def on_event(self, event):
state = event[:3]
direction = event[3:6]
action = event[6:]
if state != 'joy' or event == 'joyjoyoff':
logo.stop()
return Awake()
if action != 'sta':
logo.stop()
else:
if direction == 'top':
logo.motor_speed(JOY_SPEED, JOY_SPEED)
elif direction == 'mid':
logo.motor_speed(-JOY_SPEED, -JOY_SPEED)
elif direction == 'lef':
logo.motor_speed(-JOY_SPEED / 4, JOY_SPEED / 4)
elif direction == 'rig':
logo.motor_speed(JOY_SPEED / 4, -JOY_SPEED / 4)
return self
def __init__(self):
super(Joystick, self).__init__()
logo.stop()
k9.speak("Under manual control")
def __init__(self):
super(Following, self).__init__()
logo.stop()
k9.speak("Mastah!")
def __init__(self):
super(Awake, self).__init__()
# turn on lights
logo.stop()
k9.speak("K9 operational")
def __init__(self):
super(Asleep, self).__init__()
# turn all lights off
logo.stop()
k9.speak("Conserving battery power")
if len(indices[0]) > 0:
direction = (np.average(indices) - mid_point) / width
return (direction, final_distance)
def mqtt_callback(self, client, userdata, message):
"""
Enables K9 to receive a message from an Epruino Watch via
MQTT over Bluetooth (BLE) to place it into active or inactive States
"""
payload = str(message.payload.decode("utf-8"))
if payload != self.last_message:
self.last_message = payload
event = payload[3:-1].lower()
# print("Event: ",str(event))
self.on_event(event)
# Create the k9 finite state machine
k9 = K9()
try:
while True:
k9.run()
except KeyboardInterrupt:
logo.stop()
del body_cam
del device
k9.client.loop_stop()
k9.speak("Inactive")
print('exiting from', str(k9.state).lower(), 'state.')
sys.exit(0)