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roomba.py
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#!/usr/bin/env python
from RoombaSCI import RoombaAPI
import os
import re
import sys
from subprocess import call
import termios
import time
import glob
import random
RFCOMM_DEV = os.getenv("ROOMBA_RFCOMM", "/dev/ttyS0")
RFCOMM_BAUDRATE = os.getenv("ROOMBA_BAUDRATE", 115200)
ANSI_RED = '\033[31m'
ANSI_YELLOW = '\033[33m'
ANSI_GREEN = '\033[32m'
ANSI_BLINK = '\033[1m'
ANSI_RST = '\033[0m'
ANSI_CLEAR = '\033[2J'
ROOMBA = "\
OOOOOOO \n\
OOOOOOOOOOOOOOO \n\
OOOOO OOOOO \n\
OOOOO OOOOO \n\
OOOO OOOOOOOOOOO OOOO \n\
OOOO OOOOO OOOOO OOOO \n\
OOOO OOO OOO OOOO \n\
OOOO OO OOOOO OO OOOO \n\
OOO OO OOOOOOOOOOO OO OOO \n\
OOO OO OOOOOOOOOOOOO OO OOO\n\
OOO OOOOOOO_OOOOOOO OOO\n\
OOO I=I OOOOOOO/ \OOOOOOO I=I OOO\n\
OOO I=I OOOOOO| |OOOOOO I=I OOO\n\
OOO I=I OOOOOOO\_/OOOOOOO I=I OOO\n\
OOO I=I OOOOOOOOOOOOOOO I=I OOO\n\
OOO I=I OOOOOOOOOOOOO I=I OOO\n\
OOO OOOOOOOOOOO OOO \n\
OOOO OOOOO OOOO \n\
OOOO OOOO \n\
OOOO OOOO \n\
OOOO OOOO \n\
OOOOO OOO OOOOO \n\
OOOOO OOOOO OOOOO \n\
OOOOOOOOOOOOOOO \n\
OOOOOOO \n\
".split("\n")
TOP_LINES = range(0, 4)
SUBTOP_LINES = range(4, 10)
MIDDLE_LINES = range(10, 11)
WHEEL_LINES = range(11, 16)
WHEEL_ASCII = "I=I"
BOTTOM_LINES = range(16, 24)
class AsciiRoombaStaticLines:
def __init__(self, lines_nb):
self.piece = []
for line_nb in lines_nb:
self.piece.append("%20s%s" % ("", ROOMBA[line_nb]))
def construct(self, sensors=None, ansi=False):
pass
class AsciiRoombaWall:
def __init__(self):
self.piece = []
def construct(self, sensors, ansi=False):
self.piece = []
if sensors.wall:
self.piece.append("%20s============= WALL ============="
% (""))
if sensors.virtual_wall:
self.piece.append("%20s------------- VIRTUAL WALL -------------"
% (""))
if len(self.piece) > 0:
self.piece.append("")
class AsciiRoombaBasicPiece:
def __init__(self):
pass
def construct_clean(self, lines_nb, left_side):
self.piece = []
for line_nb in lines_nb:
line = ROOMBA[line_nb]
middle = len(line)/2
if left_side:
line = line[:middle]
else:
line = line[middle:]
self.piece.append(line)
def add_text(self, left_side, text_lines):
for i in range(0, len(self.piece)):
if i < len(text_lines):
text = text_lines[i]
else:
text = ""
if left_side:
if i == 0 and text != "":
text = "%s --> " % (text)
else:
text = "%s " % (text)
self.piece[i] = "%20s%s" % (text, self.piece[i])
else:
if i == 0 and text != "":
text = " <-- %s" % (text)
else:
text = " %s" % (text)
self.piece[i] = "%s%s" % (self.piece[i], text)
def set_color(self, color, left, to_highlight=None):
for i in range(0, len(self.piece)):
if to_highlight is None:
if left:
self.piece[i] = re.sub(
r'^(\s*)(O+)', r'\1' + color + r'\2' + ANSI_RST,
self.piece[i])
else:
self.piece[i] = re.sub(
r'(O+)(\s*)$', color + r'\1' + ANSI_RST + r'\2',
self.piece[i])
else:
self.piece[i] = self.piece[i].replace(
to_highlight, "%s%s%s" % (color, to_highlight, ANSI_RST))
class AsciiRoombaTop(AsciiRoombaBasicPiece):
def __init__(self, left_side):
self.left_side = left_side
def construct(self, sensors, ansi=False):
AsciiRoombaBasicPiece.construct_clean(self, TOP_LINES, self.left_side)
status = []
ansi_color = ANSI_GREEN
if self.left_side:
cliff_status = sensors.cliff.front_left
else:
cliff_status = sensors.cliff.front_right
if cliff_status:
status.append("Cliff !")
ansi_color = ANSI_YELLOW
if self.left_side:
bump_status = sensors.bumps.left
else:
bump_status = sensors.bumps.right
if bump_status:
ansi_color = ANSI_YELLOW
if ansi:
AsciiRoombaBasicPiece.set_color(self, ansi_color, self.left_side)
if sensors.charging_state != 4: # -> charging
status = []
AsciiRoombaBasicPiece.add_text(self, self.left_side, status)
class AsciiRoombaSubTop(AsciiRoombaBasicPiece):
def __init__(self, left_side):
self.left_side = left_side
def construct(self, sensors, ansi=False):
AsciiRoombaBasicPiece.construct_clean(self, SUBTOP_LINES,
self.left_side)
status = []
ansi_color = ANSI_GREEN
if self.left_side:
cliff_status = sensors.cliff.left
else:
cliff_status = sensors.cliff.right
if cliff_status:
status.append("Cliff !")
ansi_color = ANSI_YELLOW
if self.left_side:
bump_status = sensors.bumps.left
else:
bump_status = sensors.bumps.right
if bump_status:
status.append("Bump !")
ansi_color = ANSI_YELLOW
if ansi:
AsciiRoombaBasicPiece.set_color(self, ansi_color, self.left_side)
if sensors.charging_state != 4: # -> charging
status = []
AsciiRoombaBasicPiece.add_text(self, self.left_side, status)
class AsciiRoombaWheel(AsciiRoombaBasicPiece):
def __init__(self, left_side):
self.left_side = left_side
def construct(self, sensors, ansi=False):
AsciiRoombaBasicPiece.construct_clean(self, WHEEL_LINES, self.left_side)
status = []
ansi_color = ""
if self.left_side:
cliff_status = sensors.wheel_drops.left
else:
cliff_status = sensors.wheel_drops.right
if cliff_status:
status.append("Wheel drop !")
ansi_color = ANSI_RED + ANSI_BLINK
if ansi:
AsciiRoombaBasicPiece.set_color(self, ansi_color, self.left_side,
WHEEL_ASCII)
AsciiRoombaBasicPiece.add_text(self, self.left_side, status)
class AsciiRoombaBattery:
def __init__(self):
self.piece = []
def construct(self, sensors, ansi=False):
self.piece = [""]
ansi_color = ANSI_GREEN
ansi_rst = ""
if (sensors.charge < sensors.capacity / 2):
ansi_color = ANSI_YELLOW
if (sensors.charge < sensors.capacity / 4):
ansi_color = ANSI_RED
if ansi_color != "":
ansi_rst = ANSI_RST
if not ansi:
ansi_color = ""
ansi_rst = ""
self.piece.append("Battery: %s%dmA%s / %dmA"
% (ansi_color, sensors.charge, ansi_rst,
sensors.capacity))
ansi_color = ANSI_YELLOW
txt = [
"Charged",
"Reconditioning charging",
"Full charging",
"Trickle Charging",
"On battery",
"Charging fault condition"
]
ansi_rst = ""
if sensors.charging_state == 0:
ansi_color = ANSI_GREEN
elif sensors.charging_state == 5:
ansi_color = ANSI_RED
if ansi_color != "":
ansi_rst = ANSI_RST
if not ansi:
ansi_color = ""
ansi_rst = ""
self.piece[1] += (" (%s%s%s)"
% (ansi_color, txt[sensors.charging_state],
ansi_rst))
class AsciiRoomba:
def __init__(self):
self.pieces = [
[AsciiRoombaWall()],
[AsciiRoombaTop(True), AsciiRoombaTop(False)],
[AsciiRoombaSubTop(True), AsciiRoombaSubTop(False)],
[AsciiRoombaStaticLines(MIDDLE_LINES)],
[AsciiRoombaWheel(True), AsciiRoombaWheel(False)],
[AsciiRoombaStaticLines(BOTTOM_LINES)],
[AsciiRoombaBattery()],
]
def display(self, sensors):
ansi = sys.stdout.isatty()
for pieces_line in self.pieces:
for piece in pieces_line:
piece.construct(sensors, ansi)
nb_lines = len(piece.piece)
for nb_line in range(nb_lines):
for piece in pieces_line:
sys.stdout.write(piece.piece[nb_line])
sys.stdout.write("\n")
sys.stdout.write("\n")
sys.stdout.flush()
def getchar():
fd = sys.stdin.fileno()
if os.isatty(fd):
old = termios.tcgetattr(fd)
new = termios.tcgetattr(fd)
new[3] = new[3] & ~termios.ICANON & ~termios.ECHO
new[6][termios.VMIN] = 1
new[6][termios.VTIME] = 0
try:
termios.tcsetattr(fd, termios.TCSANOW, new)
termios.tcsendbreak(fd, 0)
ch = os.read(fd, 7)
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, old)
else:
ch = os.read(fd, 7)
return(ch)
def control(roomba):
print "Controls:"
print " ^8^"
print "<4< 5 >6>"
print " v2v"
print ""
aRoomba = AsciiRoomba()
roomba.full()
while True:
c = getchar()
if c == "8":
roomba.forward()
elif c == "4":
roomba.left()
elif c == "6":
roomba.right()
elif c == "2":
roomba.backward()
elif c == "5":
roomba.stop()
elif c == "+":
roomba.speed = roomba.speed + 50
elif c == "-":
roomba.speed = roomba.speed - 50
sensors = roomba.sensors
print ANSI_CLEAR
aRoomba.display(sensors)
print "Speed: %d/500" % roomba.speed
def usage():
print("Syntax: %s [<options>] <order 1> [<order 2> [<order3> [...]]]"
% sys.argv[0])
print("Possible options are:")
print("\t-v : verbose")
print("Possible orders are:")
print("\tclean : Start cleaning the room you lazy robot !")
print("\tdock : Ok, forget it, you're making more crap than you're"
+ " cleaning")
print("\toff : OMG, stop breaking things ! right now !")
print("\tstatus : Show me")
print("\tmonitor : I think I will keep an eye on you")
print("\tcontrol : Goddamnnit, let me do it ...")
if __name__ == "__main__":
verbose = False
if len(sys.argv) <= 1 or "-h" in sys.argv or "--help" in sys.argv:
usage()
sys.exit(2)
orders = sys.argv[1:]
if "-v" in orders:
orders.remove("-v")
verbose = True
#if verbose:
# sys.stdout.write("Connecting to the Rootooth ... ")
# sys.stdout.flush()
roomba = RoombaAPI(RFCOMM_DEV, RFCOMM_BAUDRATE)
#if verbose:
# sys.stdout.write("OK\n")
try:
#if verbose:
# sys.stdout.write("Rootooth version: ")
# sys.stdout.flush()
# sys.stdout.write(roomba.rootoothVersion + "\n")
if verbose:
sys.stdout.write("Connecting to the Roomba ... ")
sys.stdout.flush()
roomba.connect()
if verbose:
sys.stdout.write("OK\n")
sys.stdout.flush()
sensors = None
if "sensors" in orders or \
"status" in orders:
if verbose:
sys.stdout.write("Loading sensors informations ... ")
sys.stdout.flush()
sensors = roomba.sensors
if verbose:
sys.stdout.write("OK\n")
if verbose:
print("Sending orders:")
for order in orders:
if verbose:
print "- %s" % order
if order == "clean":
roomba.clean()
elif order == "dock":
roomba.dock()
elif order == "off":
roomba.off()
elif order == "sensors":
assert(sensors is not None)
print("Battery Charge: %dmA / %dmA (%s)"
% (
sensors.charge, sensors.capacity,
str(sensors.charging_state)
))
print("Cliffs: %-7r | %-7r | %-7r | %-7r" % (
sensors.cliff.left,
sensors.cliff.front_left,
sensors.cliff.front_right,
sensors.cliff.right
))
print("Wheels drops: %-7r | %-7r" % (
sensors.wheel_drops.left,
sensors.wheel_drops.right
))
print("Bumps: %-7r | %-7r" % (
sensors.bumps.left,
sensors.bumps.right
))
print("Wall: %-7r"
% (sensors.wall))
print("Virtual wall: %-7r"
% (sensors.virtual_wall))
print("Battery temperature: %d Celsius"
% (sensors.temperature))
print("Dirt detector: %-7d | %-7d"
% (
sensors.dirt_detector.left,
sensors.dirt_detector.right
))
elif order == "status":
assert(sensors is not None)
ascii_roomba = AsciiRoomba()
ascii_roomba.display(sensors)
elif order == "monitor":
ascii_roomba = AsciiRoomba()
while True:
sensors = roomba.sensors
print ANSI_CLEAR
ascii_roomba.display(sensors)
if not sys.stdout.isatty():
time.sleep(1)
else:
time.sleep(0.01)
elif order == "audio_monitor":
#ascii_roomba = AsciiRoomba()
dropSounds = glob.glob("sounds/wheeldrop/*.wav")
cliffSounds = glob.glob("sounds/cliff/*.wav")
bumpSounds = glob.glob("sounds/bump/*.wav")
dirtSounds = glob.glob("sounds/dirtdetect/*.wav")
startSounds = glob.glob("sounds/start/*.wav")
call(["aplay",random.choice(startSounds),"-T","3000000"])
time.sleep(2)
while True:
sensors = roomba.sensors
print ANSI_CLEAR
#ascii_roomba.display(sensors)
assert(sensors is not None)
sound = None
if sensors.wheel_drops.left or sensors.wheel_drops.right:
sound = random.choice(dropSounds)
print "wheel drop - " + sound
elif sensors.cliff.left or sensors.cliff.front_left or \
sensors.cliff.front_right or sensors.cliff.right:
sound = random.choice(cliffSounds)
print "cliff - " + sound
elif sensors.bumps.left or sensors.bumps.right:
sound = random.choice(bumpSounds)
print "bump - " + sound
elif sensors.dirt_detector.left or sensors.dirt_detector.right:
sound = random.choice(dirtSounds)
print "dirt detect - " + sound
if sound is not None:
call(["aplay",sound,"-T","3000000"])
time.sleep(2)
if not sys.stdout.isatty():
time.sleep(1)
else:
time.sleep(0.01)
elif order == "control":
control(roomba)
else:
usage()
sys.exit(2)
print ""
if verbose:
print "Done"
finally:
roomba.close()
sys.exit(0)