def on_client_connect(client, userdata, msg):
"""
Function called when a client connects.
"""
global clients
data = json.loads(msg.payload.decode('utf-8'))
new_client = {}
new_client['id'] = data['id']
new_client['icon'] = data['icon']
core.log.info("Client " + new_client['id'] + " connected.")
mqtt.subscribe('client/' + new_client['id'] + '/#')
clients = [c for c in clients if c['id'] != new_client['id']
] # delete already existing one with the same id
clients.append(new_client)
relays_list = []
# add its relays to the list ...
for relay in Relay.query.filter_by(raspi_id=new_client['id']):
pin = relay.pin
relays_list.append(pin)
# then ask the state of these relays to the raspberry
mqtt.publish('client/' + new_client['id'] + '/relay/update_state',
json.dumps({'gpios': relays_list}))
socketio.emit('client_connect',
new_client,
namespace='/client',
broadcast=True)
def execute(text: str):
valid, message = SpeechAction.check_parameters(text)
if not valid:
core.log.warning(message)
return
core.log.info("Pronouncing '" + text + "'")
mqtt.publish('client/speech/speak', json.dumps({'text': text}))
def execute(direction: str, speed: int):
valid, message = MotionAction.check_parameters(direction, speed)
if not valid:
core.log.warning(message)
return
core.log.info("Moving with values " + direction + ", " + str(speed))
mqtt.publish('client/' + core_config.get_motion_raspi_id() + '/motion',
json.dumps({
'direction': direction,
'speed': speed
}))
def execute(index: int):
valid, message = ServoSequenceAction.check_parameters(index)
if not valid:
core.log.warning(message)
return
with db.app.app_context():
db_servo = Servo.query.distinct(Servo.raspi_id).first()
if db_servo is None:
core.log.warning("No default servo raspi set.")
return
raspi_id = db_servo.raspi_id
core.log.info("Executing servo sequence '" + str(index) + "'")
mqtt.publish('client/' + raspi_id + '/servo/sequence',
json.dumps({'index': index}))
def execute(label: str, state: int = None):
if state != 1 and state != 0:
state = ''
valid, message = RelayAction.check_parameters(label)
if not valid:
core.log.warning(message)
return
core.log.info("Activating relay '" + label + "'")
with db.app.app_context():
db_rel = Relay.query.filter_by(label=label, enabled=True).first()
pin = db_rel.pin
parity = db_rel.parity
raspi_id = db_rel.raspi_id
# if the relay is paired
if parity != '':
# recover all the pair relays
pairs_rel = Relay.query.filter(Relay.parity == parity,
Relay.label != label)
# check if the pairs relays aren't activated
if all([
pair.label not in RelayAction.relay_states
or RelayAction.relay_states[pair.label] == 0
for pair in pairs_rel
]):
# activate the relay on the corresponding raspberry
mqtt.publish('client/' + raspi_id + '/relay/activate',
json.dumps({
'gpio': pin,
'state': state
}))
else:
core.log.warning(
"Cannot activate relay '%s', pair already activated",
label)
else:
mqtt.publish('client/' + raspi_id + '/relay/activate',
json.dumps({
'gpio': pin,
'state': state
}))
def execute(label: str, position: int, speed: int = 0):
valid, message = ServoAction.check_parameters(label, position, speed)
if not valid:
core.log.warning(message)
return
with db.app.app_context():
db_servo = Servo.query.filter_by(label=label).first()
pin = db_servo.pin
raspi_id = db_servo.raspi_id
core.log.info("Moving servo '" + label + "' to " + str(position) +
" at speed " + str(speed))
mqtt.publish(
'client/' + raspi_id + '/servo/set_position',
json.dumps({
'gpio': pin,
'position': position,
'speed': speed
}))
def execute():
mqtt.publish('client/vision/detect_objects')
def start_camera_stream():
mqtt.publish('client/vision/start')
vision.log.info("Started camera streaming.")
def stop_camera_stream():
mqtt.publish('client/vision/stop')
vision.log.info("Stopped camera streaming.")
def reboot():
core.log.info("Reboot rasperries")
mqtt.publish('raspi/reboot', 'reboot')
def shutdown():
core.log.info("Shutdown rasperries")
mqtt.publish('raspi/shutdown', 'shutdown')
def stop_speech_recognition():
hearing.log.info("Stopped speech recognition")
mqtt.publish('client/hearing/stop')
def start_speech_recognition():
hearing.log.info("Started speech recognition")
mqtt.publish('client/hearing/start')