def runMain():
# First, we import our devices from our configuration file. These will be split into two different groups, those
# controlled by Philips Hue and those controlled by Insteon.
configuration = Configuration()
config = configuration.loadConfig()
hueDevices = {}
insteonDevices = {}
for device in config['devices']['hue']:
hueDevices[device] = config['devices']['hue'][device]
for device in config['devices']['insteon']:
insteonDevices[device] = config['devices']['insteon'][device]
insteon = Insteon()
hue = Hue()
roomba = Roomba()
# Now we set up the voice recognition using Pocketsphinx from CMU Sphinx.
pocketSphinxListener = PocketSphinxListener()
# We want to run forever, or until the user presses control-c, whichever comes first.
while True:
try:
command = pocketSphinxListener.getCommand().lower()
command = command.replace('the', '')
if command.startswith('turn'):
onOrOff = command.split()[1]
deviceName = ''.join(command.split()[2:])
if deviceName in hueDevices:
deviceId = hueDevices[deviceName]['deviceID']
hue.turn(deviceId=deviceId, onOrOff=onOrOff)
if deviceName in insteonDevices:
deviceId = insteonDevices[deviceName]['deviceID']
insteon.turn(deviceId=deviceId, onOrOff=onOrOff)
if deviceName == 'roomba':
roomba.turn(onOrOff)
elif command.startswith('roomba'):
action = ' '.join(command.split()[1:])
if action == 'clean':
roomba.clean()
if action == 'go home':
roomba.goHome()
# This will allow us to be good cooperators and sleep for a second.
# This will give the other greenlets which we have created for talking
# to the Hue and Insteon hubs a chance to run.
gevent.sleep(1)
except (KeyboardInterrupt, SystemExit):
print 'People sometimes make mistakes, Goodbye.'
sys.exit()
except Exception as e:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback,
limit=2,
file=sys.stdout)
sys.exit()
def runMain():
# Now we set up the voice recognition using Pocketsphinx from CMU Sphinx.
# We can set debug for the listener here to see messages directly from Pocketsphinx
pocketSphinxListener = PocketSphinxListener(debug=False)
while True:
try:
# We can set debug here to see what the decoder thinks we are saying as we say it
command = pocketSphinxListener.getCommand(debug=True).lower()
# Exit when control-c is pressed
except (KeyboardInterrupt, SystemExit):
print 'People sometimes make mistakes, Goodbye.'
sys.exit()
def runMyMain():
# Now we set up the voice recognition using Pocketsphinx from CMU Sphinx.
pocketSphinxListener = PocketSphinxListener()
# We want to run forever, or until the user presses control-c, whichever comes first.
while True:
try:
command = pocketSphinxListener.getCommand().lower()
# for a grammar that looks like TURN <state> <device>
# if command.startswith('turn'):
# onOrOff = command.split()[1]
# deviceName = ''.join(command.split()[2:])
# do something
# for a grammar that looks like ROOMBA <action>
# elif command.startswith('roomba'):
# action = ' '.join(command.split()[1:])
# if action == 'clean':
# roomba.clean()
# if action == 'go home':
# roomba.goHome()
# speak what was heard
filename = '_tmp.txt'
file = open(filename, 'w')
file.write(command)
file.close()
subprocess.call('espeak -v en-scottish -k5 -s150 -f ' + filename,
shell=True)
subprocess.call('rm -f ' + filename, shell=True)
# This will allow us to be good cooperators and sleep for a second.
print "I'm thinking now"
time.sleep(1)
except (KeyboardInterrupt, SystemExit):
print 'Goodbye.'
sys.exit()
except Exception as e:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type,
exc_value,
exc_traceback,
limit=2,
file=sys.stdout)
sys.exit()
def runMain():
# First, we import our devices from our configuration file. These will be split into two different groups, those
# controlled by Philips Hue and those controlled by Insteon.
# configuration = Configuration()
# config = configuration.loadConfig()
# Now we set up the voice recognition using Pocketsphinx from CMU Sphinx.
pocketSphinxListener = PocketSphinxListener()
# We want to run forever, or until the user presses control-c, whichever comes first.
while True:
try:
command = pocketSphinxListener.getCommand().lower()
# can just ignore the word marty in the sentence. similarly for 'your'
command = command.replace('marty', '')
command = command.replace('your', '')
cwords = command.split()
if command.startswith('walk') or command.startswith('turn'):
direction = cwords[1]
if len(cwords) > 2:
numsteps = nums[cwords[2]]
else:
numsteps = 1
if cwords[0] == 'walk':
if direction.startswith('forward'):
distance = STEPLENGTH
else:
distance = 0 - STEPLENGTH
turn = 0
else:
if direction == 'left':
turn = TURNAMOUNT
else:
turn = 0 - TURNAMOUNT
distance = 0
marty.walk(numsteps, distance, turn, 15)
sleep((numsteps * 1.5) + 0.2)
elif cwords[0] == 'kick':
if cwords[1] == 'left':
marty.kickLeft()
else:
marty.kickRight()
sleep(2)
elif cwords[0] == 'dance':
marty.celebrate()
sleep(4)
elif cwords[0] == 'hello':
marty.hello()
sleep(1.0)
for i in range(3):
marty.arms(200, 0)
sleep(0.5)
marty.arms(75, 0)
sleep(0.5)
marty.arms(0, 0)
sleep(2)
elif cwords[2] == 'arm':
if cwords[0] == 'raise':
armangle = ARMANGLE
else:
armangle = 0
# this is not ideal as it'll put the other arm down when one raises. and in practice will lower both arms...
if cwords[1] == 'left':
leftangle = ARMANGLE
rightangle = 0
else:
leftangle = 0
rightangle = 0 - ARMANGLE
marty.arms(leftangle, rightangle)
# This will allow us to be good cooperators and sleep for a second.
# This will give the other greenlets which we have created for talking
# to the Hue and Insteon hubs a chance to run.
gevent.sleep(1)
except (KeyboardInterrupt, SystemExit):
print 'People sometimes make mistakes, Goodbye.'
sys.exit()
except Exception as e:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type,
exc_value,
exc_traceback,
limit=2,
file=sys.stdout)
command = ''