Source Code for Module LegoRobot

  1  # LegoRobot.py 
  2   
  3  ''' 
  4   This software is part of the RaspiBrickPi library. 
  5   It is Open Source Free Software, so you may 
  6   - run the code for any purpose 
  7   - study how the code works and adapt it to your needs 
  8   - integrate all or parts of the code in your own programs 
  9   - redistribute copies of the code 
 10   - improve the code and release your improvements to the public 
 11   However the use of the code is entirely your responsibility. 
 12   ''' 
 13   
 14  from Tools import * 
 15  from OLED1306 import OLED1306 
 16  from Beeper import Beeper 
 17  from Button import Button 
 18  import SharedConstants 
 19  import brickpi3 
 20  import sys 
 21   
 22   
 23 -class LegoRobot(): 
 24      _oled = OLED1306() 
 25      _beeper = Beeper(SharedConstants.P_BUZZER) 
 26      _bp = brickpi3.BrickPi3() 
 27   
 28 -    def __init__(self): 
 29          LegoRobot._oled.clear() 
 30          LegoRobot._beeper.start(40, 120, 1, True) 
 31          self._isBtnHit = False 
 32          button = Button(SharedConstants.P_BUTTON1) 
 33          button.addButtonListener(self._onButtonEvent) 
 34           
 35 -    def exit(self): 
 36          LegoRobot._oled.clear() 
 37          LegoRobot._beeper.start(40, 120, 2, True) 
 38          # Redirect stdout to swallow output from reset_all() 
 39          from StringIO import StringIO 
 40          out = sys.stdout 
 41          sys.stdout = StringIO() 
 42          LegoRobot._bp.reset_all() 
 43          sys.stdout = out 
 44   
 45 -    def getBrickPi(self): 
 46         ''' 
 47         Returns the instance of the BrickPi class. Any of its methods may be called. 
 48         ''' 
 49         return LegoRobot._bp 
 50   
 51      # for compatibility with BrickPi/BrickPi+ 
 52 -    def addParts(self): 
 53          pass 
 54   
 55 -    def isEscapeHit(self): 
 56          ''' 
 57          Checks, if the left button was ever hit or hit since the last invocation. 
 58          @return: True, if the button was hit; otherwise False 
 59          ''' 
 60          self._isBtnHit 
 61          Tools.delay(1) 
 62          hit = self._isBtnHit 
 63          self._isBtnHit = False 
 64          return hit 
 65   
 66 -    def _onButtonEvent(self, btn, event): 
 67          if event == SharedConstants.BUTTON_PRESSED: 
 68              self._isBtnHit = True 
 69   
 70   
 71      @staticmethod 
 72 -    def setSoundVolume(volume): 
 73          ''' 
 74          Sets the sound volume. Value is kept when the program exits. 
 75          @param volume: the sound volume (0..100) 
 76          ''' 
 77          os.system("amixer sset PCM,0 " + str(volume)+ "%  >/dev/null") 
 78   
 79      @staticmethod 
 80 -    def playTone(frequency, duration): 
 81          ''' 
 82          Plays a single sine tone with given frequency and duration. 
 83          @param frequency: the frequency in Hz 
 84          @param duration:  the duration in ms 
 85          ''' 
 86          os.system("speaker-test -t sine -f " + str(frequency) 
 87                    + " >/dev/null & pid=$! ; sleep " + str(duration / 1000.0) + "s ; kill -9 $pid") 
 88   
 89      @staticmethod 
 90 -    def getIPAddresses(): 
 91          ''' 
 92          @return:  List of all IP addresses of machine 
 93          ''' 
 94          p = Popen(["ifconfig"], stdout = PIPE) 
 95          ifc_resp = p.communicate() 
 96          patt = re.compile(r'inet\s*\w*\S*:\s*(\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3})') 
 97          resp = patt.findall(ifc_resp[0]) 
 98          return resp 
 99   
100      @staticmethod 
101 -    def initSound(soundFile, volume): 
102          ''' 
103          Prepares the given wav or mp3 sound file for playing with given volume (0..100). The sound 
104          sound channel is opened and a background noise is emitted. 
105          @param soundFile: the sound file in the local file system 
106          @volume: the sound volume (0..100) 
107          @returns: True, if successful; False if the sound system is not available or the sound file 
108          cannot be loaded 
109          ''' 
110          try: 
111              pygame.mixer.init() 
112          except: 
113              # print "Error while initializing sound system" 
114              return False 
115          try: 
116              pygame.mixer.music.load(soundFile) 
117          except: 
118              pygame.mixer.quit() 
119              # print "Error while loading sound file", soundFile 
120              return False 
121          try: 
122              pygame.mixer.music.set_volume(volume / 100.0) 
123          except: 
124              return False 
125          return True 
126   
127      @staticmethod 
128 -    def closeSound(): 
129          ''' 
130          Stops any playing sound and closes the sound channel. 
131          ''' 
132          try: 
133              pygame.mixer.stop() 
134              pygame.mixer.quit() 
135          except: 
136              pass 
137   
138      @staticmethod 
139 -    def playSound(): 
140          ''' 
141          Starts playing. 
142          ''' 
143          try: 
144              pygame.mixer.music.play() 
145          except: 
146              pass 
147   
148      @staticmethod 
149 -    def fadeoutSound(time): 
150          ''' 
151          Decreases the volume slowly and stops playing. 
152          @param time: the fade out time in ms 
153          ''' 
154          try: 
155              pygame.mixer.music.fadeout(time) 
156          except: 
157              pass 
158   
159      @staticmethod 
160 -    def setSoundVolume(volume): 
161          ''' 
162          Sets the volume while the sound is playing. 
163          @param volume: the sound volume (0..100) 
164          ''' 
165          try: 
166              pygame.mixer.music.set_volume(volume / 100.0) 
167          except: 
168              pass 
169   
170      @staticmethod 
171 -    def stopSound(): 
172          ''' 
173          Stops playing sound. 
174          ''' 
175          try: 
176              pygame.mixer.music.stop() 
177          except: 
178              pass 
179   
180      @staticmethod 
181 -    def pauseSound(): 
182          ''' 
183          Temporarily stops playing at current position. 
184          ''' 
185          try: 
186              pygame.mixer.music.pause() 
187          except: 
188              pass 
189   
190      @staticmethod 
191 -    def resumeSound(): 
192          ''' 
193          Resumes playing from stop position. 
194          ''' 
195          try: 
196              pygame.mixer.music.unpause() 
197          except: 
198              pass 
199   
200      @staticmethod 
201 -    def rewindSound(): 
202          ''' 
203          Resumes playing from the beginning. 
204          ''' 
205          try: 
206              pygame.mixer.music.rewind() 
207          except: 
208              pass 
209   
210      @staticmethod 
211 -    def isSoundPlaying(): 
212          ''' 
213          @return: True, if the sound is playing; otherwise False 
214          ''' 
215          try: 
216              return pygame.mixer.music.get_busy() 
217          except: 
218              return False 
219