import time, random, sys
from xaal.lib import Engine, Device, tools
target = sys.argv[-1]
dev = Device("switch.basic", tools.get_random_uuid())
eng = Engine()
eng.start()
while 1:
eng.send_request(dev, [
target,
], 'dim', {'target': random.randint(0, 100)})
eng.loop()
time.sleep(5)
eng.send_request(dev, [
target,
], 'on')
print('ON')
eng.loop()
time.sleep(3)
eng.send_request(dev, [
target,
], 'off')
print('OFF')
eng.loop()
time.sleep(3)
class Controller:
def __init__(self):
self.addr = tools.get_random_uuid()
self.engine = Engine()
self.dev = Device("cli.experimental", self.addr)
self.dev.vendor_id = 'IHSEV'
self.dev.info = 'chute'
self.engine.add_device(self.dev)
self.threadlist = []
self.fallEvent = threading.Event()
self.pepper = Pepper(self)
self.kinect = Kinect()
self.sensfloor = Sensfloor(self.engine)
# thread to receive/send the xaal message
def engineLoop(self, event):
print "Sensfloor engine start->"
while (not event.is_set()): #not self.sensfloor.falldetected:
self.engine.loop()
if self.sensfloor.falldetected:
event.set()
print "[Sensfloor] fallEvent set by sensfloor"
def run(self):
# start falling detection with sensfloor
if True:
engineRun = threading.Thread(target=self.engineLoop,
args=(self.fallEvent, ),
name="sensfloor")
engineRun.start()
self.threadlist.append(engineRun)
# start falling detection with kinect
if True:
self.kinect.setEvent(self.fallEvent)
self.kinect.start()
self.threadlist.append(self.kinect)
# wait the two thread to be finished
for thread in self.threadlist:
thread.join()
if (self.sensfloor.cpos != [] and self.sensfloor.spos != []):
fallPosition = self.sensfloor.spos
print "[Sensfloor] x : %f, y : %f distance %f, direction %f" % (
self.sensfloor.cpos[0], self.sensfloor.cpos[1],
self.sensfloor.spos[0], self.sensfloor.spos[1])
elif (self.kinect.pos_c != []):
# mapping from the sensfloor position to robot cmd (distance, direction)
fallPosition = self.sensfloor.transformCartesianToPolar(
3.5, 7, self.kinect.pos_c[0], self.kinect.pos_c[1])
print "[Kinect] x : %f, y : %f" % (self.kinect.pos_c[0],
self.kinect.pos_c[1])
print "[Controller INFO] All fall detection finished"
# the robot reach to the position and communicate with the person
if self.fallEvent.is_set() and True:
self.pepper.postureInit()
self.pepper.say("I have detected that a person fell down")
self.pepper.moveToPerson(fallPosition)
# start searching the face of the person and dialogue face to face
self.headposition = self.pepper.searchFace(
15) # search face time_out 15s
if self.headposition == []:
print "No position"
else:
print "[Face Detection INFO] Average pitch %f, yaw %f" % (
self.headposition[0], self.headposition[1])
# verify the state of the of the person
if self.pepper.dialogue():
self.pepper.speakToPersonDetected("All right")
else:
self.pepper.speakToPersonDetected("Don't worry")
self.scenario()
self.pepper.postureInit()
self.pepper.returnToInitPosition(fallPosition)
def sendMail(self):
#link = self.webRTCaddress()
topic = "nao_robot/camera/top/camera/image_raw"
text = "The assistance robot and smart house has detected a fall. To check, please see the video from this address " #+ link
text = text + "/stream_viewer?topic=" + topic
mail = Mail(text)
mail.sendMail()
def webRTCaddress(self):
ni.ifaddresses('wlan0')
ip = ni.ifaddresses('wlan0')[2][0]['addr'] + ":8080"
print "HostIP : ", ip
return ip
def scenario(self):
self.smartDeviceAction("shutterleft", "up")
self.smartDeviceAction("shutterright", "up")
self.smartDeviceAction("lamp1", "on")
self.smartDeviceAction("lamp2", "on")
self.smartDeviceAction("lamp3", "on")
self.smartDeviceAction("lamp4", "on")
self.smartDeviceAction("lamp5", "on")
self.smartDeviceAction("lamp6", "on")
self.pepper.say("I turn the lights on")
print "lampes allumeees"
try:
self.sendMail()
self.pepper.say("I sent an email to your contact list")
except:
print "mail send failed"
self.engine.loop()
def smartDeviceAction(self, device, action):
addr = config.getConfigInfo(device,
"xaaladdr") #hdrware addr of the equpmt
print addr
self.engine.send_request(self.dev, [addr], action, None)
