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, deviceAddress):
self.shift = 0
print 'Start connecting...'
self.droid = Sphero(deviceAddress)
# Request some sensor stream.
self.droid.cmd(0x02, 0x11, [0, 80, 0, 1, 0x80, 0, 0, 0, 0])
print 'initialized successfully!'
def _sendSpheroInfo(self):
"""Send paired sphero info"""
from sphero import Sphero
msg = {
"spheros": Sphero().sphero_list.keys(),
"current": Sphero().sphero_name
}
self.__sendMessage("spheroinfo", msg)
def test_set_heading2(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
for angle in range(0,360,90):
orb.roll(30,90)
time.sleep(3)
orb.set_heading(angle)
time.sleep(1)
orb.roll(30, 90)
time.sleep(3)
def switchlight(sphero):
"""simulate light switch on"""
logger.info("Light switch on (on sphero)")
for i in range(255):
sphero.set_rgb(i, i, i)
sleep(0.005)
sleep(3)
from sphero import Sphero
Sphero().reset_default_color()
def detect_face(self):
# Read the image
video_capture = cv2.VideoCapture(0)
ret, image = video_capture.read()
video_capture.release()
# 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
face_detected = False
if len(faces) > 0:
self._last_detected_face = time()
face_detected = True
sphero = Sphero()
if sphero.current_room == Home().start_room and face_detected:
logger.info("Face recognized and sphero in ketten, moving to welcome guest")
sphero.move_to(Home().facedetectdest_room.name)
# if no activity for a long time and no face either, put the sphero back to the ketten
elif (not face_detected and sphero.current_room == Home().facedetectdest_room and
(time() - self._last_detected_face) > self.INACTIVITY_PERIOD and
(time() - sphero.last_move) > self.INACTIVITY_PERIOD):
logger.info("No activity or face showing up for a long time, going back to ketten")
sphero.move_to(Home().start_room.name)
return True
def welcome(sphero):
"""Let sphero welcome you"""
logger.info("Sphero welcome!")
for _ in range(4):
sphero.roll(0, 20)
sphero.set_rgb(random.randint(0, 255), random.randint(0, 255),
random.randint(0, 255))
sleep(0.2)
sphero.roll(0, -20 % 360)
sphero.set_rgb(0, 0, 0)
sleep(0.2)
sphero.roll(0, 0)
from sphero import Sphero
Sphero().reset_default_color()
def handleMessage(self):
"""Message received from a client"""
logger.debug("Received from {}: {}".format(self.address[0], self.data))
data = json.loads(self.data)
topic = data["topic"]
message = data["content"]
if topic == "facedetectionchange":
from facedetection import FaceDetection
FaceDetection().enabled = message
elif topic == "speechrecognitionchange":
from speechrecognition import SpeechRecognition
SpeechRecognition().enabled = message
elif topic == "move":
from sphero import Sphero
Sphero().move_to(message)
elif topic == "manualmove":
from sphero import Sphero
Sphero().current_room = Home().rooms[message]
elif topic == "moveposition":
from sphero import Sphero
Sphero().move_to_distance(int(message["distance"]),
int(message["angle"]))
elif topic == "calibrationstate":
from sphero import Sphero
if message:
Sphero().start_calibration()
else:
Sphero().end_calibration()
elif topic == "recenter":
from sphero import Sphero
# use -angle to rotate in the counter-clock sense
Sphero().recenter(-message)
elif topic == "changesphero":
from sphero import Sphero
Sphero().change_default_sphero(message)
elif topic == "quit":
from sphero import Sphero
Sphero().quit()
def main():
mainloop = MainLoop()
parser = argparse.ArgumentParser(
description="Home demo gateway with robot")
parser.add_argument("-v",
"--verbose",
action="count",
default=0,
help="Increase output verbosity (2 levels)")
parser.add_argument("--without-sphero",
action="store_true",
help="Use a mock sphero instead of a real one")
parser.add_argument("--no-facedetection",
action="store_true",
help="Disable face detection feature")
parser.add_argument("--no-speechrecognition",
action="store_true",
help="Disable speech recognition feature")
# set logging level
set_logging_from_args(sys.argv, parser)
args = parser.parse_args()
# connect to sphero and set it at starting position
sphero = Sphero(without_sphero=args.without_sphero)
# start servers
StaticServer().start()
CommandSocketServer().start()
# detect faces every 3 seconds
f = FaceDetection()
f.enabled = not args.no_facedetection
# speech recognition
s = SpeechRecognition()
s.enabled = not args.no_speechrecognition
mainloop.run()
def test_set_heading(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
orb.set_tail_light(255)
orb.set_stabilization(False)
print("Move Sphero so tail is heading to -y")
input("Press Enter to continue...")
orb.set_stabilization(True)
orb.set_tail_light(0)
time.sleep(3)
def test_set_heading(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
orb.set_tail_light(255)
orb.set_heading(0)
time.sleep(2)
orb.set_heading(90)
time.sleep(2)
orb.set_heading(180)
time.sleep(2)
orb.set_heading(270)
time.sleep(2)
orb.set_tail_light(0)
time.sleep(3)
def test_roll(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
orb.roll(10,0)
def test_locator(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
orb.set_stream_callback('odometer', callback=self.print_xy, mask_id=2)
orb.update_streaming(rate=10)
time.sleep(2)
before = MyTestCase.current_position
orb.config_locator(10,50,0)
orb.ping()
time.sleep(2)
orb.config_locator(50, -10, 0)
orb.ping()
middle = MyTestCase.current_position
orb.ping()
time.sleep(2)
orb.ping()
time.sleep(2)
after = MyTestCase.current_position
self.assertNotEquals(before, middle)
self.assertNotEquals(middle, after)
def test_connect(self):
orb = Sphero(MyTestCase.SPHERO)
result = orb.connect()
self.assertTrue(result)
def test_set_color(self):
orb = Sphero(MyTestCase.SPHERO)
orb.connect()
orb.set_rgb_led(255,0,0)
class Droid:
DEFAULT_SPEED = 20
def __init__(self, deviceAddress):
self.shift = 0
print 'Start connecting...'
self.droid = Sphero(deviceAddress)
# Request some sensor stream.
self.droid.cmd(0x02, 0x11, [0, 80, 0, 1, 0x80, 0, 0, 0, 0])
print 'initialized successfully!'
def move(self, speed, direction):
''' speed - integer in range [0 .. 255]
direction - integer in range [0 .. 359]'''
v = speed
h = ((int)(direction - self.shift) + 360 + 360) % 360
print 'moving! v: ' + repr(v) + ' h: ' + repr(h)
self.droid.cmd(0x02, 0x30, [v, (h & 0xff00) >> 8, h & 0xff, 1])
def moveUp(self, time, speed=DEFAULT_SPEED):
self.move(speed, 0)
sleep(time)
def moveDown(self, time, speed=DEFAULT_SPEED):
self.move(speed, 180)
sleep(time)
def moveRight(self, time, speed=DEFAULT_SPEED):
self.move(speed, 90)
sleep(time)
def moveLeft(self, time, speed=DEFAULT_SPEED):
self.move(speed, 270)
sleep(time)
def setColor(self, r, g, b):
self.droid.cmd(0x02, 0x20, [r, g, b, 0])
def doCommand(self, command):
directionText = command[0]
direction = -1
if directionText == 'U' or directionText == 'N':
direction = 0
elif directionText == 'R' or directionText == 'E':
direction = 90
elif directionText == 'D' or directionText == 'S':
direction = 180
elif directionText == 'L' or directionText == 'W':
direction = 270
else:
return "wrong direction!"
# print repr(command)
time = float(int(command[2:6])) / 1000
speed = int(command[7:-1])
print repr(command) + '\r\ndirection: ' + repr(direction) + ' time: ' + repr(time) + ' speed: ' + repr(
speed)
if directionText == 'U' or directionText == 'N':
self.moveUp(time, speed)
elif directionText == 'R' or directionText == 'E':
self.moveRight(time, speed)
elif directionText == 'D' or directionText == 'S':
self.moveDown(time, speed)
elif directionText == 'L' or directionText == 'W':
self.moveLeft(time, speed)
return "good!"
def disconnect(self):
# Must manually disconnect or you won't be able to reconnect.
self.droid.disconnect()
print 'Disconnected successfully!'
# raw_input("Press Enter to exit...")
def setShift(self, newShift):
self.shift = newShift
def moveUpDown(self):
self.moveUp(0.5, 1)
self.moveUp(0.5, 2)
self.moveUp(0.5, 1)
self.moveUp(1.5, 50)
self.moveUp(0.5, 1)
self.moveUp(0.5, 2)
self.moveUp(0.5, 1)
self.moveDown(0.5, 1)
self.moveDown(0.5, 2)
self.moveDown(0.5, 1)
self.moveDown(1.5, 50)
self.moveDown(0.5, 1)
self.moveDown(0.5, 2)
self.moveDown(0.5, 1)
def determineShift(self):
raw_input("Press Enter to start setting")
while True:
print "current shift: " + repr(self.shift)
self.moveUpDown()
newShift = input("enter new shift (or current value to finish settings): ")
if newShift == self.shift:
break
self.setShift(newShift)
def connect_sphero():
s = Sphero("/dev/tty.Sphero-GPR-AMP-SPP")
s.connect()
return s
# https://docs.djangoproject.com/en/1.8/ref/settings/#databases
DATABASES = {
'default': {
'ENGINE': 'django.db.backends.sqlite3',
'NAME': os.path.join(BASE_DIR, 'db.sqlite3'),
}
}
# Internationalization
# https://docs.djangoproject.com/en/1.8/topics/i18n/
LANGUAGE_CODE = 'en-us'
TIME_ZONE = 'UTC'
USE_I18N = True
USE_L10N = True
USE_TZ = True
# Static files (CSS, JavaScript, Images)
# https://docs.djangoproject.com/en/1.8/howto/static-files/
STATIC_URL = '/static/'
from sphero import Sphero
SP = Sphero("/dev/tty.Sphero-GPR-AMP-SPP")
SP.connect()
def _sendCurrentRoom(self):
"""Send current rooms"""
from sphero import Sphero
self.__sendMessage("currentroom", Sphero().current_room.name)
def _sendCalibrationState(self):
"""Send calibration message state"""
from sphero import Sphero
self.__sendMessage("calibrationstate", Sphero().in_calibration)
