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leds_service.py
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leds_service.py
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# -*-: coding utf-8 -*-
""" Leds service for handling visual feedback for various states of
the system. """
import random
import time
import struct
import threading
from colour import Color
from usb.core import USBError
from singleton import Singleton
from usb_utils import USB
try:
import respeaker.usb_hid as usb_hid
except USBError:
print("Error accessing microphone: insufficient permissions. " +
"You may need to replug your microphone and restart your device.")
class LedsService:
""" Leds service for handling visual feedback for various states of
the system. """
class State:
""" Leds states.- """
none, waking_up, standby, listening, loading, notify, error, intentParsed, speak = range(9)
def __init__(self, thread_handler, logger = None):
self.thread_handler = thread_handler
led_device = USB.get_boards()
self.logger = logger
if led_device == USB.Device.respeaker:
self.animator = ReSpeakerAnimator(logger = logger)
else:
self.animator = None
def start_animation(self, animation_id):
if not self.animator:
return
(animation, identifier) = self.get_animation(animation_id)
self.thread_handler.run(target=self.animator.run,
args=(identifier, animation, ))
def get_animation(self, animation):
identifier = str(random.randint(1, 100000))
return (Animation(identifier, animation), identifier)
class Animation(Singleton):
def __init__(self, id, active=0):
self.id = id
self.active = active
class ReSpeakerAnimator(object):
def __init__(self, logger = None):
self.logger = logger
self.hid = usb_hid.get()
self.led_dict = {
'LED_1': 3,
'LED_2': 4,
'LED_3': 4,
'LED_4': 5,
'LED_5': 6,
'LED_6': 7,
'LED_7': 8,
'LED_8': 9,
'LED_9': 10,
'LED_10': 11,
'LED_11': 12,
'LED_12': 13,
'LED_13': 14,
}
self.animation_waking_up = list(range(0,250,25)) + list(reversed(range(0,250,25)))
self.animation_waking_up = self.animation_waking_up * 2
self.animation_standby = [{value: st for value in self.led_dict.values(
)} for st in list(range(0,255))]
def value(i, j, N):
if i == j:
return [0, 255, 255]
elif i == (j - 1) % N:
return [0, 128, 255]
elif i == (j + 1) % N:
return [0, 255, 0]
elif i == (j - 2) % N:
return [0, 0, 255]
elif i == (j + 2) % N:
return [255, 0, 0]
elif i == (j + 3) % N:
return [255, 0, 128]
else:
return [0,0,0]
self.animation_listening = []
leds = range(3, 15)
N = len(leds)
for i in range(0, N):
self.animation_listening.append(
{leds[j]: value(i, j, N) for j in range(0, N)})
self.animation_loading = [{value: 16 * st for value in self.led_dict.values()}
for st in list(range(15)) + list(reversed(range(15)))]
colors = [(1,0,0),(1,1,0),(0,1,0),(0,1,1),(1,1,1),(1,0,1)]
self.animation_speak = []
for i in range(0, len(colors)-1):
if i<len(colors)-1:
j=i+1
else:
j=0
self.animation_speak.append(list(Color(rgb=colors[i]).range_to(Color(rgb=colors[j]),10)))
self.animation_notify = []
for frame in range(0, 2):
self.animation_notify.append(
{value: int("0000ff", 16) for value in self.led_dict.values()})
self.animation_notify.append(
{value: int("000000", 16) for value in self.led_dict.values()})
self.animation_error = []
self.animation_error.append({value: [0, 0, 255*(value % 2)] for value in self.led_dict.values()})
self.animation_error.append({value: [0, 0, 255*((value+1) % 2)] for value in self.led_dict.values()})
self.animation_error = self.animation_error * 5
"""
for frame in range(0, 3):
self.animation_error.append(
{value: [255,0,0] for value in self.led_dict.values()})
self.animation_error.append(
{value: [0,0,0] for value in self.led_dict.values()})
"""
def off(self):
self.set_color(rgb=0)
def set_color(self, rgb=None, r=0, g=0, b=0):
if rgb:
self.write(0, [1, rgb & 0xFF, (rgb >> 8) & 0xFF, (rgb >> 16) & 0xFF])
else:
self.write(0, [1, b, g, r])
def doa(self):
self.write(0, [7, 0, 0, 0])
def set_led_mode(self):
""" Set respeaker to Led by Led mode """
self.write(0, [6, 0, 0, 0])
def write(self, address, data):
if not type(data) is list:
if data > 0xFFFF:
data = struct.pack('<I', data)
elif data > 0xFF:
data = struct.pack('<H', data)
data = self.to_bytearray(data)
length = len(data)
if self.hid:
packet = bytearray([address & 0xFF, (address >> 8) &
0x7F, length & 0xFF, (length >> 8) & 0xFF]) + data
packet = list(packet)
self.hid.write(packet)
def read(self, address, length):
if self.hid:
self.hid.write(list(bytearray(
[address & 0xFF, (address >> 8) & 0xFF | 0x80, length & 0xFF, (length >> 8) & 0xFF])))
for _ in range(6):
data = self.hid.read()
# skip VAD data
if int(data[0]) != 0xFF and int(data[1]) != 0xFF:
return data[4:(4 + length)]
@staticmethod
def to_bytearray(data):
if type(data) is int:
array = bytearray([data & 0xFF])
elif type(data) is bytearray:
array = data
elif type(data) is str:
array = bytearray(data)
elif type(data) is list:
array = bytearray(data)
else:
raise TypeError('%s is not supported' % type(data))
return array
def run(self, id, animation, run_event):
if animation.active == LedsService.State.none:
if not logger is None:
logger.debug("Launching animation : none")
time.sleep(2)
self.off()
time.sleep(0.2)
self.doa()
elif animation.active == LedsService.State.standby:
if not self.logger is None:
self.logger.debug("Launching animation : Standby")
time.sleep(2)
self.off()
time.sleep(0.2)
self.doa()
elif animation.active == LedsService.State.waking_up:
if not self.logger is None:
self.logger.debug("Launching animation : Waking Up")
for item in self.animation_waking_up:
self.set_color(r=0,g=0,b=item)
time.sleep(0.05)
elif animation.active == LedsService.State.listening:
if not self.logger is None:
self.logger.debug("Launching animation : Listening")
self.set_led_mode()
while True:
if animation.id != id or not run_event.is_set():
break
for item in self.animation_listening:
if animation.id != id or not run_event.is_set():
break
for k, v in item.items():
self.write(k, v)
time.sleep(0.025)
elif animation.active == LedsService.State.intentParsed:
if not self.logger is None:
self.logger.debug("Launching animation : Intent Parsed")
self.set_color(r=0, g=255, b=0)
elif animation.active == LedsService.State.speak:
if not self.logger is None:
self.logger.debug("Launching animation: Speak")
while True:
if animation.id != id or not run_event.is_set():
break
for item in self.animation_speak:
for v in item:
if animation.id != id or not run_event.is_set():
break
c=list(v.rgb)
self.set_color(r=int(255*c[0]),g=int(255*c[1]),b=int(255*c[2]))
time.sleep(0.05)
elif animation.active == LedsService.State.error:
if not self.logger is None:
self.logger.debug("Launching animation: Error")
self.set_led_mode()
for item in self.animation_error:
"""if animation.id != id or not run_event.is_set():
break"""
for k, v in item.items():
self.write(k, v)
time.sleep(0.2)
#self.set_color(r=255, g=0, b=0)
#time.sleep(1)