Issues 356 - Moving enclosure logic from main to init
Jonathan D'Orleans
parent
184e400e9e
commit
365e23852f
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@ -16,4 +16,261 @@
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# along with Mycroft Core. If not, see <http://www.gnu.org/licenses/>.
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__author__ = 'seanfitz'
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import subprocess
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import time
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from Queue import Queue
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from alsaaudio import Mixer
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from threading import Thread
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import serial
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from mycroft.client.enclosure.arduino import EnclosureArduino
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from mycroft.client.enclosure.eyes import EnclosureEyes
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from mycroft.client.enclosure.mouth import EnclosureMouth
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from mycroft.client.enclosure.weather import EnclosureWeather
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from mycroft.configuration import ConfigurationManager
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from mycroft.messagebus.client.ws import WebsocketClient
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from mycroft.messagebus.message import Message
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from mycroft.util import play_wav, create_signal
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from mycroft.util.audio_test import record
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from mycroft.util.log import getLogger
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__author__ = 'aatchison', 'jdorleans', 'iward'
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LOGGER = getLogger("EnclosureClient")
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class EnclosureReader(Thread):
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"""
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Reads data from Serial port.
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Listens to all commands sent by Arduino that must be be performed on
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Mycroft Core.
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E.g. Mycroft Stop Feature
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#. Arduino sends a Stop command after a button press on a Mycroft unit
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#. ``EnclosureReader`` captures the Stop command
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#. Notify all Mycroft Core processes (e.g. skills) to be stopped
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Note: A command is identified by a line break
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"""
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def __init__(self, serial, client):
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super(EnclosureReader, self).__init__(target=self.read)
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self.alive = True
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self.daemon = True
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self.serial = serial
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self.client = client
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self.start()
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def read(self):
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while self.alive:
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try:
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data = self.serial.readline()[:-2]
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if data:
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self.process(data)
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LOGGER.info("Reading: " + data)
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except Exception as e:
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LOGGER.error("Reading error: {0}".format(e))
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def process(self, data):
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self.client.emit(Message(data))
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if "mycroft.stop" in data:
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create_signal('buttonPress')
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self.client.emit(Message("mycroft.stop"))
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if "volume.up" in data:
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self.client.emit(
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Message("IncreaseVolumeIntent", {'play_sound': True}))
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if "volume.down" in data:
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self.client.emit(
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Message("DecreaseVolumeIntent", {'play_sound': True}))
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if "system.test.begin" in data:
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self.client.emit(Message('recognizer_loop:sleep'))
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if "system.test.end" in data:
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self.client.emit(Message('recognizer_loop:wake_up'))
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if "mic.test" in data:
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mixer = Mixer()
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prev_vol = mixer.getvolume()[0]
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mixer.setvolume(35)
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self.client.emit(Message("speak", {
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'utterance': "I am testing one two three"}))
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time.sleep(0.5) # Prevents recording the loud button press
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record("/tmp/test.wav", 3.0)
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mixer.setvolume(prev_vol)
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play_wav("/tmp/test.wav").communicate()
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# Test audio muting on arduino
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subprocess.call('speaker-test -P 10 -l 0 -s 1', shell=True)
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if "unit.shutdown" in data:
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self.client.emit(
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Message("enclosure.eyes.timedspin",
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{'length': 12000}))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl poweroff -i', shell=True)
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if "unit.reboot" in data:
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self.client.emit(
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Message("enclosure.eyes.spin"))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl reboot -i', shell=True)
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if "unit.setwifi" in data:
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self.client.emit(Message("wifisetup.start"))
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if "unit.factory-reset" in data:
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subprocess.call(
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'rm ~/.mycroft/identity/identity.json',
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shell=True)
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self.client.emit(
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Message("enclosure.eyes.spin"))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl reboot -i', shell=True)
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def stop(self):
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self.alive = False
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class EnclosureWriter(Thread):
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"""
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Writes data to Serial port.
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#. Enqueues all commands received from Mycroft enclosures
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implementation
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#. Process them on the received order by writing on the Serial port
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E.g. Displaying a text on Mycroft's Mouth
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#. ``EnclosureMouth`` sends a text command
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#. ``EnclosureWriter`` captures and enqueue the command
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#. ``EnclosureWriter`` removes the next command from the queue
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#. ``EnclosureWriter`` writes the command to Serial port
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Note: A command has to end with a line break
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"""
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def __init__(self, serial, client, size=16):
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super(EnclosureWriter, self).__init__(target=self.flush)
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self.alive = True
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self.daemon = True
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self.serial = serial
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self.client = client
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self.commands = Queue(size)
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self.start()
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def flush(self):
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while self.alive:
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try:
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cmd = self.commands.get()
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self.serial.write(cmd + '\n')
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LOGGER.info("Writing: " + cmd)
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self.commands.task_done()
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except Exception as e:
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LOGGER.error("Writing error: {0}".format(e))
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def write(self, command):
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self.commands.put(str(command))
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def stop(self):
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self.alive = False
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class Enclosure(object):
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"""
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Serves as a communication interface between Arduino and Mycroft Core.
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``Enclosure`` initializes and aggregates all enclosures implementation.
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E.g. ``EnclosureEyes``, ``EnclosureMouth`` and ``EnclosureArduino``
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It also listens to the basis events in order to perform those core actions
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on the unit.
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E.g. Start and Stop talk animation
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"""
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def __init__(self):
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self.config = ConfigurationManager.get().get("enclosure")
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self.__init_serial()
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self.client = WebsocketClient()
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self.reader = EnclosureReader(self.serial, self.client)
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self.writer = EnclosureWriter(self.serial, self.client)
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self.eyes = EnclosureEyes(self.client, self.writer)
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self.mouth = EnclosureMouth(self.client, self.writer)
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self.system = EnclosureArduino(self.client, self.writer)
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self.weather = EnclosureWeather(self.client, self.writer)
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self.__register_events()
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self.update()
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self.test()
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def update(self):
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if self.config.get('update'):
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try:
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self.speak("I am upgrading my enclosure version")
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subprocess.check_call('/opt/enclosure/upload.sh')
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self.speak("Enclosure upgrade completed")
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time.sleep(5)
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except:
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self.speak("I cannot upgrade right now, I'll try later")
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def test(self):
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if self.config.get('test'):
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self.speak("Beginning hardware self test")
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self.writer.write("test.begin")
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def __init_serial(self):
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try:
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self.port = self.config.get("port")
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self.rate = self.config.get("rate")
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self.timeout = self.config.get("timeout")
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self.serial = serial.serial_for_url(
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url=self.port, baudrate=self.rate, timeout=self.timeout)
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LOGGER.info(
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"Connected to: " + self.port + " rate: " + str(self.rate) +
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" timeout: " + str(self.timeout))
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except:
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LOGGER.error(
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"It is not possible to connect to serial port: " + self.port)
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raise
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def __register_events(self):
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self.client.on('enclosure.mouth.events.activate',
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self.__register_mouth_events)
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self.client.on('enclosure.mouth.events.deactivate',
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self.__remove_mouth_events)
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self.__register_mouth_events()
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def __register_mouth_events(self, event=None):
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self.client.on('recognizer_loop:record_begin', self.mouth.listen)
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self.client.on('recognizer_loop:record_end', self.mouth.reset)
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self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
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self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
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def __remove_mouth_events(self, event=None):
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self.client.remove('recognizer_loop:record_begin', self.mouth.listen)
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self.client.remove('recognizer_loop:record_end', self.mouth.reset)
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self.client.remove('recognizer_loop:audio_output_start',
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self.mouth.talk)
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self.client.remove('recognizer_loop:audio_output_end',
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self.mouth.reset)
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def speak(self, text):
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self.client.emit(Message("speak", {'utterance': text}))
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def run(self):
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try:
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self.client.run_forever()
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except Exception as e:
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LOGGER.error("Client error: {0}".format(e))
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self.stop()
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def stop(self):
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self.writer.stop()
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self.reader.stop()
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self.serial.close()
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self.client.close()
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@ -14,266 +14,11 @@
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#
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# You should have received a copy of the GNU General Public License
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# along with Mycroft Core. If not, see <http://www.gnu.org/licenses/>.
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import subprocess
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import sys
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import time
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from Queue import Queue
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from alsaaudio import Mixer
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from threading import Thread
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import serial
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from mycroft.client.enclosure.arduino import EnclosureArduino
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from mycroft.client.enclosure.eyes import EnclosureEyes
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from mycroft.client.enclosure.mouth import EnclosureMouth
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from mycroft.client.enclosure.weather import EnclosureWeather
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from mycroft.configuration import ConfigurationManager
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from mycroft.messagebus.client.ws import WebsocketClient
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from mycroft.messagebus.message import Message
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from mycroft.util import play_wav
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from mycroft.util import create_signal
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from mycroft.util.audio_test import record
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from mycroft.util.log import getLogger
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__author__ = 'aatchison + jdorleans + iward'
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LOGGER = getLogger("EnclosureClient")
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class EnclosureReader(Thread):
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"""
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Reads data from Serial port.
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Listens to all commands sent by Arduino that must be be performed on
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Mycroft Core.
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E.g. Mycroft Stop Feature
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#. Arduino sends a Stop command after a button press on a Mycroft unit
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#. ``EnclosureReader`` captures the Stop command
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#. Notify all Mycroft Core processes (e.g. skills) to be stopped
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Note: A command is identified by a line break
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"""
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def __init__(self, serial, client):
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super(EnclosureReader, self).__init__(target=self.read)
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self.alive = True
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self.daemon = True
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self.serial = serial
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self.client = client
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self.start()
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def read(self):
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while self.alive:
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try:
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data = self.serial.readline()[:-2]
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if data:
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self.process(data)
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LOGGER.info("Reading: " + data)
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except Exception as e:
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LOGGER.error("Reading error: {0}".format(e))
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def process(self, data):
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self.client.emit(Message(data))
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if "mycroft.stop" in data:
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create_signal('buttonPress')
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self.client.emit(Message("mycroft.stop"))
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if "volume.up" in data:
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self.client.emit(
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Message("IncreaseVolumeIntent", {'play_sound': True}))
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if "volume.down" in data:
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self.client.emit(
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Message("DecreaseVolumeIntent", {'play_sound': True}))
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if "system.test.begin" in data:
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self.client.emit(Message('recognizer_loop:sleep'))
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if "system.test.end" in data:
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self.client.emit(Message('recognizer_loop:wake_up'))
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if "mic.test" in data:
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mixer = Mixer()
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prev_vol = mixer.getvolume()[0]
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mixer.setvolume(35)
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self.client.emit(Message("speak", {
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'utterance': "I am testing one two three"}))
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time.sleep(0.5) # Prevents recording the loud button press
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record("/tmp/test.wav", 3.0)
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mixer.setvolume(prev_vol)
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play_wav("/tmp/test.wav").communicate()
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# Test audio muting on arduino
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subprocess.call('speaker-test -P 10 -l 0 -s 1', shell=True)
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if "unit.shutdown" in data:
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self.client.emit(
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Message("enclosure.eyes.timedspin",
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{'length': 12000}))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl poweroff -i', shell=True)
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if "unit.reboot" in data:
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self.client.emit(
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Message("enclosure.eyes.spin"))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl reboot -i', shell=True)
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if "unit.setwifi" in data:
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self.client.emit(Message("mycroft.wifi.start"))
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if "unit.factory-reset" in data:
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subprocess.call(
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'rm ~/.mycroft/identity/identity.json',
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shell=True)
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self.client.emit(
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Message("enclosure.eyes.spin"))
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self.client.emit(Message("enclosure.mouth.reset"))
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subprocess.call('systemctl reboot -i', shell=True)
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def stop(self):
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self.alive = False
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class EnclosureWriter(Thread):
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"""
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Writes data to Serial port.
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#. Enqueues all commands received from Mycroft enclosures
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implementation
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#. Process them on the received order by writing on the Serial port
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E.g. Displaying a text on Mycroft's Mouth
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#. ``EnclosureMouth`` sends a text command
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#. ``EnclosureWriter`` captures and enqueue the command
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#. ``EnclosureWriter`` removes the next command from the queue
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#. ``EnclosureWriter`` writes the command to Serial port
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Note: A command has to end with a line break
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"""
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def __init__(self, serial, client, size=16):
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super(EnclosureWriter, self).__init__(target=self.flush)
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self.alive = True
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self.daemon = True
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self.serial = serial
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self.client = client
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self.commands = Queue(size)
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self.start()
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def flush(self):
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while self.alive:
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try:
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cmd = self.commands.get()
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self.serial.write(cmd + '\n')
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LOGGER.info("Writing: " + cmd)
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self.commands.task_done()
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except Exception as e:
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LOGGER.error("Writing error: {0}".format(e))
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def write(self, command):
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self.commands.put(str(command))
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def stop(self):
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self.alive = False
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class Enclosure(object):
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"""
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Serves as a communication interface between Arduino and Mycroft Core.
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``Enclosure`` initializes and aggregates all enclosures implementation.
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E.g. ``EnclosureEyes``, ``EnclosureMouth`` and ``EnclosureArduino``
|
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It also listens to the basis events in order to perform those core actions
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on the unit.
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E.g. Start and Stop talk animation
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"""
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def __init__(self):
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self.config = ConfigurationManager.get().get("enclosure")
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self.__init_serial()
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self.client = WebsocketClient()
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self.reader = EnclosureReader(self.serial, self.client)
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self.writer = EnclosureWriter(self.serial, self.client)
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self.eyes = EnclosureEyes(self.client, self.writer)
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self.mouth = EnclosureMouth(self.client, self.writer)
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self.system = EnclosureArduino(self.client, self.writer)
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self.weather = EnclosureWeather(self.client, self.writer)
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self.__register_events()
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self.update()
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self.test()
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def update(self):
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if self.config.get('update'):
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try:
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self.speak("I am upgrading my enclosure version")
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subprocess.check_call('/opt/enclosure/upload.sh')
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self.speak("Enclosure upgrade completed")
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time.sleep(5)
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except:
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self.speak("I cannot upgrade right now, I'll try later")
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def test(self):
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if self.config.get('test'):
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self.speak("Beginning hardware self test")
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self.writer.write("test.begin")
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def __init_serial(self):
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try:
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self.port = self.config.get("port")
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self.rate = self.config.get("rate")
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self.timeout = self.config.get("timeout")
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self.serial = serial.serial_for_url(
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url=self.port, baudrate=self.rate, timeout=self.timeout)
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LOGGER.info(
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"Connected to: " + self.port + " rate: " + str(self.rate) +
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" timeout: " + str(self.timeout))
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except:
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LOGGER.error(
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"It is not possible to connect to serial port: " + self.port)
|
||||
raise
|
||||
|
||||
def __register_events(self):
|
||||
self.client.on('enclosure.mouth.events.activate',
|
||||
self.__register_mouth_events)
|
||||
self.client.on('enclosure.mouth.events.deactivate',
|
||||
self.__remove_mouth_events)
|
||||
self.__register_mouth_events()
|
||||
|
||||
def __register_mouth_events(self, event=None):
|
||||
self.client.on('recognizer_loop:record_begin', self.mouth.listen)
|
||||
self.client.on('recognizer_loop:record_end', self.mouth.reset)
|
||||
self.client.on('recognizer_loop:audio_output_start', self.mouth.talk)
|
||||
self.client.on('recognizer_loop:audio_output_end', self.mouth.reset)
|
||||
|
||||
def __remove_mouth_events(self, event=None):
|
||||
self.client.remove('recognizer_loop:record_begin', self.mouth.listen)
|
||||
self.client.remove('recognizer_loop:record_end', self.mouth.reset)
|
||||
self.client.remove('recognizer_loop:audio_output_start',
|
||||
self.mouth.talk)
|
||||
self.client.remove('recognizer_loop:audio_output_end',
|
||||
self.mouth.reset)
|
||||
|
||||
def speak(self, text):
|
||||
self.client.emit(Message("speak", {'utterance': text}))
|
||||
|
||||
def run(self):
|
||||
try:
|
||||
self.client.run_forever()
|
||||
except Exception as e:
|
||||
LOGGER.error("Client error: {0}".format(e))
|
||||
self.stop()
|
||||
|
||||
def stop(self):
|
||||
self.writer.stop()
|
||||
self.reader.stop()
|
||||
self.serial.close()
|
||||
self.client.close()
|
||||
from mycroft.client.enclosure import Enclosure
|
||||
|
||||
|
||||
def main():
|
||||
|
|
|
|||
Loading…
Reference in New Issue