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main_viam.py
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main_viam.py
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import asyncio
import os
from viam.robot.client import RobotClient
from viam.rpc.dial import Credentials, DialOptions
from viam.services.vision import VisionClient
from viam.services.generic import Generic
from viam.components.camera import Camera
import setenv # I added this
from datetime import datetime
from pubsub import pub
'''
Viam main script - currently replacing this with viam modules.
Viam Logger is viam disabled in logwrapper.py. Uncomment to re-enable.
'''
from viam.logging import getLogger
LOGGER = getLogger(__name__)
LOGGER.info('INIT MAKERFORGE MAIN_VIAM')
# LOGGER.warning('LOOP MAKERFORGE MAIN_VIAM')
# LOGGER.error('LOOP MAKERFORGE MAIN_VIAM')
#### MAIN ####
import logging
logging.basicConfig(filename=os.path.dirname(__file__) + '/app.log', level=logging.DEBUG, format='%(levelname)s: %(asctime)s %(message)s',
datefmt='%m/%d/%Y %I:%M:%S %p') # this doesn't work unless it's here
from modules.logwrapper import LogWrapper
from time import sleep, time
import signal
import schedule
# Import modules
from modules.config import Config
from modules.actuators.servo import Servo
from modules.actuators.piservo import PiServo
from modules.animate import Animate
from modules.sensor import Sensor
import sys
# from modules.speechinput import SpeechInput
from modules.arduinoserial import ArduinoSerial
from modules.neopx import NeoPx
# from modules.tts import TTS
from modules.personality import Personality
# from modules.battery import Battery
from modules.braillespeak import Braillespeak
from modules.buzzer import Buzzer
from modules.pitemperature import PiTemperature
from modules.translator import Translator
# from modules.opencv.timelapse import Timelapse
### MAIN END ###
# from modules.viam.viamobjects import ViamObjects
from modules.viam.viamclassifier import ViamClassifier
# These must be set. You can get them from your robot's 'Code sample' tab
robot_api_key = os.getenv('ROBOT_API_KEY') or ''
robot_api_key_id = os.getenv('ROBOT_API_KEY_ID') or ''
robot_address = os.getenv('ROBOT_ADDRESS') or ''
async def connect():
opts = RobotClient.Options.with_api_key(
api_key=robot_api_key,
api_key_id=robot_api_key_id
)
return await RobotClient.at_address(robot_address, opts)
async def main():
robot = await connect()
print('Starting...')
path = os.path.dirname(__file__)
translator = Translator(src=Config.get('translator', 'default')['src'], dest=Config.get('translator', 'default')['dest'])
log = LogWrapper(path=os.path.dirname(__file__), translator=translator)
# Throw exception to safely exit script when terminated
signal.signal(signal.SIGTERM, Config.exit)
# GPIO
# gpio = pigpio.pi()
# Arduino connection
serial = ArduinoSerial()
servos = dict()
servo_conf = Config.get('servos','conf')
for key in servo_conf:
s = servo_conf[key]
servos[key] = Servo(s['pin'], key, s['range'], s['id'], start_pos=s['start'])
piservos = dict()
piservo_conf = Config.get('piservo','conf')
for key in piservo_conf:
s = piservo_conf[key]
piservos[key] = PiServo(s['pin'], s['range'], start_pos=s['start'])
try:
neopx = NeoPx(Config.get('neopixel','count'))
except ValueError as e:
print('Error initializing NeoPixel: ' + str(e))
# tts = TTS(translator=translator)
if Config.get('motion','pin') != '':
motion = Sensor(Config.get('motion','pin'))
# personality = Personality()
temp = PiTemperature()
animate = Animate()
# Nightly loop (for facial recognition model training)
schedule.every().day.at("10:30").do(pub.sendMessage, 'loop:nightly')
# Other more frequent loops
second_loop = time()
ten_second_loop = time()
minute_loop = time()
loop = True
# viamobjects = ViamObjects(robot)
# viamobjects.enable()
#viamGestures = ViamClassifier(robot)
#pub.sendMessage('vision:start')
#
print('Resources:')
print(robot.resource_names)
animation = Generic.from_robot(robot, "animation-service")
# Uncomment to show failure
# response = await animation.do_command({"animate": ["not_an_animation"]})
response = await animation.do_command({"animate": ["scan"]})
# Until we have a working MQTT broker
# Parse response and use pubsub to send message to animate
# Example response: {'animate': [['servo:pan:mv', [20.0]], ['servo:pan:mv', [-40.0]], ['servo:pan:mv', [40.0]], ['servo:pan:mv', [-40.0]], ['servo:pan:mv', [20.0]]]}
for command in response['animate']:
pub.sendMessage(command[0], percentage=command[1][0])
# # print(f"The response is {response}")
# print(response)
# GESTURE TEST
# camera_name = "camera"
# my_webcam = Camera.from_robot(robot, camera_name)
# my_webcam_return_value = await my_webcam.get_image()
# print(f"my-webcam get_image return value: {my_webcam_return_value}")
# roboflow_test = VisionClient.from_robot(robot, "roboflow-test")
try:
while loop:
pub.sendMessage('loop')
if time() - second_loop > 1:
LOGGER.info('LOOP MAKERFORGE MAIN_VIAM')
# await viamobjects.detect()
#await viamGestures.detect()
second_loop = time()
pub.sendMessage('loop:1')
# roboflow_test_return_value = await roboflow_test.get_detections_from_camera(camera_name)
# print(f"roboflow-test get_detections_from_camera return value: {roboflow_test_return_value}")
if time() - ten_second_loop > 10:
ten_second_loop = time()
pub.sendMessage('loop:10')
pub.sendMessage('vision:start')
# pub.sendMessage('animate', action='head_shake')
# loop = False # remove after testing
if time() - minute_loop > 60:
minute_loop = time()
pub.sendMessage('loop:60')
schedule.run_pending()
except (Exception) as ex:
template = "An exception of type {0} occurred. Arguments:\n{1!r}"
message = template.format(type(ex).__name__, ex.args)
# output stack trace
print(ex.with_traceback())
print(message)
pub.sendMessage('log:error', msg=ex)
loop = False
sleep(5)
quit()
finally:
pub.sendMessage("exit")
pub.sendMessage("animate", action="sit")
pub.sendMessage("animate", action="sleep")
pub.sendMessage("power:exit")
pub.sendMessage("log", msg="[Main] loop ended")
# await asyncio.sleep(5)
await robot.close()
if __name__ == '__main__':
asyncio.run(main())