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reclosedev/droid_audio_car.py

Last active December 14, 2015 09:28
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droid_audio_car.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Based on http://www.marsohod.org/index.php/projects/plata1/205-carctrlandr
import os
import BaseHTTPServer
from threading import Thread
import urlparse
import time
try:
import android
droid = android.Android()
except ImportError:
def mediaPlay(path):
print "PLAY", path
import mock
droid = mock.Mock()
droid.mediaPlay = mediaPlay
HOST_NAME = ''
PORT_NUMBER = 9090
COMMAND_TIMEOUT = 1.0 # seconds
PAGE_TEMPLATE = '''
<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<title>DroidBot Remote Control</title>
</head>
<FRAMESET ROWS="50%,50%">
<FRAME SRC="frame_a.html">
<FRAME SRC="frame_b.html">
</FRAMESET>
</html>
'''
PAGE_TEMPLATE_A = '''
<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
</head>
<body>
<h1>DroidBot Remote Control</h1>
<iframe width="640" height="480" src ="http://%s:9091">No iframes?</iframe>"
</body>
</html>
'''
PAGE_TEMPLATE_B = '''
<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<title>DroidBot Remote Control</title>
<style type="text/css">
#action {
background:yellow;
border:0px solid #555;
color:#555;
width:0px;
height:0px;
padding:0px;
}
#joystick {
background: black;
color: white;
width: 100%;
height: 100%;
overflow: hidden;
padding: 0;
margin: 0;
-webkit-user-select: none;
-moz-user-select: none;
}
.btn{
width: 7em;
height: 2em;
}
</style>
<script src="//ajax.googleapis.com/ajax/libs/jquery/1.9.1/jquery.min.js"></script>
<script src="//jeromeetienne.github.com/virtualjoystick.js/virtualjoystick.js"></script>
<script>
$(document).ready(function(){
function sendCommand(state, cmd){
$.post('command/' + state + ':' + cmd, function(resp){
console.log(resp);
});
}
function CommandSender(cmdInterval){
this.cmdInterval = cmdInterval;
this.lastCmd = "";
this.lastState = "";
this.lastTime = new Date();
}
CommandSender.prototype.updateState = function(state, cmd){
if((new Date() - this.lastTime) < this.cmdInterval &&
cmd == this.lastCmd && state == this.lastState)
return;
if (cmd){
sendCommand(state, cmd);
}
else if (cmd != this.lastCmd) {
sendCommand("end", cmd);
}
this.lastState = state;
this.lastCmd = cmd;
this.lastTime = new Date();
}
var intervalId;
var cmdInterval = 500;
$(".btn").mousedown(function(){
var cmd = $(this).data("command");
var task = function(){
sendCommand("begin", cmd);
}
task();
intervalId = setInterval(task, cmdInterval);
}).mouseup(function(){
sendCommand("end", $(this).data("command"));
clearInterval(intervalId);
}).mouseleave(function(){
clearInterval(intervalId);
});
(function keyBoardHandler(){
var sender = new CommandSender(cmdInterval);
var arrow = {37: 'left', 38: 'up', 39: 'right', 40:'down'};
$(document).keydown(function (e) {
var keyCode = e.keyCode || e.which;
var cmd = arrow[keyCode];
if (cmd)
sender.updateState("begin", cmd);
}).keyup(function (e) {
sender.updateState("end", "");
});
})();
// ---------------------------------------------
// Optional joystick functionality
(function joystickHandler(){
var joystick = new VirtualJoystick({
container : document.getElementById('joystick'),
mouseSupport : true
});
var sender = new CommandSender(cmdInterval);
setInterval(function(){
var cmd = ""
var state = "begin";
if(joystick.up()){
cmd = "up";
} else if (joystick.down()) {
cmd = "down";
} else if (joystick.left()) {
cmd = "left";
} else if (joystick.right()) {
cmd = "right";
} else {
state = "end";
}
sender.updateState(state, cmd);
}, 1/30 * 1000);
})();
});
</script>
</head>
<body>
<table border=0>
<tr>
<td></td>
<td><button class="btn" data-command="up">Up</button></td>
<td></td>
</tr>
<tr>
<td><button class="btn" data-command="left">Left</button></td>
<td></td>
<td><button class="btn" data-command="right">Right</button></td>
</tr>
<tr>
<td></td>
<td><button class="btn" data-command="down">Down</button></td>
<td></td>
</tr>
</table>
<div id="joystick">Joystick area. Press and drag (touch or mouse). Or use keyboard arrows</div>
</body>
</html>
'''
class CarControllerThread(Thread):
path_to_audio = '/mnt/sdcard/droid_car/'
command_to_audio = {
'up': 'up.wav',
'down': 'down.wav',
'left': 'left.wav',
'right': 'right.wav',
}
def __init__(self, timeout=1):
super(CarControllerThread, self).__init__()
self.timeout = timeout
self.pool_timeout = timeout / 3.0
self.current_state = ""
self.current_command = ""
self.last_cmd_timestamp = time.time()
def run(self):
while True:
elapsed = time.time() - self.last_cmd_timestamp
if self.current_state == "begin" and elapsed > self.timeout:
self.update_state("end", "")
time.sleep(self.pool_timeout)
def update_state(self, state, command):
self.last_cmd_timestamp = time.time()
if state == self.current_state and command == self.current_command:
return
self.current_state = state
self.current_command = command
if state == "end":
print "PAUSE"
droid.mediaPlaySetLooping(False)
droid.mediaPlayPause()
elif state == "begin":
print "PLAY", command
audio = self.command_to_audio.get(command)
if audio:
droid.mediaPlay(os.path.join(self.path_to_audio, audio))
droid.mediaPlaySetLooping(True)
else:
print "wrong command:", command
class DroidHandler(BaseHTTPServer.BaseHTTPRequestHandler):
def do_HEAD(self):
self.send_response(200)
self.send_header("Content-type", "text/html; charset=utf-8")
self.end_headers()
def do_GET(self):
self.send_response(200)
self.send_header("Content-type", "text/html; charset=utf-8")
self.end_headers()
url = urlparse.urlsplit(self.path)
print url.path
if url.path == '/frame_a.html':
ip, port = self.headers.get('Host').split(":", 2)
self.wfile.write(PAGE_TEMPLATE_A % ip)
elif url.path == '/frame_b.html':
self.wfile.write(PAGE_TEMPLATE_B)
else:
self.wfile.write(PAGE_TEMPLATE)
def do_POST(self):
self.send_response(200)
self.send_header("Content-type", "text/plain; charset=utf-8")
self.end_headers()
if self.path.startswith("/command/"):
try:
#/command/state:up
state, cmd = self.path.split("/")[-1].split(":")
except ValueError:
print "ERROR", self.path
self.wfile.write("fail")
return
controller.update_state(state, cmd)
self.wfile.write("ok")
elif self.path.startswith("/ping"):
self.wfile.write("pong")
controller = CarControllerThread(COMMAND_TIMEOUT)
controller.start()
try:
droid.wakeLockAcquireBright()
droid.webcamStart(0, 10, 9091)
droid.webcamAdjustQuality(0, 10)
except Exception as e:
print "Webcam error", e
my_srv = BaseHTTPServer.HTTPServer((HOST_NAME, PORT_NUMBER), DroidHandler)
print 'web server running on port %s' % PORT_NUMBER
my_srv.serve_forever()
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