How to use touchMove method in fMBT
Best Python code snippet using fMBT_python
server.py
Source:server.py 
1from flask import Flask, render_template, Response, url_for, request, send_file, abort, send_from_directory, jsonify, \2 json3import yaml4import time5from datetime import datetime6import os7import matplotlib8from timeit import default_timer as timer9import jinja210import sys11import signal12from utils import alImage_to_PIL13from utils import PIL_to_JPEG_BYTEARRAY14from utils import is_video15from utils import is_image16from utils import is_external_path17from utils import is_txt_file18import socket19import argparse20from simple_sound_stream import SpeechRecognitionModule21import qi22import vision_definitions23from urlparse import unquote24app = Flask(__name__)25QI_SESSION = None26# helper for knowing what is on the tablet27TABLET_STATE = {28 "index": None,29 "video_or_website": False30}31global camera_tab_closed32camera_tab_closed = True33global camera_tab_timestamp34camera_tab_timestamp = 035global touchdown_hist36touchdown_hist = []37global touchmove_hist38touchmove_hist = []39global touchmove_ind40touchmove_ind = 141global latest_touchmove_used42latest_touchmove_used = 043global SAVE_IMGS44SAVE_IMGS = False45global RECORD_AUDIO46RECORD_AUDIO = False47global motion_vector48motion_vector = [0, 0, 0]49# Tablet needs to know where server is running...50try:51 # weird linux hack to get ip if /etc/hosts maps hostname to 127.0.0.152 # in that case, hostip would be 127.0.0.1 and pepper fails to reach server under that ip...53 # https://stackoverflow.com/questions/55296584/getting-127-0-1-1-instead-of-192-168-1-ip-ubuntu-python54 host_name = socket.gethostname()55 global HOST_IP56 HOST_IP = socket.gethostbyname(host_name + ".local")57except socket.gaierror:58 # this is the default case and works on max and windows...59 global HOST_IP60 HOST_IP = socket.gethostbyname(socket.gethostname())61FLASK_PORT = 500062FLASK_HOME = "http://" + HOST_IP + ":" + str(FLASK_PORT) + "/"63@app.route('/')64def index():65 read_config()66 if QI_SESSION is not None and QI_SESSION.isConnected(): # if session already exists, fronted was just reloaded...67 global ip68 return render_template("index.html", config=config, reconnect_ip=ip)69 else:70 return render_template('index.html', config=config, reconnect_ip="")71@app.route("/connect_robot")72def connect_robot():73 """74 Connects to robot with given IP.75 """76 global ip77 ip = request.args.get('ip', type=str)78 global port79 port = 955980 read_config() # update the config in case it has been edited in the meantime, nice for developing ^81 global QI_SESSION82 if QI_SESSION is not None and QI_SESSION.isConnected():83 # connect btn has been pressed while robot was already connect --> it is the disconnedt btn...84 del QI_SESSION85 QI_SESSION = qi.Session() # we make a new sess but don't connect it to anything --> essentially disconnect86 print("disconnecting interface by terminating session.")87 try:88 global SpeechRecognition89 SpeechRecognition.stop()90 del SpeechRecognition91 except (RuntimeError, NameError):92 # when camera tab is not open93 pass94 return {95 "status": "disconnected"96 }97 else:98 print "connecting interface to new robot session"99 # normal connect, we make a new session and connect to it100 try:101 # TODO doesn't solve the problem that session might still be trying to connect to invalid IP...102 print "attempting close and del session"103 QI_SESSION.close()104 del QI_SESSION105 time.sleep(1)106 except AttributeError:107 print "close attribute excaption pass..."108 # if the prev session is still trying to connect...109 pass110 QI_SESSION = None111 QI_SESSION = qi.Session()112 try:113 QI_SESSION.connect(str("tcp://" + str(ip) + ":" + str(port)))114 except RuntimeError as msg:115 print("qi session connect error!:")116 print(msg)117 QI_SESSION = None118 raise Exception("Couldn't connect session")119 print "past exception!"120 get_all_services()121 # almemory event subscribers122 # global tts_sub123 # tts_sub = mem_srv.subscriber("ALTextToSpeech/TextStarted")124 # tts_sub.signal.connect(tts_callback)125 tablet_srv.onTouchDownRatio.connect(touchDown_callback) # on touch down, aka one "click"126 tablet_srv.onTouchMove.connect(touchMove_callback) # finger slides on tablet127 tablet_srv.onTouchUp.connect(touchUp_callback)128 global vid_finished_signal129 vid_finished_signal = tablet_srv.videoFinished130 vid_finished_signal.connect(onVidEnd)131 tts_srv.setVolume(config["volume"])132 tts_srv.setParameter("pitchShift", config["voice_pitch"])133 tts_srv.setParameter("speed", config["voice_speed"])134 # tts_srv.say("Connected")135 # iterate over autonomous life configuration and set values...136 for key in config["autonomous_life_config"].keys():137 if config["autonomous_life_config"][key] == "":138 continue139 else:140 if key == "autonomous_state":141 al_srv.setState(config["autonomous_life_config"][key])142 elif key == "tangential_collision":143 motion_srv.setTangentialSecurityDistance(config["autonomous_life_config"][key])144 elif key == "orthogonal_collision":145 motion_srv.setOrthogonalSecurityDistance(config["autonomous_life_config"][key])146 elif key == "blinking":147 ab_srv.setEnabled(config["autonomous_life_config"][key])148 elif key == "engagement_mode":149 ba_srv.setEngagementMode(config["autonomous_life_config"][key])150 elif key == "head_breathing":151 motion_srv.setBreathEnabled("Head", config["autonomous_life_config"][key])152 elif key == "arms_breathing":153 motion_srv.setBreathEnabled("Arms", config["autonomous_life_config"][key])154 elif key == "body_breathing":155 motion_srv.setBreathEnabled("Body", config["autonomous_life_config"][key])156 elif key == "legs_breathing":157 motion_srv.setBreathEnabled("Legs", config["autonomous_life_config"][key])158 elif key == "basic_awareness":159 ba_srv.setEnabled(config["autonomous_life_config"][key])160 elif key == "listening_movement":161 lm_srv.setEnabled(config["autonomous_life_config"][key])162 elif key == "speaking_movement":163 sm_srv.setEnabled(config["autonomous_life_config"][key])164 # show default image if given165 show_default_img_or_hide()166 for color in config["colors"]:167 try:168 if color["is_default"]:169 r = color["red"]170 g = color["green"]171 b = color["blue"]172 led_srv.fadeRGB("FaceLeds", r, g, b, 0.5)173 except KeyError: # only one of the elements should have the flag...174 pass175 return {176 "status": "ok",177 "ip": ip,178 }179def tts_callback(value):180 print("in tts callback")181 print(value)182def onVidEnd():183 TABLET_STATE["video_or_website"] = False184 pass185def touchDown_callback(x, y, msg):186 print(x, y, msg)187 # we append newest first, so that we can nicely iterate over list and fade color out...188 global touchdown_hist189 touchdown_hist.insert(0, (x, y))190 if len(touchdown_hist) > 5:191 touchdown_hist = touchdown_hist[:5]192def touchMove_callback(x_offset, y_offset):193 print("slide: ", touchmove_ind, x_offset, y_offset)194 # if this is a new "series" of touchmoves, create empty list of at current index195 global touchmove_hist196 global latest_touchmove_used197 if latest_touchmove_used != touchmove_ind:198 touchmove_hist.append([])199 latest_touchmove_used = touchmove_ind200 touchmove_hist[-1].append((x_offset / 1600, y_offset / 1080))201def touchUp_callback(x, y):202 print("Touchup!")203 global touchmove_ind204 touchmove_ind += 1205 global touchmove_hist206 touchmove_hist.append([]) # whenever we have a touchdown event, this might be followed by a finger slide...207def get_all_services():208 """209 Provides global references to all naoqi services used somewhere down the line210 """211 global tts_srv212 tts_srv = QI_SESSION.service("ALTextToSpeech")213 global al_srv214 al_srv = QI_SESSION.service("ALAutonomousLife")215 global ba_srv216 ba_srv = QI_SESSION.service("ALBasicAwareness")217 global ab_srv218 ab_srv = QI_SESSION.service("ALAutonomousBlinking")219 global motion_srv220 motion_srv = QI_SESSION.service("ALMotion")221 global video_srv222 video_srv = QI_SESSION.service("ALVideoDevice")223 global tablet_srv224 tablet_srv = QI_SESSION.service("ALTabletService")225 global as_srv226 as_srv = QI_SESSION.service("ALAnimatedSpeech")227 global ap_srv228 ap_srv = QI_SESSION.service("ALAnimationPlayer")229 global posture_srv230 posture_srv = QI_SESSION.service("ALRobotPosture")231 global ar_srv232 ar_srv = QI_SESSION.service("ALAudioRecorder")233 global ad_srv234 ad_srv = QI_SESSION.service("ALAudioDevice")235 global fd_srv236 fd_srv = QI_SESSION.service("ALFaceDetection")237 global mem_srv238 mem_srv = QI_SESSION.service("ALMemory")239 global lm_srv240 lm_srv = QI_SESSION.service("ALListeningMovement")241 global sm_srv242 sm_srv = QI_SESSION.service("ALSpeakingMovement")243 global audio_player244 audio_player = QI_SESSION.service("ALAudioPlayer")245 global led_srv246 led_srv = QI_SESSION.service("ALLeds")247@app.route("/querry_states")248def querry_states():249 """250 Querries all states that are easily accessable. EG: What autunomous state are we in or251 which seting is toggeled?252 @return: A dict with ids from the frontend, with the value being what that element should represent253 """254 try:255 # see if audio transmission is running even though camera tab is closed...256 try:257 now = timer()258 # this should be obsolete now, camera calls close method when closed... but having this here doesn't hurt,259 # so leaving it, just in case260 if now - camera_tab_timestamp > 3: # if now keep alive ping within 5 seconds...261 if SpeechRecognition.isStarted:262 print("Handling close camera tab!")263 SpeechRecognition.stop() # stop the audio transmission264 # remove camera stream subscriber from video service265 if video_srv.getSubscribers():266 for subscriber in video_srv.getSubscribers():267 if "CameraStream" in subscriber: # name passed as argument on subscription268 video_srv.unsubscribe(subscriber)269 except NameError:270 pass # if SpeechRecognition module has never been started and doesn't exist...271 return {272 "#autonomous_states": al_srv.getState(),273 "#tangential_collision": round(motion_srv.getTangentialSecurityDistance(), 3) * 100, # convert form m to274 "#orthogonal_collision": round(motion_srv.getOrthogonalSecurityDistance(), 3) * 100, # cm for frontend275 "#toggle_btn_blinking": ab_srv.isEnabled(),276 "#toggle_btn_basic_awareness": ba_srv.isEnabled(),277 "#engagement_states": ba_srv.getEngagementMode(),278 "#toggle_btn_head_breathing": motion_srv.getBreathEnabled("Head"),279 "#toggle_btn_body_breathing": motion_srv.getBreathEnabled("Body"),280 "#toggle_btn_arms_breathing": motion_srv.getBreathEnabled("Arms"),281 "#toggle_btn_legs_breathing": motion_srv.getBreathEnabled("Legs"),282 "#volume_slider": tts_srv.getVolume(),283 "#voice_speed_input": tts_srv.getParameter("speed"),284 "#voice_pitch_input": tts_srv.getParameter("pitchShift"),285 "#motion_vector": [round(vel, 1) for vel in motion_srv.getRobotVelocity()],286 "#toggle_btn_listening": lm_srv.isEnabled(),287 "#toggle_btn_speaking": sm_srv.isEnabled(),288 "tablet_state": TABLET_STATE,289 "#querried_color": get_eye_colors(),290 "timestamp": timer()291 }292 except (NameError, RuntimeError):293 return {"STATE_QUERRY_ERR": "SESSION NOT AVAILABLE"}294@app.route("/set_autonomous_state")295def set_autonomous_state():296 """297 Sets the autunomous state298 """299 state = request.args.get('state', type=str)300 print(state)301 al_srv.setState(state)302 return {303 "status": "ok",304 "state": state305 }306@app.route("/set_engagement_mode")307def set_engagement_mode():308 """309 Sets the engagement mode310 """311 mode = request.args.get('mode', type=str)312 print(mode)313 ba_srv.setEngagementMode(mode)314 return {315 "status": "ok",316 "mode": mode317 }318@app.route("/say_text")319def say_text():320 msg = request.args.get('msg', type=str)321 tts_srv.say(msg)322 return {323 "status": "ok",324 "msg": msg325 }326@app.route("/toggle_setting")327def toggle_setting():328 setting = request.args.get('setting', type=str)329 print(setting)330 new_state = None331 if setting == "blinking":332 ab_srv.setEnabled(not ab_srv.isEnabled())333 new_state = ab_srv.isEnabled()334 elif setting == "head_breathing":335 motion_srv.setBreathEnabled("Head", not motion_srv.getBreathEnabled("Head"))336 new_state = motion_srv.getBreathEnabled("Head")337 elif setting == "arms_breathing":338 motion_srv.setBreathEnabled("Arms", not motion_srv.getBreathEnabled("Arms"))339 new_state = motion_srv.getBreathEnabled("Arms")340 elif setting == "body_breathing":341 motion_srv.setBreathEnabled("Body", not motion_srv.getBreathEnabled("Body"))342 new_state = motion_srv.getBreathEnabled("Body")343 elif setting == "legs_breathing":344 motion_srv.setBreathEnabled("Legs", not motion_srv.getBreathEnabled("Legs"))345 new_state = motion_srv.getBreathEnabled("Legs")346 elif setting == "basic_awareness":347 ba_srv.setEnabled(not ba_srv.isEnabled())348 new_state = ba_srv.isEnabled()349 elif setting == "listening":350 lm_srv.setEnabled(not lm_srv.isEnabled())351 new_state = lm_srv.isEnabled()352 elif setting == "speaking":353 sm_srv.setEnabled(not sm_srv.isEnabled())354 new_state = sm_srv.isEnabled()355 time.sleep(1)356 return {357 "status": "ok",358 "setting": setting,359 "new_state": new_state360 }361def show_default_img_or_hide():362 """363 Depending on whether a default image is given in the config, either shows that or resets the tablet to the default364 animation gif.365 """366 for enum_index, item in enumerate(config["tablet_items"]):367 if "is_default_img" in item.keys():368 url = FLASK_HOME + "show_img_page/" + str(enum_index)369 TABLET_STATE["index"] = enum_index370 tablet_srv.showWebview(url)371 return {372 "showing": "default image"373 }374 tablet_srv.hideWebview()375 TABLET_STATE["index"] = None376 return {377 "showing": "Pepper default gif, no default image found in config",378 }379@app.route("/serve_audio/<path:filename>")380def serve_audio(filename):381 print(filename)382 return send_from_directory(config["audio_root_location"], filename)383@app.route("/play_audio")384def play_audio():385 index = request.args.get('index', type=int)386 print(index)387 print("playing sound")388 location = config["audio_files"][index]["location"]389 # stored locally on pepper, here we can nicely use the ALAudio_player390 try:391 audio_file = audio_player.loadFile(location)392 except RuntimeError, e:393 return {394 "status": "error",395 "msg": "Couldn't load sound file '{}'. Make sure it is saved ON your pepper robot and check our README".format(location)396 }397 audio_player.setVolume(audio_file, tts_srv.getVolume())398 audio_player.play(audio_file)399 audio_player.unloadAllFiles()400 return {401 "status": "ok",402 }403@app.route("/stop_sound_play")404def stop_sound_play():405 audio_player.stopAll()406 audio_player.unloadAllFiles()407 return {408 "status": "stopped all sounds that were playing"409 }410@app.route("/show_tablet_item/<index>")411def show_tablet_item(index):412 item = config["tablet_items"][int(index)]["file_name"]413 if is_external_path(item) and not is_video(item) and not is_image(item):414 # tablet item is external website415 tablet_srv.enableWifi()416 tablet_srv.showWebview(item)417 TABLET_STATE["video_or_website"] = True418 elif is_video(item):419 if is_external_path(item):420 # externally hosted video421 video_src = item422 else:423 # video hosted locally, prepare "external" path foir tablet424 video_src = FLASK_HOME + config["tablet_root_location"] + item425 tablet_srv.enableWifi()426 tablet_srv.playVideo(video_src)427 TABLET_STATE["video_or_website"] = True428 else:429 tablet_srv.showWebview(FLASK_HOME + "show_img_page/" + index)430 TABLET_STATE["video_or_website"] = False431 TABLET_STATE["index"] = index432 return {433 "status": "ok",434 "item": item435 }436def get_tablet_img_from_index(index):437 img_obj = config["tablet_items"][int(index)]438 img_src = ""439 if is_external_path(img_obj["file_name"]):440 # if its externally hosted we don't have to do anything441 img_src = img_obj["file_name"]442 else:443 img_src = "/" + config["tablet_root_location"] + img_obj["file_name"]444 return img_src445@app.route("/show_img_page/<index>")446def show_img_page(index):447 img_src = get_tablet_img_from_index(index)448 return render_template("img_view.html", src=img_src, img_index=index)449@app.route("/clear_tablet")450def clear_tablet():451 tablet_srv.hideWebview()452 TABLET_STATE["index"] = None453 status = show_default_img_or_hide()454 status["msg"] = "cleaned tablet webview"455 return status456@app.route("/ping_curr_tablet_item")457def ping_curr_tablet_item():458 index = request.args.get('index', type=str)459 if not TABLET_STATE["video_or_website"]:460 TABLET_STATE["last_ping"] = timer()461 TABLET_STATE["index"] = index462 return {463 "set cur_tab_item": index464 }465 else:466 print("Got image tab ping, but ignored it because website or video is currently on tablet...")467 return {468 "ignered ping for cur_tab_item": index469 }470@app.route("/adjust_volume")471def adjust_volume():472 target = request.args.get('volume', type=float)473 target = target / 100.0 # slider range is 1 - 100, api wants 0 - 1 474 tts_srv.setVolume(target)475 currently_playing = audio_player.getLoadedFilesIds()476 for file in currently_playing:477 audio_player.setVolume(int(file), tts_srv.getVolume())478 return {479 "status": "ok",480 "volume": target,481 "currently playing audio files": currently_playing482 }483@app.route("/stop_tts")484def stop_tts():485 tts_srv.stopAll()486 tts_srv.say("")487 return {488 "status": "stopped TTS msg!"489 }490@app.route("/exec_anim_speech")491def exec_anim_speech():492 index = request.args.get('index', type=int)493 print(index)494 annotated_text = config["animated_speech"][index]["string"]495 if is_txt_file(annotated_text):496 with open(annotated_text, "r") as f:497 annotated_text = f.read()498 as_srv.say(annotated_text)499 return {500 "status": "ok",501 "annotated_text": annotated_text502 }503@app.route("/exec_gesture")504def exec_gesture():505 index = request.args.get('index', type=int)506 print(index)507 gesture = config["gestures"][index]["gesture"]508 ap_srv.run(gesture)509 return {510 "status": "ok",511 "gesture": gesture512 }513@app.route("/exec_custom_gesture")514def exec_custom_gesture():515 string = request.args.get("string", type=str)516 print(string)517 gesture = unquote(string)518 print(gesture)519 ap_srv.run(gesture)520 return {521 "status": "ok",522 "gesture": gesture523 }524@app.route("/set_tts_param")525def set_tts_param():526 param = request.args.get("param", type=str)527 value = request.args.get("value", type=float)528 print(value)529 if param == "pitchShift":530 value = value / 100.0 # for pitch shift we need to adjust the range... nice consistency in the naoqi api >.<531 print(value)532 tts_srv.setParameter(param, value)533 else:534 tts_srv.setParameter(param, value)535 return {536 "status": "ok",537 "param": param,538 "value": value539 }540@app.route("/set_collision_radius")541def set_collision_radius():542 param = request.args.get("param", type=str)543 value = request.args.get("value", type=float)544 print(param)545 print(value)546 time.sleep(1)547 # get function dynamically from service object548 call = motion_srv.__getattribute__("set" + param + "SecurityDistance")549 call(value)550 return {551 "param": param,552 "value": value553 }554@app.route("/move_to")555def move_to():556 x = request.args.get("x", type=float)557 y = request.args.get("y", type=float)558 theta = request.args.get("theta", type=float)559 # Wake up robot560 # motion_service.wakeUp()561 # Send robot to Pose Init562 posture_srv.goToPosture("StandInit", 0.5)563 # set velocity564 motion_srv.moveTo(x, y, theta)565 return {566 "call": "move_to",567 "x": x,568 "y": y,569 "theta": theta570 }571@app.route("/stop_motion")572def stop_motion():573 motion_srv.stopMove()574 x_vel, y_vel, theta_vel = motion_srv.getRobotVelocity()575 x_vel = round(x_vel, 3)576 y_vel = round(y_vel, 3)577 theta_vel = round(theta_vel, 3)578 return {579 "status": "stopped move",580 "x_vel": x_vel,581 "y_vel": y_vel,582 "theta_vel": theta_vel583 }584@app.route("/resting_position")585def resting_position():586 motion_srv.stopMove()587 motion_srv.rest()588 return {589 "status": "entering resting position move"590 }591@app.route("/netural_stand_position")592def netural_stand_position():593 posture_srv.goToPosture("Stand", 0.5)594 return {595 "status": "entering 'Stand' posture"596 }597@app.route("/move_joint")598def move_joint():599 axis = request.args.get("axis", type=str)600 val = request.args.get("val", type=float)601 stiffness = 0.5602 time = 1603 if not motion_srv.robotIsWakeUp():604 motion_srv.wakeUp()605 motion_srv.setStiffnesses("Head", stiffness)606 motion_srv.angleInterpolation(607 [str(axis)], # which axis608 [float(val)], # amount of movement609 [int(time)], # time for movement610 False # in absolute angles611 )612 if "Head" in axis:613 status = "moving head"614 elif "Hip" in axis:615 status = "moving hip"616 return {617 "status": status,618 "axis": axis,619 "val": val,620 "time": time,621 "stiffness": stiffness622 }623@app.route("/camera_view")624def camera_view():625 # see if there are any old video subscribers...626 try:627 if video_srv.getSubscribers():628 for subscriber in video_srv.getSubscribers():629 if "CameraStream" in subscriber: # name passed as argument on subscription630 video_srv.unsubscribe(subscriber)631 except (NameError, RuntimeError):632 # happens when camera tab is open when there is no server has been restarted?633 return render_template("camera.html")634 resolution = vision_definitions.kQVGA # 320 * 240635 colorSpace = vision_definitions.kRGBColorSpace636 global imgClient637 imgClient = video_srv.subscribe("CameraStream", resolution, colorSpace, 30)638 global camera_tab_closed639 camera_tab_closed = False640 global camera_tab_timestamp641 camera_tab_timestamp = timer()642 global SpeechRecognition643 SpeechRecognition = SpeechRecognitionModule("SpeechRecognition", ip, port)644 SpeechRecognition.start()645 return render_template("camera.html")646@app.route("/close_camera_tab")647def close_camera_tab():648 try:649 global SpeechRecognition650 SpeechRecognition.stop()651 del SpeechRecognition652 if video_srv.getSubscribers():653 for subscriber in video_srv.getSubscribers():654 if "CameraStream" in subscriber: # name passed as argument on subscription655 video_srv.unsubscribe(subscriber)656 except (RuntimeError, NameError):657 # happens when cameratab is closed after naoqi session has been closed.658 pass659@app.route("/camera_tab_keep_alive")660def camera_tab_keep_alive():661 global camera_tab_timestamp662 camera_tab_timestamp = timer()663 connected = False664 try:665 if QI_SESSION is not None:666 # print(QI_SESSION.isConnected())667 # print QI_SESSION.__dict__668 if QI_SESSION.isConnected():669 connected = True670 else:671 connected = False672 except NameError:673 # when QI_SESSION is undefined, happens between connect and reconnect I think674 pass675 return {676 "set keep alive timestamp": camera_tab_timestamp,677 "connected": connected678 }679@app.route("/toggle_audio_mute")680def mute_audio():681 global SpeechRecognition682 if SpeechRecognition.isStarted:683 SpeechRecognition.stop()684 else:685 SpeechRecognition.start()686 return {687 "audio_running": SpeechRecognition.isStarted688 }689@app.route("/video_feed")690def video_feed():691 return Response(692 stream_generator(),693 mimetype='multipart/x-mixed-replace; boundary=frame')694def stream_generator():695 counter = 0696 while True:697 # frame = camera.get_frame()698 global imgClient699 try:700 alImage = video_srv.getImageRemote(imgClient)701 if alImage is not None:702 pil_img = alImage_to_PIL(alImage)703 # TODO: make image smaller? Might greatly decrease latency704 timestamp = datetime.now().strftime('%Y.%m.%d-%H:%M:%S.%f')[:-3]705 filename = timestamp + ".jpg"706 save_path = os.path.join(config["camera_save_dir"], filename)707 if not os.path.exists(config["camera_save_dir"]):708 os.makedirs(config["camera_save_dir"])709 if SAVE_IMGS:710 pil_img.save(save_path, "JPEG")711 jpeg_bytes = PIL_to_JPEG_BYTEARRAY(pil_img)712 counter += 1713 yield (b'--frame\r\n'714 b'Content-Type: image/jpeg\r\n\r\n' + jpeg_bytes + b'\r\n\r\n')715 time.sleep(0.01)716 except (RuntimeError, NameError):717 # when session gets disconnected by camera tab is open718 pass719@app.route("/toggle_img_save")720def toggle_img_save():721 global SAVE_IMGS722 SAVE_IMGS = not SAVE_IMGS723 return {724 "SAVE_IMGS": SAVE_IMGS,725 "save_dir": config["camera_save_dir"]726 }727@app.route("/record_audio_data")728def start_audio_recording():729 global RECORD_AUDIO730 RECORD_AUDIO = not RECORD_AUDIO731 timestamp = datetime.now().strftime('%Y.%m.%d-%H:%M:%S.%f')[:-3]732 filename = timestamp + ".wav"733 save_path = os.path.join(config["audio_save_dir"], filename)734 if RECORD_AUDIO:735 ad_srv.enableEnergyComputation()736 ar_srv.startMicrophonesRecording(737 save_path,738 "wav",739 16000, # samplerate740 [1, 1, 1, 1] # binary: which microphones do we want? [1, 1, 1, 1] => all four... [0, 1, 0, 0] specific one741 )742 else:743 ar_srv.stopMicrophonesRecording()744 ad_srv.disableEnergyComputation()745 return {746 "now_recording_audio": RECORD_AUDIO,747 "pepper_save_dir": config["audio_save_dir"],748 "filename": filename749 }750@app.route("/set_led_intensity")751def set_led_intensity():752 group = request.args.get('led_group', type=str)753 intensity = request.args.get('intensity', type=float)754 intensity = intensity / 100.0755 print(group)756 print(intensity)757 led_srv.setIntensity(group, intensity)758 return {759 "staus": "updated led intensity",760 "LED group": group,761 "intensity": intensity762 }763@app.route("/set_led_color")764def set_led_color():765 group = "FaceLeds"766 color = request.args.get('color', type=str)767 for color_enum in config["colors"]:768 if color_enum["title"] == color:769 r = color_enum["red"]770 g = color_enum["green"]771 b = color_enum["blue"]772 print(r, g, b)773 print(group)774 led_srv.fadeRGB(group, r, g, b, 0.5)775 return {776 "staus": "updated led color",777 "color": color778 }779@app.route("/exec_eye_anim")780def exec_eye_anim():781 anim = request.args.get('anim', type=str)782 duration = request.args.get('secs', type=str)783 duration = float(duration)784 prev_color = get_eye_colors()785 # print(prev_color)786 if anim == "randomEyes":787 led_srv.randomEyes(duration)788 elif anim == "rasta":789 led_srv.rasta(duration)790 elif anim == "rotateEyes":791 color = request.args.get('color', type=str)792 for color_enum in config["colors"]:793 if color_enum["title"] == color:794 final_hex_int = matplotlib.colors.to_hex([color_enum["red"], color_enum["green"], color_enum["blue"]])795 # print(final_hex_int)796 final_hex_int = final_hex_int.replace("#", "0x")797 # print(final_hex_int)798 final_hex_int = int(final_hex_int, 16)799 # print(final_hex_int)800 round_time = 1.0801 led_srv.rotateEyes(final_hex_int, round_time, float(duration))802 # led_srv.fadeRGB("FaceLeds", 1.0, 1.0, 1.0, 0.5)803 led_srv.fadeRGB("FaceLeds", prev_color[0], prev_color[1], prev_color[2], 0.5)804 return {805 "status": "eye anim",806 "animation": anim807 }808def get_eye_colors():809 # just return the value of one of the Leds in one of the eyes...810 # this is BGR -.- the inconsistency in this API is unreal...811 bgr = led_srv.getIntensity("RightFaceLed1")812 rgb = [round(bgr[2], 2), round(bgr[1], 2), round(bgr[0], 2)]813 return rgb814@app.route("/tablet_drawer")815def tablet_drawer():816 return render_template('tablet_drawer.html')817@app.route("/get_touch_data")818def get_touch_data():819 global touchmove_hist820 filtered_touchmove_list = []821 # this one we must reverse here, because doing this before would be more cumbersome822 for sequence in reversed(touchmove_hist):823 if len(sequence) > 2:824 filtered_touchmove_list.append(sequence)825 if len(filtered_touchmove_list) > 5:826 filtered_touchmove_list = filtered_touchmove_list[:5] # we keep the last 5 recent827 return {828 # we return the list in reverse order, so that we can put a nice fading color gradient on the older items...829 "touchdown_hist": touchdown_hist,830 "touchmove_hist": filtered_touchmove_list831 }832@app.route("/clear_touch_hist")833def cleat_touch_hist():834 global touchmove_hist835 touchmove_hist = []836 global touchdown_hist837 touchdown_hist = []838 global touchmove_ind839 touchmove_ind = 1840 global latest_touchmove_used841 latest_touchmove_used = 0842 return {843 "state": "reset all touch data to initial values"844 }845@app.route("/alive_test")846def alive_test():847 return {"status": "server is alive"}848def read_config(verbose=False):849 global config850 with open(CONFIG_FILE, "r") as f:851 # The FullLoader parameter handles the conversion from YAML852 # scalar values to Python the dictionary format853 config = yaml.safe_load(f)854 if verbose:855 print(config)856def pretty_print_shortcut(raw_string):857 """858 A custom Jinja 2 filter that formats the list.toString that we get in the frontent for the keyboard shortcut for859 the buttons.860 Is registered for Jinja in __main__861 :param raw_string: the list.toString() string form js862 :return: a beautified version of the string863 """864 pretty_string = str(raw_string) # raw string is a list a this point...865 pretty_string = pretty_string.replace("[", "")866 pretty_string = pretty_string.replace("]", "")867 pretty_string = pretty_string.replace("'", "")868 pretty_string = pretty_string.replace(",", "")869 pretty_string = pretty_string.replace(" ", " + ")870 return pretty_string871if __name__ == '__main__':872 parser = argparse.ArgumentParser()873 parser.add_argument("-c", dest="config", default="config.yaml", type=str, help="Which YAML configuration file to use. ")874 args = parser.parse_args()875 global CONFIG_FILE876 CONFIG_FILE = args.config877 read_config()878 # register custom filter for jinja2, so that we can use it in the frontend879 jinja2.filters.FILTERS['prettyshortcut'] = pretty_print_shortcut...
test_single_finger.py
Source:test_single_finger.py
1# This Source Code Form is subject to the terms of the Mozilla Public2# License, v. 2.0. If a copy of the MPL was not distributed with this3# file, You can obtain one at http://mozilla.org/MPL/2.0/.4from marionette_test import MarionetteTestCase5from marionette import Actions6from marionette import MarionetteException7#add this directory to the path8import os9import sys10sys.path.append(os.path.dirname(__file__))11from single_finger_functions import *12class testSingleFinger(MarionetteTestCase):13 def test_press_release(self):14 press_release(self.marionette, self.wait_for_condition, "button1-touchstart-touchend-mousemove-mousedown-mouseup-click")15 def test_move_element(self):16 move_element(self.marionette, self.wait_for_condition, "button1-touchstart", "button2-touchmove-touchend")17 """18 #Skipping due to Bug 87491419 def test_move_by_offset(self):20 move_element_offset(self.marionette, self.wait_for_condition, "button1-touchstart", "button2-touchmove-touchend")21 """22 def test_no_press(self):23 testAction = self.marionette.absolute_url("testAction.html")24 self.marionette.navigate(testAction)25 action = Actions(self.marionette)26 action.release()27 self.assertRaises(MarionetteException, action.perform)28 def test_wait(self):29 wait(self.marionette, self.wait_for_condition, "button1-touchstart-touchend-mousemove-mousedown-mouseup-click")30 def test_wait_with_value(self):31 wait_with_value(self.marionette, self.wait_for_condition, "button1-touchstart-touchend-mousemove-mousedown-mouseup-click")32 def test_context_menu(self):33 context_menu(self.marionette, self.wait_for_condition, "button1-touchstart-contextmenu", "button1-touchstart-contextmenu-touchend")34 def test_long_press_action(self):35 long_press_action(self.marionette, self.wait_for_condition, "button1-touchstart-contextmenu-touchend")36 """37 #Skipping due to Bug 86533438 def test_long_press_fail(self):39 testAction = self.marionette.absolute_url("testAction.html")40 self.marionette.navigate(testAction)41 button = self.marionette.find_element("id", "button1Copy")42 action = Actions(self.marionette)43 action.press(button).long_press(button, 5)44 self.assertRaises(MarionetteException, action.perform)45 """46 def test_chain(self):47 chain(self.marionette, self.wait_for_condition, "button1-touchstart", "delayed-touchmove-touchend")48 """49 #Skipping due to Bug 874914. Flick uses chained moveByOffset calls50 def test_chain_flick(self):51 chain_flick(self.marionette, self.wait_for_condition, "button1-touchstart-touchmove", "buttonFlick-touchmove-touchend")52 """53 """54 #Skipping due to Bug 86533455 def test_touchcancel_chain(self):56 testAction = self.marionette.absolute_url("testAction.html")57 self.marionette.navigate(testAction)58 button = self.marionette.find_element("id", "button1")59 action = Actions(self.marionette)60 action.press(button).wait(5).cancel()61 action.perform()62 expected = "button1-touchstart-touchcancel"63 self.wait_for_condition(lambda m: m.execute_script("return document.getElementById('button1').innerHTML;") == expected)64 """65 def test_single_tap(self):66 single_tap(self.marionette, self.wait_for_condition, "button1-touchstart-touchend-mousemove-mousedown-mouseup-click")67 def test_double_tap(self):...
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