')
self.status('disconnected')
self.hal = Hal(None, None)
self.hal.clearDisplay()
self.thread = None
class Service(dbus.service.Object):
"""OpenRobertab-Lab dbus service
The status state machines is a follows:
+-> disconnected
| |
| v
+- connected
| |
| v
+- registered
| ^
| v
+- executing
"""
def __init__(self, path):
# needs /etc/dbus-1/system.d/openroberta.conf
bus_name = dbus.service.BusName('org.openroberta.lab', bus=dbus.SystemBus())
dbus.service.Object.__init__(self, bus_name, path)
logger.info('object registered')
self.status('disconnected')
self.hal = Hal(None, None)
self.hal.clearDisplay()
self.thread = None
@dbus.service.method('org.openroberta.lab', in_signature='s', out_signature='s')
def connect(self, address):
logger.info('connect(%s)' % address)
# start thread, connecting to address
self.thread = Connector(address, self)
self.thread.daemon = True
self.thread.start()
self.status('connected')
return self.thread.params['token']
@dbus.service.method('org.openroberta.lab')
def disconnect(self):
logger.info('disconnect()')
# end thread, can take up to 15 seconds (the timeout to return)
self.thread.running = False;
self.thread.join()
self.thread = None
self.status('disconnected')
@dbus.service.signal('org.openroberta.lab', signature='s')
def status(self, status):
logger.info('status changed: %s' % status)
from ev3dev import ev3 as ev3dev
import math
import os
class BreakOutOfALoop(Exception): pass
class ContinueLoop(Exception): pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
},
'sensors': {
},
}
hal = Hal(_brickConfiguration)
item = [0, 0, 0]
item2 = [True, True, True]
item3 = ["1", "2", "3"]
item4 = ['white', 'white', 'white']
item5 = [None, None, None]
item6 = 0
item7 = True
item8 = "123"
item9 = 'white'
item10 = None
def run():
global item, item2, item8, item7, item9, item4, item3, item10, item6, item5
item[0] = 0
item[-1 -0] = 0
class BreakOutOfALoop(Exception):
pass
class ContinueLoop(Exception):
pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {},
'sensors': {
'1': Hal.makeTouchSensor(ev3dev.INPUT_1),
'2': Hal.makeGyroSensor(ev3dev.INPUT_2),
'3': Hal.makeColorSensor(ev3dev.INPUT_3),
'4': Hal.makeUltrasonicSensor(ev3dev.INPUT_4),
},
}
hal = Hal(_brickConfiguration)
def run():
while True:
if (0 == 0) and True:
break
hal.waitFor(15)
hal.waitFor(500)
while True:
def main():
logger = logging.getLogger('robertalab')
logger.info('--- starting ---')
params = {
'macaddr': '70:1e:bb:88:89:bc',
'firmwarename': 'ev3dev',
'menuversion': version.split('-')[0],
}
headers = {'Content-Type': 'application/json'}
try:
with open('.robertalab.json') as cfg_file:
cfg = json.load(cfg_file)
except IOError as e:
cfg = {
'target':
'http://lab.open-roberta.org/', # address and port of server
}
os.system('setterm -cursor off')
hal = Hal(None, None)
updateConfiguration(params)
drawUI(hal, params)
registered = False
while not hal.isKeyPressed('back'):
try:
if registered:
params['cmd'] = 'push'
timeout = 15
else:
params['cmd'] = 'register'
timeout = 330
params['brickname'] = socket.gethostname()
params['battery'] = getBatteryVoltage()
# TODO: what about /api/v1/pushcmd
logger.info('sending: %s' % params['cmd'])
req = urllib2.Request('%s/pushcmd' % cfg['target'],
headers=headers)
response = urllib2.urlopen(req,
json.dumps(params),
timeout=timeout)
reply = json.loads(response.read())
logger.info('response: %s' % json.dumps(reply))
cmd = reply['cmd']
if cmd == 'repeat':
hal.drawText('registered', 0, 2)
if not registered:
hal.playFile(2)
registered = True
elif cmd == 'abort':
break
elif cmd == 'download':
hal.drawText('executing ...', 0, 3)
# TODO: url is not part of reply :/
# TODO: we should receive a digest for the download (md5sum) so that
# we can verify the download
req = urllib2.Request('%s/download' % cfg['target'],
headers=headers)
response = urllib2.urlopen(req,
json.dumps(params),
timeout=timeout)
logger.info('response: %s' % json.dumps(reply))
hdr = response.info().getheader('Content-Disposition')
filename = '/tmp/%s' % hdr.split('=')[1] if hdr else 'unknown'
with open(filename, 'w') as prog:
prog.write(response.read())
logger.info('code downloaded to: %s' % filename)
# new process
#res = subprocess.call(["python", filename], env={"PYTHONPATH":"$PYTONPATH:."})
#logger.info('execution result: %d' % res)
# eval from file, see http://bugs.python.org/issue14049
# NOTE: all the globals in the generated code will override gloabls we use here!
try:
execfile(filename, globals(), globals())
logger.info('execution finished')
except:
logger.exception("Ooops:")
drawUI(hal, params)
hal.drawText('registered', 0, 2)
elif cmd == 'update':
# FIXME:
# fetch new files (menu/hal)
# then restart:
# os.execv(__file__, sys.argv)
# check if we need to close files (logger?)
pass
else:
logger.warning('unhandled command: %s' % cmd)
except urllib2.HTTPError as e:
logger.error("HTTPError(%s): %s" % (e.code, e.reason))
break
except urllib2.URLError as e:
# [Errno 111] Connection refused>
logger.error("URLError: %s" % e.reason)
break
except socket.timeout:
pass
except:
logger.exception("Ooops:")
os.system('setterm -cursor on')
logger.info('--- done ---')
logging.shutdown()
#!/usr/bin/env python3
from roberta.ev3 import Hal
from roberta.BlocklyMethods import BlocklyMethods
from ev3dev import ev3 as ev3dev
import math
import traceback
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'RIGHT':Hal.makeLargeMotor(ev3dev.OUTPUT_A, 'on', 'foreward', 'right'),
'LEFT':Hal.makeLargeMotor(ev3dev.OUTPUT_D, 'on', 'foreward', 'left'),
},
'sensors': {
'color': Hal.makeColorSensor(ev3dev.INPUT_2),
# 'distance': Hal.makeUltrasonicSensor(ev3dev.INPUT_2),
'touchLeft': Hal.makeTouchSensor(ev3dev.INPUT_4),
'touchRight': Hal.makeTouchSensor(ev3dev.INPUT_1),
},
}
hal = Hal(_brickConfiguration)
def rotate(direction):
hal.rotateDirectionAngle('LEFT', 'RIGHT', False, direction, 20, 80)
angle = 5
right = False
def main():
logger = logging.getLogger('robertalab')
logger.info('--- starting ---')
params = {
'macaddr': '70:1e:bb:88:89:bc',
'firmwarename': 'ev3dev',
'menuversion': version.split('-')[0],
}
headers = {
'Content-Type': 'application/json'
}
try:
with open('.robertalab.json') as cfg_file:
cfg = json.load(cfg_file)
except IOError as e:
cfg = {
'target': 'http://lab.open-roberta.org/', # address and port of server
}
os.system('setterm -cursor off')
hal = Hal(None, None)
updateConfiguration(params)
drawUI(hal, params)
registered = False
while not hal.isKeyPressed('back'):
try:
if registered:
params['cmd'] = 'push'
timeout = 15
else:
params['cmd'] = 'register'
timeout = 330
params['brickname'] = socket.gethostname()
params['battery'] = getBatteryVoltage()
# TODO: what about /api/v1/pushcmd
logger.info('sending: %s' % params['cmd'])
req = urllib2.Request('%s/pushcmd' % cfg['target'], headers=headers)
response = urllib2.urlopen(req, json.dumps(params), timeout=timeout)
reply = json.loads(response.read())
logger.info('response: %s' % json.dumps(reply))
cmd = reply['cmd']
if cmd == 'repeat':
hal.drawText('registered', 0, 2)
if not registered:
hal.playFile(2)
registered = True
elif cmd == 'abort':
break
elif cmd == 'download':
hal.drawText('executing ...', 0, 3)
# TODO: url is not part of reply :/
# TODO: we should receive a digest for the download (md5sum) so that
# we can verify the download
req = urllib2.Request('%s/download' % cfg['target'], headers=headers)
response = urllib2.urlopen(req, json.dumps(params), timeout=timeout)
logger.info('response: %s' % json.dumps(reply))
hdr = response.info().getheader('Content-Disposition')
filename = '/tmp/%s' % hdr.split('=')[1] if hdr else 'unknown'
with open(filename, 'w') as prog:
prog.write(response.read())
logger.info('code downloaded to: %s' % filename)
# new process
#res = subprocess.call(["python", filename], env={"PYTHONPATH":"$PYTONPATH:."})
#logger.info('execution result: %d' % res)
# eval from file, see http://bugs.python.org/issue14049
# NOTE: all the globals in the generated code will override gloabls we use here!
try:
execfile(filename, globals(), globals())
logger.info('execution finished')
except:
logger.exception("Ooops:")
drawUI(hal, params)
hal.drawText('registered', 0, 2)
elif cmd == 'update':
# FIXME:
# fetch new files (menu/hal)
# then restart:
# os.execv(__file__, sys.argv)
# check if we need to close files (logger?)
pass
else:
logger.warning('unhandled command: %s' % cmd)
except urllib2.HTTPError as e:
logger.error("HTTPError(%s): %s" % (e.code, e.reason))
break
except urllib2.URLError as e:
# [Errno 111] Connection refused>
logger.error("URLError: %s" % e.reason)
break
except socket.timeout:
pass
except:
logger.exception("Ooops:")
os.system('setterm -cursor on')
logger.info('--- done ---')
logging.shutdown()
class BreakOutOfALoop(Exception):
pass
class ContinueLoop(Exception):
pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {},
'sensors': {
'4': Hal.makeInfraredSensor(ev3dev.INPUT_4),
'2': Hal.makeSoundSensor(ev3dev.INPUT_2),
},
}
hal = Hal(_brickConfiguration)
___numberVar = 0
___booleanVar = True
___stringVar = ""
___colourVar = 'white'
___connectionVar = None
___numberList = [0, 0]
___booleanList = [True, True]
___stringList = ["", ""]
___colourList = ['white', 'white']
___connectionList = [___connectionVar, ___connectionVar]
from __future__ import absolute_import
from roberta.ev3 import Hal
from roberta.BlocklyMethods import BlocklyMethods
from ev3dev import ev3 as ev3dev
import math
class BreakOutOfALoop(Exception): pass
class ContinueLoop(Exception): pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
},
'sensors': {
'1':Hal.makeIRSeekerSensor(ev3dev.INPUT_1),
'2':Hal.makeCompassSensor(ev3dev.INPUT_2),
},
}
hal = Hal(_brickConfiguration)
def run():
while True:
if hal.getHiTecCompassSensorValue('2', ANGLE) < 30:
break
hal.waitFor(15)
while True:
if hal.getHiTecCompassSensorValue('2', COMPASS) < 30:
break
hal.waitFor(15)
while True:
#!/usr/bin/python
from __future__ import absolute_import
from roberta.ev3 import Hal
from ev3dev import ev3 as ev3dev
import math
import os
class BreakOutOfALoop(Exception): pass
class ContinueLoop(Exception): pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'B':Hal.makeLargeMotor(ev3dev.OUTPUT_B, 'on', 'foreward'),
},
'sensors': {
'1':Hal.makeTouchSensor(ev3dev.INPUT_1),
'2':Hal.makeGyroSensor(ev3dev.INPUT_2),
'3':Hal.makeColorSensor(ev3dev.INPUT_3),
'4':Hal.makeUltrasonicSensor(ev3dev.INPUT_4),
},
}
hal = Hal(_brickConfiguration)
___numberVar = 0
___booleanVar = True
___stringVar = ""
___colourVar = 'white'
___connectionVar = None
import traceback
class BreakOutOfALoop(Exception):
pass
class ContinueLoop(Exception):
pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'B': Hal.makeLargeMotor(ev3dev.OUTPUT_A, 'on', 'foreward', 'right'),
'C': Hal.makeLargeMotor(ev3dev.OUTPUT_D, 'on', 'foreward', 'left'),
},
'sensors': {
'3': Hal.makeColorSensor(ev3dev.INPUT_1),
'4': Hal.makeUltrasonicSensor(ev3dev.INPUT_4),
},
}
hal = Hal(_brickConfiguration)
right = True
angle = 5
def run():
global angle, right
class BreakOutOfALoop(Exception):
pass
class ContinueLoop(Exception):
pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {},
'sensors': {
'2': Hal.makeCompassSensor(ev3dev.INPUT_2),
'3': Hal.makeHTColorSensorV2(ev3dev.INPUT_3),
'4': Hal.makeIRSeekerSensor(ev3dev.INPUT_4),
},
}
hal = Hal(_brickConfiguration)
___numberVar = 0
___booleanVar = True
___stringVar = ""
___colourVar = 'white'
___connectionVar = None
___numberList = [0, 0]
___booleanList = [True, True]
___stringList = ["", ""]
___colourList = ['white', 'white']
import math
class BreakOutOfALoop(Exception):
pass
class ContinueLoop(Exception):
pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'B': Hal.makeLargeMotor(ev3dev.OUTPUT_B, 'on', 'foreward'),
'C': Hal.makeLargeMotor(ev3dev.OUTPUT_C, 'on', 'foreward'),
},
'sensors': {},
}
hal = Hal(_brickConfiguration)
def run():
for k0 in range(0, 10, 1):
hal.driveDistance('C', 'B', False, 'foreward', 30, 20)
def main():
try:
run()
mm = MediumMotor(OUTPUT_B)
sound = Sound()
opts = '-a 200 -s 130 -v'
text = 'Saluton amikoj, mi estas Robi! mi sxatas muziki kaj danci'
sound.speak(text, espeak_opts=opts+'eo')
class BreakOutOfALoop(Exception): pass
class ContinueLoop(Exception): pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'A':Hal.makeLargeMotor(ev3dev.OUTPUT_A, 'on', 'foreward', 'right'),
'D':Hal.makeLargeMotor(ev3dev.OUTPUT_D, 'on', 'foreward', 'left'),
}
}
hal = Hal(_brickConfiguration)
def s3():
mm.on(20)
hal.rotateDirectionRegulated('D', 'A', False, 'right', 30)
hal.playTone(float(220), float(250))
hal.stopMotors('D', 'A')
mm.off()
mm.on(-20)
hal.regulatedDrive('D', 'A', False, 'foreward', 30)
hal.playTone(float(246.942), float(250))
hal.stopMotors('D', 'A')
