[tuxdroid-svn] r618 - api/python/trunk
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[tuxdroid-svn] r618 - api/python/trunk
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From: remi <c2m...@c2...> - 2007-10-16 15:16:13
|
Author: remi
Date: 2007-10-16 16:57:07 +0200 (Tue, 16 Oct 2007)
New Revision: 618
Modified:
api/python/trunk/tuxapi_class.py
api/python/trunk/tuxapi_const.py
Log:
ADD: Wav system, monitoring
UP: Documentation
Modified: api/python/trunk/tuxapi_class.py
===================================================================
--- api/python/trunk/tuxapi_class.py 2007-10-16 13:00:24 UTC (rev 617)
+++ api/python/trunk/tuxapi_class.py 2007-10-16 14:57:07 UTC (rev 618)
@@ -31,6 +31,7 @@
import string
import signal
from tuxapi_const import *
+from copy import deepcopy
#==============================================================================
# Constants
@@ -48,16 +49,18 @@
Sub class of this class:
"cmd" as class : Class which manages the tux commands
+ "connect" as class : Class which manages connection functions
"daemon" as class : Class which manages the daemon commands
"event" as class : Class which manages the events
"hw" as class : Class which manages the tux hardware
"misc" as class : Class which manages the miscellaneous
functions
+ "monitoring" as class : Class which manages the monitoring
"status" as class : Class which manages the request of a
status
- "connect" as class : Class which manages connection functions
"sys" as class : Class which manages the system functions
"tts" as class : Class which manages the text to speech
+ "wav" as class : Class which manages the wav functions
Global variables of this class:
"my_name" as string : Name of the api instance
@@ -107,6 +110,7 @@
self.tts=TUXtts(self)
self.misc=TUXmisc(self)
self.monitoring = TUXmonitoring(self)
+ self.wav = TUXwav(self)
self.connected=False #deprecated
t=threading.Thread(target=self.daemon._loop_auto_connect)
t.setName('daemon._loop_auto_connect')
@@ -989,6 +993,34 @@
# TUXTCPCommunicator - monitoring - class
#==============================================================================
class TUXmonitoring(object):
+ """
+ Class which manages the monitoring
+
+ Status constants list:
+ (STATUS_WINGS_MOTOR_BACKWARD, STATUS_SPIN_MOTOR_BACKWARD,
+ STATUS_SPIN_MOTOR_FORWARD, STATUS_MOUTH_OPEN_POSITION,
+ STATUS_MOUTH_CLOSED_POSITION, STATUS_HEAD_PUSH_POSITION,
+ STATUS_CHARGER_INHIBIT_SIGNAL, STATUS_WINGS_POSITION_SWITCH,
+ STATUS_MOTOR_FOR_WINGS, STATUS_LEFT_BLUE_LED,
+ STATUS_I2C_SDA_LINE, STATUS_I2C_SCL_LINE ,
+ STATUS_HEAD_MOTOR_FOR_MOUTH, STATUS_HEAD_MOTOR_FOR_EYES,
+ STATUS_IR_RECEIVER_SIGNAL, STATUS_SPIN_POSITION_SWITCH,
+ STATUS_WINGS_MOTOR_FORWARD, STATUS_IR_LED,
+ STATUS_EYES_OPEN_POSITION_SWITCH, STATUS_EYES_CLOSED_POSITION_SWITCH,
+ STATUS_LEFT_WING_PUSH, STATUS_RIGHT_WING_PUSH,
+ STATUS_POWER_PLUG_SWITCH, STATUS_HEAD_PUSH_SWITCH,
+ STATUS_CHARGER_LED, STATUS_MUTE_STATUS,
+ STATUS_LIGHT_LEVEL, STATUS_EYES_POSITION_COUNTER,
+ STATUS_MOUTH_POSITION_COUNTER, STATUS_WINGS_POSITION_COUNTER,
+ STATUS_SPIN_POSITION_COUNTER, STATUS_RIGHT_BLUE_LED,
+ STATUS_RF_CONNECTED, STATUS_IR_CODE,
+ STATUS_SOUND_COUNT, STATUS_PONG
+ )
+
+ Functions list:
+ tux.monitoring.insert
+ tux.monitoring.remove
+ """
def __init__(self, parent):
self.parent = parent
@@ -996,14 +1028,38 @@
self._event_list = []
def insert(self, status, function):
+ """
+ Insert a monitoring event.
+
+ Parameters:
+ "status" as integer : Status index
+ (See status contants list)
+ "function" as pointer of function : Function to bind
+
+ Returns:
+ The index of your event in the monitoring manager.
+ You must save this index if you want removing your event.
+
+ Exemple:
+ >>> monitor_idx = tux.monitoring.insert(STATUS_LIGHT_LEVEL, my_function)
+ """
self._event_mutex.acquire()
self._event_list.append([status, function])
self._event_mutex.release()
return len(self._event_list) - 1
def remove(self, event_id):
+ """
+ Remove a monitoring event.
+
+ Parameters:
+ "event_id" as integer : Index of the event.
+
+ Exemple:
+ >>> tux.monitoring.remove(monitor_idx)
+ """
self._event_mutex.acquire()
- self._event_list.pop(event_id)
+ self._event_list[event_id][1] = None
self._event_mutex.release()
def check_events(self, frame):
@@ -1018,13 +1074,14 @@
self.remove(idx)
for i, event in enumerate(events):
- if event[0] == ord(frame[4]):
- frame = frame[5:]
- ord_frame = []
- for val in frame:
- ord_frame.append(ord(val))
- args = tuple(ord_frame)
- thread.start_new_thread(__load_funct_async, (i, event[1], args))
+ if event[1] != None:
+ if event[0] == ord(frame[4]):
+ frame = frame[5:]
+ ord_frame = []
+ for val in frame:
+ ord_frame.append(ord(val))
+ args = tuple(ord_frame)
+ thread.start_new_thread(__load_funct_async, (i, event[1], args))
#==============================================================================
@@ -2852,7 +2909,7 @@
Example:
>>>var = tux.status.charger_state()
"""
- return self.get_one_status(DATAS_STATUS_CHARGER_INHIBIT_SIGNAL)
+ return self.get_one_status(DATAS_STATUS_CHARGER_LED_STATUS)
#--------------------------------------------------------------------------
# Get the last state of wings position switch status
@@ -4099,6 +4156,8 @@
self.on_connected = None
self.on_disconnected = None
self.on_voice_list = None
+ self.on_wav_raw = None
+ self.__last_wav_raw = [0] * 1024;
self.sound_on=False
self.my_pitch=100
self.my_voice=SPK_US_MALE
@@ -4128,12 +4187,22 @@
self.speaking_stack_mutex.acquire()
curr_speaking_conf = self.speaking_stack.pop(0)
self.speaking_stack_mutex.release()
- self.my_pitch = curr_speaking_conf[1][1]
- self.my_voice = curr_speaking_conf[1][0]
- if curr_speaking_conf[2] == True:
+ if curr_speaking_conf[2] == 'speak_free':
+ self.my_pitch = curr_speaking_conf[1][1]
+ self.my_voice = curr_speaking_conf[1][0]
self.__speak_free(curr_speaking_conf[0])
- else:
+ elif curr_speaking_conf[2] == 'speak':
+ self.my_pitch = curr_speaking_conf[1][1]
+ self.my_voice = curr_speaking_conf[1][0]
self.__speak(curr_speaking_conf[0])
+ elif curr_speaking_conf[2] == 'wav_free':
+ self.parent.wav._set_begin_end( curr_speaking_conf[1][0],
+ curr_speaking_conf[1][1])
+ self.__wav_free(curr_speaking_conf[0])
+ elif curr_speaking_conf[2] == 'wav':
+ self.parent.wav._set_begin_end( curr_speaking_conf[1][0],
+ curr_speaking_conf[1][1])
+ self.__wav(curr_speaking_conf[0])
curr_speaking_conf[3].acquire()
curr_speaking_conf[3].notify()
curr_speaking_conf[3].release()
@@ -4146,6 +4215,15 @@
self.speaking_stack_mutex.release()
def speak(self, text):
+ """
+ Speak a text with the acapela text to speech engine
+
+ Parameters:
+ "text" as string : text to read
+
+ Example:
+ >>> tux.tts.speak('My name is tux! tux droid !')
+ """
if not self.connected:
return
speaking_conf = []
@@ -4154,7 +4232,7 @@
voice_conf.append(self.my_voice)
voice_conf.append(self.my_pitch)
speaking_conf.append(voice_conf)
- speaking_conf.append(False)
+ speaking_conf.append('speak')
my_lock = threading.Condition(threading.Lock())
speaking_conf.append(my_lock)
self.speaking_stack_add(speaking_conf)
@@ -4163,6 +4241,15 @@
my_lock.release()
def speak_free(self, text):
+ """
+ Speak a text with the acapela text to speech engine in free mode
+
+ Parameters:
+ "text" as string : text to read
+
+ Example:
+ >>> tux.tts.speak_free('My name is tux! tux droid !')
+ """
if not self.connected:
return
speaking_conf = []
@@ -4171,13 +4258,51 @@
voice_conf.append(self.my_voice)
voice_conf.append(self.my_pitch)
speaking_conf.append(voice_conf)
- speaking_conf.append(True)
+ speaking_conf.append('speak_free')
my_lock = threading.Condition(threading.Lock())
speaking_conf.append(my_lock)
self.speaking_stack_add(speaking_conf)
my_lock.acquire()
my_lock.wait()
my_lock.release()
+
+ def _wav(self, wav_path, begin, end):
+ if not os.path.isfile(wav_path):
+ return
+ if not self.connected:
+ return
+ speaking_conf = []
+ speaking_conf.append(wav_path)
+ voice_conf = []
+ voice_conf.append(begin)
+ voice_conf.append(end)
+ speaking_conf.append(voice_conf)
+ speaking_conf.append('wav')
+ my_lock = threading.Condition(threading.Lock())
+ speaking_conf.append(my_lock)
+ self.speaking_stack_add(speaking_conf)
+ my_lock.acquire()
+ my_lock.wait()
+ my_lock.release()
+
+ def _wav_free(self, wav_path, begin, end):
+ if not os.path.isfile(wav_path):
+ return
+ if not self.connected:
+ return
+ speaking_conf = []
+ speaking_conf.append(wav_path)
+ voice_conf = []
+ voice_conf.append(begin)
+ voice_conf.append(end)
+ speaking_conf.append(voice_conf)
+ speaking_conf.append('wav_free')
+ my_lock = threading.Condition(threading.Lock())
+ speaking_conf.append(my_lock)
+ self.speaking_stack_add(speaking_conf)
+ my_lock.acquire()
+ my_lock.wait()
+ my_lock.release()
#--------------------------------------------------------------------------
# Allow to connect the api to tuxttsd automatically
@@ -4339,7 +4464,7 @@
"""
while self.connected:
try:
- tcp_data=self.sock.recv(32)
+ tcp_data=self.sock.recv(256)
except socket.timeout:
time.sleep(0.01)
continue
@@ -4348,7 +4473,7 @@
self.connected=False
time.sleep(0.01)
continue
- if len(tcp_data) < 32:
+ if len(tcp_data) < 256:
time.sleep(0.01)
continue
if self.print_status:
@@ -4357,7 +4482,7 @@
self.tcp_mutex.acquire()
self.tcp_data_list.append(tcp_data)
self.tcp_mutex.release()
- time.sleep(0.01)
+ time.sleep(0.002)
#--------------------------------------------------------------------------
# SYSTEM function
@@ -4373,11 +4498,11 @@
data = self.tcp_data_list.pop(0)
else:
self.tcp_mutex.release()
- time.sleep(0.003)
+ time.sleep(0.002)
continue
self.tcp_mutex.release()
self._dispatch_data_main(data)
- time.sleep(0.003)
+ time.sleep(0.002)
#--------------------------------------------------------------------------
# Dispatch data from tcp server
@@ -4416,6 +4541,20 @@
# A voice has been loaded
if ord(data[1])==CMD_INFO_VOICE_OK:
self.voice_loaded = True
+ # WAV INFO
+ if ord(data[0]) == WAV_INFO:
+ idx = ord(data[1])
+ if idx < 4:
+ spectre_idx = idx * 254
+ for i in range(254):
+ self.__last_wav_raw[spectre_idx + i] = ord(data[i + 2])
+ else:
+ spectre_idx = idx * 254
+ for i in range(8):
+ self.__last_wav_raw[spectre_idx + i] = ord(data[i + 2])
+ if self.on_wav_raw != None:
+ tmp_raw = deepcopy(self.__last_wav_raw)
+ thread.start_new_thread(self.on_wav_raw, (tmp_raw,))
#--------------------------------------------------------------------------
# Send command to tuxttsd
@@ -4631,25 +4770,75 @@
self.parent.cmd.audio_channel_general()
self.tts_mutex.release()
return True
-
+
#--------------------------------------------------------------------------
- # Speak a text with the acapela text to speech engine in free mode
+ # Play a wav with tuxttsd
#--------------------------------------------------------------------------
- def __speak_free(self,text):
+ def __wav(self, wav_path):
"""
- Speak a text with the acapela text to speech engine in free mode
+ Speak a text with the acapela text to speech engine
Parameters:
"text" as string : text to read
Example:
- >>> tux.tts.speak_free('My name is tux! tux droid !')
+ >>> tux.tts.speak('My name is tux! tux droid !')
"""
+ self.tts_mutex.acquire()
+ if not self.connected:
+ if self.parent.print_warnings:
+ print "WARNING : Resource text to speech Acapela not found"
+ self.tts_mutex.release()
+ return False
+ if self.sound_on == True:
+ self.stop()
+ u = unicode(wav_path, "utf-8")
+ text_to_send = u.encode('latin-1','replace')
+ text_length = len(text_to_send)
+ self.send_command_to_tts(CMD_TYPE_WAV, CMD_WAV_INSERT_PLAY, \
+ (text_length & 0x0000FF00) >> 8, (text_length & 0x000000FF), \
+ 0, 0)
+ self._sock_send_frame(text_to_send)
+ self.parent.cmd.audio_channel_tts()
+ counter = 0
+ while ((self.sound_on == False) and (counter < 100)):
+ counter = counter + 1
+ self.parent.sys.wait(0.1)
+ if self.speaking_stack_get_size() > 0:
+ break
+ if counter == 100:
+ self.stop()
+ self.parent.cmd.audio_channel_general()
+ print "WAV play : Timeout 10 sec"
+ self.tts_mutex.release()
+ return False
+ while self.sound_on == True:
+ self.parent.sys.wait(0.1)
+ if self.speaking_stack_get_size() > 0:
+ break
+ self.parent.cmd.audio_channel_general()
+ self.tts_mutex.release()
+ return True
+
+ #--------------------------------------------------------------------------
+ # Speak a text with the acapela text to speech engine in free mode
+ #--------------------------------------------------------------------------
+ def __speak_free(self,text):
t=threading.Thread(target=self.__speak, args=(text,))
t.setName('tts.speak_free')
t.start()
self.parent.daemon.free_thread_list.append(t)
return True
+
+ #--------------------------------------------------------------------------
+ # Play a wav with tuxttsd in free mode
+ #--------------------------------------------------------------------------
+ def __wav_free(self, wav_path):
+ t=threading.Thread(target=self.__wav, args=(wav_path,))
+ t.setName('tts.wav_free')
+ t.start()
+ self.parent.daemon.free_thread_list.append(t)
+ return True
#--------------------------------------------------------------------------
# Play the sound if it's in "pause" state
@@ -4745,7 +4934,138 @@
>>> tux.tts.kill_daemon()
"""
self.send_command_to_tts(CMD_TYPE_DAEMON,CMD_DAEMON_KILL,0,0,0,0)
+
+#==============================================================================
+# TUXTCPCommunicator - wav - class
+#==============================================================================
+class TUXwav(object):
+ """
+ Class which manages the wav functions.
+ Functions list for the users:
+ tux.wav.play
+ tux.wav.play_free
+ tux.wav.pause
+ tux.wav.stop
+ tux.wav._continue
+ tux.wav.get_duration
+ """
+
+ #--------------------------------------------------------------------------
+ # Constructor of class
+ #--------------------------------------------------------------------------
+ def __init__(self,parent):
+ self.parent = parent
+ self.__wav_path = ""
+ self.__wav_length = 0
+
+ def __load(self, wav_path):
+ if os.path.isfile(wav_path):
+ try:
+ size = os.stat(wav_path)[6] - 44
+ self.__wav_length = (float)(size) / 8000
+ self.__wav_path = wav_path
+ except:
+ return False
+ return True
+ else:
+ return False
+
+ def _set_begin_end(self, begin = 0., end = 0.):
+ begin_100m = (int)(round(begin * 10))
+ end_100m = (int)(round(end * 10))
+ begin_lower = begin_100m & 0x000000FF
+ begin_upper = (begin_100m & 0x0000FF00) >> 8
+ end_lower = end_100m & 0x000000FF
+ end_upper = (end_100m & 0x0000FF00) >> 8
+ self.parent.tts.send_command_to_tts(
+ CMD_TYPE_WAV,
+ CMD_WAV_BEGIN_END,
+ begin_lower,
+ begin_upper,
+ end_lower,
+ end_upper)
+
+ def get_duration(self, wav_path):
+ """
+ Get the duration of a wave file.
+
+ Parameters:
+ "wav_path" as string : Path of the wave file
+
+ Returns:
+ The time duration in seconds as float.
+
+ Exemple:
+ >>> print tux.wav.get_duration('/home/tux/test.wav')
+ """
+ if self.__load(wav_path):
+ self.__wav_path = ""
+ return self.__wav_length
+ else:
+ return 0.
+
+ def play(self, wav_path, begin = 0., end = 0.):
+ """
+ Play a wave file with tuxttsd daemon.
+
+ Parameters:
+ "wav_path" as string : Path of the wave file
+ "begin" as float : Starting index in seconds(Optional)
+ "end" as float : Ending index in seconds(Optional)
+
+ Exemple:
+ >>> tux.wav.play('/home/tux/test.wav')
+ >>> tux.wav.play('/home/tux/test.wav', 0., 5.5)
+ """
+ if self.__load(wav_path):
+ self.parent.tts._wav(self.__wav_path, begin, end)
+
+ def play_free(self, wav_path, begin = 0., end = 0.):
+ """
+ Play a wave file with tuxttsd daemon in free mode.
+
+ Parameters:
+ "wav_path" as string : Path of the wave file
+ "begin" as float : Starting index in seconds(Optional)
+ "end" as float : Ending index in seconds(Optional)
+
+ Exemple:
+ >>> tux.wav.play_free('/home/tux/test.wav')
+ >>> tux.wav.play_free('/home/tux/test.wav', 0., 5.5)
+ """
+ if self.__load(wav_path):
+ self.parent.tts._wav_free(self.__wav_path, begin, end)
+
+ def stop(self):
+ """
+ Stop the current played wave file.
+
+ Exemple:
+ >>> tux.wav.stop()
+ """
+ self.parent.tts.stop()
+
+ def pause(self):
+ """
+ Pause the current played wave file.
+
+ Exemple:
+ >>> tux.wav.pause()
+ """
+ self.parent.tts.pause()
+
+ def _continue(self):
+ """
+ Continue the playing of a paused wave file.
+
+ Exemple:
+ >>> tux.wav._continue()
+ """
+ self.parent.tts.play()
+
+
+
#==============================================================================
# TUXTCPCommunicator - misc - class
#==============================================================================
@@ -4807,7 +5127,7 @@
c_header=''
my_doc=''
for i in range(80-len(indent)): c_header=c_header+'-'
- my_doc='%s%s) Class : %s (%s)<br>'%(my_doc,class_num, \
+ my_doc='%s%s) Object : %s (%s)<br>'%(my_doc,class_num, \
class_name,str(type(class_obj))[8:-2])
self.header_doc=self.header_doc+indent+'<a href="#%s">'%(class_num) \
+my_doc+'</a>'
@@ -4855,7 +5175,7 @@
c_header=''
my_doc=''
for i in range(80-len(indent)): c_header=c_header+'-'
- my_doc='%s%s)\tFunction : %s<br>'%(my_doc,funct_num,funct_name)
+ my_doc='%s%s)\tMethode : %s<br>'%(my_doc,funct_num,funct_name)
self.header_doc=self.header_doc+indent+'<a href="#%s">'%(funct_num) \
+my_doc+'</a>'
my_doc=indent+'<a name=%s></a>'%(funct_num)+self.h_funct_b+ \
Modified: api/python/trunk/tuxapi_const.py
===================================================================
--- api/python/trunk/tuxapi_const.py 2007-10-16 13:00:24 UTC (rev 617)
+++ api/python/trunk/tuxapi_const.py 2007-10-16 14:57:07 UTC (rev 618)
@@ -158,6 +158,43 @@
DATAS_STATUS_PONG = 0x24
DATAS_STATUS_BATTERY = 0x25
+STATUS_WINGS_MOTOR_BACKWARD = 0x01
+STATUS_SPIN_MOTOR_BACKWARD = 0x02
+STATUS_SPIN_MOTOR_FORWARD = 0x03
+STATUS_MOUTH_OPEN_POSITION = 0x04
+STATUS_MOUTH_CLOSED_POSITION = 0x05
+STATUS_HEAD_PUSH_POSITION = 0x06
+STATUS_CHARGER_INHIBIT_SIGNAL = 0x07
+STATUS_WINGS_POSITION_SWITCH = 0x08
+STATUS_MOTOR_FOR_WINGS = 0x09
+STATUS_LEFT_BLUE_LED = 0x0A
+STATUS_I2C_SDA_LINE = 0x0B
+STATUS_I2C_SCL_LINE = 0x0C
+STATUS_HEAD_MOTOR_FOR_MOUTH = 0x0D
+STATUS_HEAD_MOTOR_FOR_EYES = 0x0E
+STATUS_IR_RECEIVER_SIGNAL = 0x0F
+STATUS_SPIN_POSITION_SWITCH = 0x10
+STATUS_WINGS_MOTOR_FORWARD = 0x11
+STATUS_IR_LED = 0x12
+STATUS_EYES_OPEN_POSITION_SWITCH = 0x13
+STATUS_EYES_CLOSED_POSITION_SWITCH = 0x14
+STATUS_LEFT_WING_PUSH = 0x15
+STATUS_RIGHT_WING_PUSH = 0x16
+STATUS_POWER_PLUG_SWITCH = 0x17
+STATUS_HEAD_PUSH_SWITCH = 0x18
+STATUS_CHARGER_LED = 0x19
+STATUS_MUTE_STATUS = 0x1A
+STATUS_LIGHT_LEVEL = 0x1B
+STATUS_EYES_POSITION_COUNTER = 0x1C
+STATUS_MOUTH_POSITION_COUNTER = 0x1D
+STATUS_WINGS_POSITION_COUNTER = 0x1E
+STATUS_SPIN_POSITION_COUNTER = 0x1F
+STATUS_RIGHT_BLUE_LED = 0x20
+STATUS_RF_CONNECTED = 0x21
+STATUS_IR_CODE = 0x22
+STATUS_SOUND_COUNT = 0x23
+STATUS_PONG = 0x24
+
# Tux connection commands
TUX_CONNECTION_DISCONNECT = 1
TUX_CONNECTION_CONNECT = 2
@@ -276,9 +313,13 @@
CMD_TYPE_TTS = 0x02
CMD_TYPE_DAEMON = 0x03
CMD_TYPE_INFO = 0x04
+CMD_TYPE_WAV = 0x05
# Sound conf commands
CMD_SOUNDCONF_REINIT = 0X01
CMD_SOUNDCONF_STOP = 0X02
+# WAV commands
+CMD_WAV_INSERT_PLAY = 0x01
+CMD_WAV_BEGIN_END = 0x02
# TTS commands
CMD_TTS_CHOOSE_VOICE = 0x01
CMD_TTS_INSERT_PLAY_SPEECH = 0x02
@@ -370,6 +411,7 @@
RET_ACK = 0x01
TTS_INFO = 0x02
DAEMON_INFO = 0x03
+WAV_INFO = 0x04
# ACK return
ACK_OK = 0x01
ACK_UNKNOW_CMD_TYPE = 0x02
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