[tuxdroid-svn] r643 - api/python/trunk
Status: Beta
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[tuxdroid-svn] r643 - api/python/trunk
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From: remi <c2m...@c2...> - 2007-10-26 10:05:07
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Author: remi
Date: 2007-10-26 12:05:00 +0200 (Fri, 26 Oct 2007)
New Revision: 643
Modified:
api/python/trunk/tuxapi_class.py
api/python/trunk/tuxapi_const.py
Log:
ADD: Micro class, EventControl class
UP: Documentation, status on tuxapi_const
Modified: api/python/trunk/tuxapi_class.py
===================================================================
--- api/python/trunk/tuxapi_class.py 2007-10-24 11:26:09 UTC (rev 642)
+++ api/python/trunk/tuxapi_class.py 2007-10-26 10:05:00 UTC (rev 643)
@@ -30,6 +30,8 @@
import threading
import string
import signal
+import subprocess
+import math
from tuxapi_const import *
from copy import deepcopy
@@ -41,6 +43,77 @@
TCPIP_FRAME_LENGTH = 16
#==============================================================================
+# EventControl - class
+#==============================================================================
+class EventControl(object):
+
+ def __init__(self):
+ self.__funct_ptr_list = []
+ self.__fifo_list = []
+ self.__list_mutex = threading.Lock()
+ self.__threads_list = []
+
+ def destroy(self):
+ for my_thread in self.__threads_list:
+ if my_thread.isAlive():
+ my_thread.join()
+
+ def connect(self, funct_ptr):
+ self.__list_mutex.acquire()
+ idx = len(self.__funct_ptr_list)
+ self.__funct_ptr_list.append(funct_ptr)
+ self.__list_mutex.release()
+ return idx
+
+ def push(self):
+ self.__list_mutex.acquire()
+ self.__fifo_list.append(self.__funct_ptr_list)
+ self.__list_mutex.release()
+ self.clear()
+
+ def pop(self):
+ if len(self.__fifo_list) > 0:
+ self.__list_mutex.acquire()
+ self.__funct_ptr_list = self.__fifo_list.pop()
+ self.__list_mutex.release()
+
+ def clear(self):
+ self.__list_mutex.acquire()
+ self.__funct_ptr_list = []
+ self.__list_mutex.release()
+
+ def disconnect(self, idx):
+ self.__list_mutex.acquire()
+ self.__funct_ptr_list[idx] = None
+ self.__list_mutex.release()
+
+ def __run(self, funct_ptr, idx, fargs):
+ try:
+ funct_ptr(*fargs)
+ except:
+ self.__list_mutex.acquire()
+ self.__funct_ptr_list[idx] == None
+ self.__list_mutex.release()
+
+ def notify(self, *fargs):
+ self.__list_mutex.acquire()
+ if len(self.__funct_ptr_list) == 0:
+ self.__list_mutex.release()
+ return
+ try:
+ funct_ptr_list = self.__funct_ptr_list
+ except:
+ self.__list_mutex.release()
+ return
+ self.__list_mutex.release()
+ for idx, funct_ptr in enumerate(funct_ptr_list):
+ if funct_ptr != None:
+ t=threading.Thread(target=self.__run, args=(funct_ptr, idx, fargs))
+ t.setName('EventControl')
+ t.start()
+ self.__threads_list.append(t)
+
+#==============================================================================
# TUXTCPCommunicator class
#==============================================================================
class TUXTCPCommunicator(object):
@@ -53,6 +126,7 @@
"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
+ "micro" as class : Class which manages the microphone functions
"misc" as class : Class which manages the miscellaneous
functions
"monitoring" as class : Class which manages the monitoring
@@ -111,6 +185,10 @@
self.misc=TUXmisc(self)
self.monitoring = TUXmonitoring(self)
self.wav = TUXwav(self)
+ self.micro = TUXmicro(self)
+
+ self.head_switch = TuxSwitch(self, STATUS_HEAD_PUSH_SWITCH)
+
self.connected=False #deprecated
t=threading.Thread(target=self.daemon._loop_auto_connect)
t.setName('daemon._loop_auto_connect')
@@ -130,8 +208,10 @@
self.tts.auto_connect(False)
self.daemon.disconnect()
self.tts.disconnect()
+ self.tts.destroy()
self.daemon._tcp_threads_join()
self.tts._tcp_threads_join()
+ self.micro.destroy()
self.exit_flag=True
for main_thread in self.main_thread_list:
if self.print_debug_thread:
@@ -461,6 +541,8 @@
self.event.on_status(data)
#on monitoring
self.monitoring.check_events(data)
+
+ self.head_switch._notify(ord(data[4]), ord(data[5]))
#--------------------------------------------------------------------------
@@ -1014,7 +1096,8 @@
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
+ STATUS_SOUND_COUNT, STATUS_PONG,
+ STATUS_BATTERY, STATUS_MICRO_ENERGY,
)
Functions list:
@@ -4154,15 +4237,6 @@
tux.tts.pause
tux.tts.play
tux.tts.select_voice
- tux.tts.select_voice_fr_female
- tux.tts.select_voice_fr_female_tuxed
- tux.tts.select_voice_fr_male
- tux.tts.select_voice_fr_male_tuxed
- tux.tts.select_voice_us_female
- tux.tts.select_voice_us_female_tuxed
- tux.tts.select_voice_us_male
- tux.tts.select_voice_us_male_tuxed
- tux.tts.send_command_to_tts
tux.tts.speak
tux.tts.speak_free
tux.tts.stop
@@ -4186,7 +4260,7 @@
self.on_connected = None
self.on_disconnected = None
self.on_voice_list = None
- self.on_wav_raw = None
+ self.on_wav_raw = EventControl()
self.__last_wav_raw = [0] * 1024;
self.sound_on=False
self.my_pitch=100
@@ -4199,6 +4273,9 @@
self.speaking_stack = []
self.speaking_stack_mutex = threading.Lock()
+ def destroy(self):
+ self.on_wav_raw.destroy()
+
def speaking_stack_add(self, speaking_conf):
self.speaking_stack_mutex.acquire()
self.speaking_stack.append(speaking_conf)
@@ -4584,7 +4661,7 @@
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,))
+ self.on_wav_raw.notify(tmp_raw)
#--------------------------------------------------------------------------
# Send command to tuxttsd
@@ -5093,8 +5170,128 @@
>>> tux.wav._continue()
"""
self.parent.tts.play()
+
+#==============================================================================
+# TUXTCPCommunicator - micro - class
+#==============================================================================
+class TUXmicro(object):
+ """
+ Class which manages the microphone functions.
+
+ Global variables of this class:
+ "on_buffer" as EventControl : Event on new buffer from micro
+ Example of associating a function to 'on_buffer' event:
+
+ >>> def new_buffer(values):
+ >>> ... print values
+ >>> ...
+ >>> tux.micro.on_buffer.connect(new_buffer)
+ >>> tux.micro.on()
+
+ Functions list for the users:
+ tux.micro.on
+ tux.micro.off
+ """
+ def __init__(self,parent):
+ self.parent = parent
+ self.__state = False
+ self.__process = None
+ self.__process_mutex = threading.Lock()
+ self.on_buffer = EventControl()
+
+ def destroy(self):
+ self.off()
+ self.on_buffer.destroy()
+
+ def on(self):
+ """
+ Function to turn on the micro capture.
+
+ Example:
+ >>> tux.micro.on()
+ """
+ if self.__state:
+ return
+ def get_micro_data():
+ device = self.parent.hw.alsa_device
+ cmd = ["arecord", "-D", device, "-t", "raw"]
+ self.__process = subprocess.Popen(cmd, stdout = subprocess.PIPE,\
+ stderr = subprocess.PIPE)
+ self.__state = True
+ while self.__process.poll() == None:
+ self.__process_mutex.acquire()
+ buff = self.__process.stdout.read(800)
+ self.__on_new_buffer(buff)
+ self.__process_mutex.release()
+ time.sleep(0.01)
+ self.__state = False
+
+ thread.start_new_thread(get_micro_data, ())
+
+ def off(self):
+ """
+ Function to turn off the micro capture.
+
+ Example:
+ >>> tux.micro.off()
+ """
+ if not self.__state:
+ return
+ self.__process_mutex.acquire()
+ os.kill(self.__process.pid, signal.SIGKILL)
+ os.waitpid(-1, os.WNOHANG)
+ self.__process_mutex.release()
+
+ def __on_new_buffer(self, buffer):
+ i_buffer = []
+ for c in buffer:
+ i_buffer.append(ord(c))
+ if self.__state:
+ self.__send_energy_monitoring(i_buffer)
+ self.on_buffer.notify(i_buffer)
+
+ def __send_energy_monitoring(self, buffer):
+ def log_value(value):
+ return int(math.log(value) / math.log(255) * 255)
+
+ try:
+ e_total = 0
+ for val in buffer:
+ e_total += abs(val - 127)
+ e_total /= 200
+ if e_total > 255:
+ e_total = 255
+ e_total = log_value(e_total)
+
+ e_table = []
+ for i in range(4):
+ e_m = 0
+ i_b = i * 200
+ i_e = i_b + 200
+ for j in range(i_b, i_e):
+ e_m += abs(buffer[j] - 127)
+ e_m /= 50
+ if e_m > 255:
+ e_m = 255
+ e_m = log_value(e_m)
+ e_table.append(e_m)
+ except:
+ return
+
+ tmp_tcp_data = [chr(0)] * 16
+ tmp_tcp_data[0] = chr(SOURCE_TUX)
+ tmp_tcp_data[1] = chr(0)
+ tmp_tcp_data[2] = chr(DATA_TP_RSP)
+ tmp_tcp_data[3] = chr(SUBDATA_TP_STATUS)
+ tmp_tcp_data[4] = chr(STATUS_MICRO_ENERGY)
+ tmp_tcp_data[5] = chr(e_total)
+ tmp_tcp_data[6] = chr(e_table[0])
+ tmp_tcp_data[7] = chr(e_table[1])
+ tmp_tcp_data[8] = chr(e_table[2])
+ tmp_tcp_data[9] = chr(e_table[3])
+ self.parent.misc.simulate_tcpip_frame(tmp_tcp_data)
#==============================================================================
# TUXTCPCommunicator - misc - class
@@ -5108,10 +5305,9 @@
tux.misc.build_documentation
tux.misc.print_api_version
tux.misc.simulate_remote_key
+ tux.misc.simulate_tcpip_frame
"""
- #--------------------------------------------------------------------------
- # Constructor of class
- #--------------------------------------------------------------------------
+
def __init__(self,parent):
"""
Constructor of this class
@@ -5125,9 +5321,6 @@
self.h_funct_b='<b><u><i><font size="2">'
self.h_funct_e='</font></i></u></b>'
- #--------------------------------------------------------------------------
- # Print the docstring of a element of tux api
- #--------------------------------------------------------------------------
def doc(self,element):
"""
Print the docstring of an element of tux api
@@ -5145,9 +5338,6 @@
print element.__doc__
print c_header
- #--------------------------------------------------------------------------
- # Not a user function
- #--------------------------------------------------------------------------
def parse_class(self,class_num,class_obj,class_name,class_str,indent):
"""
Not a user function
@@ -5194,9 +5384,6 @@
getattr(class_obj,line).__doc__,indent+' ')
return my_doc
- #--------------------------------------------------------------------------
- # Not a user function
- #--------------------------------------------------------------------------
def parse_function(self,funct_num,funct_name,funct_str,indent):
"""
Not a user function
@@ -5214,9 +5401,6 @@
my_doc=my_doc+indent+line[4:]+'<br>'
return my_doc
- #--------------------------------------------------------------------------
- # Build the documentation of this api
- #--------------------------------------------------------------------------
def build_documentation(self,doc_path):
"""
Build the documentation of this api
@@ -5252,9 +5436,6 @@
f.write(documentation)
f.close()
- #--------------------------------------------------------------------------
- # To print the version of the API
- #--------------------------------------------------------------------------
def print_api_version(self):
"""
To print the version of the API
@@ -5265,12 +5446,28 @@
print "---------------------------------------------------------------"
print "TUXDROID PYTHON API %s"%(api_version)
print "---------------------------------------------------------------"
+
+ def simulate_tcpip_frame(self, frame):
+ """
+ To simulate the receiving of a frame
- #--------------------------------------------------------------------------
- # To simulate the receiving of a remote key
- #--------------------------------------------------------------------------
- def simulate_remote_key(self,key):
+ Parameters:
+ "frame" as list of 16 char : fake frame
+
+ Example:
+ >>> tux.misc.simulate_tcpip_frame(<list of 16 chars>)
"""
+ self.parent.tcp_data_fifo_lock_mutex.acquire()
+ self.parent.tcp_data_fifo_lock.append(frame)
+ self.parent.tcp_data_fifo_lock_mutex.release()
+ self.parent.tcp_data_fifo_event_mutex.acquire()
+ self.parent.tcp_data_fifo_event.append(frame)
+ self.parent.tcp_data_fifo_event_mutex.release()
+ if not self.parent.daemon.connected:
+ self.parent._dispatch_data_main(frame)
+
+ def simulate_remote_key(self, key):
+ """
To simulate the receiving of a remote key
Parameters:
@@ -5279,14 +5476,48 @@
Example:
>>> tux.misc.simulate_remote_key(K_OK)
"""
- tmp_tcp_data = (chr(SOURCE_TUX),chr(0),chr(DATA_TP_RSP), \
- chr(SUBDATA_TP_STATUS),chr(DATAS_STATUS_IR_CODE), \
- chr(key),chr(0),chr(0),chr(0),chr(0),chr(0),chr(0), \
- chr(0),chr(0),chr(0),chr(0))
+ tmp_tcp_data = [chr(0)] * 16
+ tmp_tcp_data[0] = chr(SOURCE_TUX)
+ tmp_tcp_data[1] = chr(0)
+ tmp_tcp_data[2] = chr(DATA_TP_RSP)
+ tmp_tcp_data[3] = chr(SUBDATA_TP_STATUS)
+ tmp_tcp_data[4] = chr(DATAS_STATUS_IR_CODE)
+ tmp_tcp_data[5] = chr(key)
+ self.simulate_tcpip_frame(tmp_tcp_data)
+
+#==============================================================================
+# TUXTCPCommunicator - switch - class
+#==============================================================================
+class TuxSwitch(object):
- self.parent.tcp_data_fifo_lock_mutex.acquire()
- self.parent.tcp_data_fifo_lock.append(tmp_tcp_data)
- self.parent.tcp_data_fifo_lock_mutex.release()
- self.parent.tcp_data_fifo_event_mutex.acquire()
- self.parent.tcp_data_fifo_event.append(tmp_tcp_data)
- self.parent.tcp_data_fifo_event_mutex.release()
+ def __init__(self, parent, status):
+ self.parent = parent
+ self.__status = status
+ self.on_press = EventControl()
+ self.on_release = EventControl()
+
+ def _store_events(self):
+ self.on_press.push()
+ self.on_release.push()
+
+ def _restore_events(self):
+ self.on_press.pop()
+ self.on_release.pop()
+
+ def _clear_events(self):
+ self.on_press.clear()
+ self.on_release.clear()
+
+ def _notify(self, status, value):
+ if status == self.__status:
+ if value == 0:
+ self.on_release.notify()
+ else:
+ self.on_press.notify()
+
+ def simulate(self, value):
+ self._notify(self.__status, value)
+
+ def get_status(self):
+ return self.parent.status.get_one_status(self.__status)
+
Modified: api/python/trunk/tuxapi_const.py
===================================================================
--- api/python/trunk/tuxapi_const.py 2007-10-24 11:26:09 UTC (rev 642)
+++ api/python/trunk/tuxapi_const.py 2007-10-26 10:05:00 UTC (rev 643)
@@ -157,6 +157,7 @@
DATAS_STATUS_SOUND_COUNT = 0x23
DATAS_STATUS_PONG = 0x24
DATAS_STATUS_BATTERY = 0x25
+DATAS_STATUS_MICRO_ENERGY = 0xF0
DATAS_STATUS_AUDIO = 0x26
STATUS_WINGS_MOTOR_BACKWARD = 0x01
@@ -195,6 +196,9 @@
STATUS_IR_CODE = 0x22
STATUS_SOUND_COUNT = 0x23
STATUS_PONG = 0x24
+STATUS_BATTERY = 0x25
+STATUS_AUDIO = 0x26
+STATUS_MICRO_ENERGY = 0xF0
# Tux connection commands
TUX_CONNECTION_DISCONNECT = 1
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