def setupWebSocket(robot_config, onHandleMessage):
global robot_key
global bootMessage
global webSocket
global server
global version
global ipAddr
global ood
global channel
robot_key = robot_config.get('robot', 'robot_key')
server = robot_config.get('misc', 'server')
if robot_config.has_option('misc', 'api_version'):
version = robot_config.get('misc', 'api_version')
else:
version = 'dev'
if robot_config.has_option('robot', 'channel'):
channel = robot_config.get('robot', 'channel')
bootMessages = robot_config.get('tts', 'boot_message')
bootMessageList = bootMessages.split(',')
bootMessage = random.choice(bootMessageList)
if robot_config.has_option('tts', 'announce_ip'):
ipAddr = robot_config.getboolean('tts', 'announce_ip')
if ipAddr:
addr = os.popen("ip -4 addr show wlan0 | grep -oP \'(?<=inet\\s)\\d+(\\.\\d+){3}\'").read().rstrip()
log.info('IPv4 Addr : {}'.format(addr))
bootMessage = bootMessage + ". My IP address is {}".format(addr)
if robot_config.has_option('tts', 'announce_out_of_date'):
ood = robot_config.getboolean('tts', 'announce_out_of_date')
if ood:
isOod = os.popen('git fetch && git status').read().rstrip()
if "behind" in isOod:
commits = re.search(r'\d+(\scommits|\scommit)', isOod)
log.warning('Git repo is out of date. Run "git pull" to update.')
bootMessage = bootMessage + ". Git repo is behind by {}.".format(commits.group(0))
# log.info("using socket io to connect to control %s", controlHostPort)
log.info("configuring web socket wss://%s/" % server)
webSocket = websocket.WebSocketApp("wss://%s/" % server,
on_message=onHandleMessage,
on_error=onHandleWebSocketError,
on_open=onHandleWebSocketOpen,
on_close=onHandleWebSocketClose)
log.info("staring websocket listen process")
startListenForWebSocket()
schedule.single_task(5, checkWebSocket)
if robot_config.getboolean('misc', 'check_internet'):
#schedule a task to check internet status
schedule.task(robot_config.getint('misc', 'check_freq'), internetStatus_task)
def timeout_handler(command, args):
global banned
if len(command) > 1:
user = command[1]
if is_authed(args['name']): # Moderator
banned.append(user)
schedule.single_task(5, untimeout_user, user)
log.info("%s added %s to timeout list", args['name'], user)
tts.mute_user_tts(user)
def timeout_handler(command, args):
global banned
if len(command) > 1:
user = command[1]
if is_authed(args['sender']): # Moderator
banned.append(user)
schedule.single_task(300, untimeout_user, user)
log.info("%s added %s to timeout list", args['sender'], user)
robot_util.sendChatMessage("{} timed out".format(user))
tts.mute_user_tts(user)
def move(args):
global maxSpeedEnabled
command = args['button']['command']
if command == 'MAXSPEED':
handleMaxSpeedCommand()
maxSpeedEnabled = True
log.debug("max speed")
schedule.single_task(120, SpeedNormal)
return
if maxSpeedEnabled:
log.debug("AT MAX.....................")
log.debug("maxSpeedEnabled : %s", maxSpeedEnabled)
moveMDD10(command, 100)
else:
log.debug("NORMAL.................")
log.debug("maxSpeedEnabled : %s", maxSpeedEnabled)
moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))
def handleLoudCommand(seconds):
os.system("amixer -c 2 cset numid=3 %d%%" % 100)
schedule.single_task(seconds, changeVolumeNormal)
def SpeedNormal():
maxSpeedEnabled = False
print("normal speed")
#MDD10 speed and movement controls
def move(args):
global maxSpeedEnabled
command = args['command']
if command == 'MAXSPEED':
handleMaxSpeedCommand()
maxSpeedEnabled = True
print("max speed")
schedule.single_task(120, SpeedNormal)
return
if maxSpeedEnabled:
print("AT MAX.....................")
print(maxSpeedEnabled)
moveMDD10(command, 100)
else:
print("NORMAL.................")
print(maxSpeedEnabled)
moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))
def moveMDD10(command, speedPercent):
if command == 'F':
GPIO.output(DIG1, GPIO.LOW)