From 8560b7df9b025f4069c4a7b9da336f89b531e166 Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Sat, 16 Sep 2017 14:52:37 +0300
Subject: [PATCH] Add some text-to-speech into vernie demo script

---
 README.md              |  4 +---
 demo.py                | 24 ++++++++++++------------
 pylgbst/__init__.py    |  3 +--
 pylgbst/peripherals.py | 15 +++++++++------
 vernie.py              | 40 ++++++++++++++++++++++++++++++++++------
 5 files changed, 57 insertions(+), 29 deletions(-)

diff --git a/README.md b/README.md
index 1406404..ca3f2d5 100644
--- a/README.md
+++ b/README.md
@@ -33,10 +33,8 @@ sudo python -c "from pylgbst.comms import *; import logging; logging.basicConfig
 
 ## Roadmap
 
-- make notifications from pygattlib to quickly get into parallel thread, to avoid segfaults
-- support working with push button
+- experiment with motor commands, find what is hidden there
 - Give nice documentation examples, don't forget to mention logging
-- make angled motors to be synchronous by default => 3-state status
 - make sure unit tests cover all important code
 - generalize getting device info + give constants (low priority)
 
diff --git a/demo.py b/demo.py
index 0155542..c928458 100644
--- a/demo.py
+++ b/demo.py
@@ -1,6 +1,8 @@
+# coding=utf-8
 from time import sleep
 
 from pylgbst import *
+from vernie import say
 
 log = logging.getLogger("demo")
 
@@ -157,11 +159,6 @@ def demo_all(movehub):
     demo_motor_sensors(movehub)
 
 
-def cb_log(val1, val2=None, val3=None):
-    pass
-    # log.info("V1:%s\tV2:%s\tV3:%s", unpack("<H", val1), val2, val3)
-
-
 if __name__ == '__main__':
     logging.basicConfig(level=logging.DEBUG)
 
@@ -171,12 +168,15 @@ if __name__ == '__main__':
         logging.warning("Failed to use debug server: %s", traceback.format_exc())
         connection = BLEConnection().connect()
 
-    hub = MoveHub(connection)
 
-    hub.button.subscribe(cb_log, 0x00, granularity=1)
-    sleep(10)
-    # demo_port_cd_motor(hub)
-    sleep(10)
-    #hub.button.unsubscribe(cb_log)
-    sleep(10)
+    def cb_log(val1, val2=None, val3=None):
+        log.info("V1:%s\tV2:%s\tV3:%s", val1, val2, val3)
+
+
+    hub = MoveHub(connection)
+    hub.color_distance_sensor.subscribe(cb_log, CDS_MODE_STREAM_3_VALUES, granularity=3)
+    sleep(60)
+    # hub.motor_AB.timed(10, 0.1, async=True)
+    # sleep(1)
+    # hub.motor_AB.timed(0, 0)
     # demo_all(hub)
diff --git a/pylgbst/__init__.py b/pylgbst/__init__.py
index 85c92f8..974b3c9 100644
--- a/pylgbst/__init__.py
+++ b/pylgbst/__init__.py
@@ -114,7 +114,6 @@ class MoveHub(object):
             self.devices[port].finished()
         elif status == STATUS_CONFLICT:
             log.warning("Command conflict on port %s", PORTS[port])
-            self.devices[port].finished()
         else:
             log.warning("Unhandled status value: 0x%x", status)
 
@@ -142,7 +141,7 @@ class MoveHub(object):
         elif dev_type == DEV_BATTERY:
             self.devices[port] = Battery(self, port)
         else:
-            log.warning("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
+            log.debug("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
             self.devices[port] = Peripheral(self, port)
 
         if port == PORT_A:
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index a03b9f6..1f21348 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -143,10 +143,7 @@ class EncodedMotor(Peripheral):
         # movement type
         command = self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
         # time
-        msec = int(seconds * 1000)
-        if msec >= pow(2, 16):
-            raise ValueError("Too large value for seconds: %s", seconds)
-        command += pack('<H', msec)
+        command += pack('<H', int(seconds * 1000))
 
         self.started()
         self._wrap_and_write(command, speed_primary, speed_secondary)
@@ -279,10 +276,16 @@ class Battery(Peripheral):
         super(Battery, self).__init__(parent, port)
         self.last_value = None
 
+    def subscribe(self, callback, mode=0, granularity=1):
+        super(Battery, self).subscribe(callback, mode, granularity)
+
     # we know only voltage subscription from it. is it really battery or just onboard voltage?
-    # device has turned off on 1b0e000600453ba800
+    # device has turned off on 1b0e000600453ba800 - 168d
+    # moderate 9v ~= 3840
+    # good 7.5v ~= 3892
+    # liion 5v ~= 2100
     def handle_port_data(self, data):
-        self.last_value = unpack("<H", data[4:6])[0]
+        self.last_value = unpack("<h", data[4:6])[0]
         self._notify_subscribers(self.last_value)
 
 
diff --git a/vernie.py b/vernie.py
index 1d74798..38a50ee 100644
--- a/vernie.py
+++ b/vernie.py
@@ -1,3 +1,11 @@
+# coding=utf-8
+import hashlib
+import os
+import re
+import subprocess
+
+import gtts
+
 from pylgbst import *
 
 forward = FORWARD = right = RIGHT = 1
@@ -5,13 +13,30 @@ backward = BACKWARD = left = LEFT = -1
 straight = STRAIGHT = 0
 
 
+def say(text):
+    if isinstance(text, str):
+        text = text.decode("utf-8")
+    md5 = hashlib.md5(text.encode('utf-8')).hexdigest()
+    fname = "/tmp/%s.mp3" % md5
+    if not os.path.exists(fname):
+        myre = re.compile('[[A-Za-z]', re.UNICODE)
+        lang = 'en' if myre.match(text) else 'ru'
+
+        logging.getLogger('requests').setLevel(logging.getLogger('').getEffectiveLevel())
+        tts = gtts.gTTS(text=text, lang=lang, slow=False)
+        tts.save(fname)
+
+    with open(os.devnull, 'w') as fnull:
+        subprocess.call("mplayer %s" % fname, shell=True, stderr=fnull, stdout=fnull)
+
+
 class Vernie(MoveHub):
     def __init__(self):
         try:
             conn = DebugServerConnection()
         except BaseException:
             logging.debug("Failed to use debug server: %s", traceback.format_exc())
-        conn = BLEConnection().connect()
+            conn = BLEConnection().connect()
 
         super(Vernie, self).__init__(conn)
 
@@ -42,8 +67,7 @@ class Vernie(MoveHub):
         log.debug("Color & Distance data: %s %s", COLORS[color], distance)
         self._sensor_distance = distance
         self._color_detected = color
-        if self._color_detected != COLOR_NONE:
-            self.led.set_color(self._color_detected)
+        say(COLORS[self._color_detected])
 
     def _reset_head(self):
         self.motor_external.timed(1, -0.2)
@@ -66,8 +90,7 @@ class Vernie(MoveHub):
         self.head(STRAIGHT, speed=0.5)
         self.motor_AB.angled(distance * 450, speed * direction, speed * direction)
 
-    def program(self):
-        # while True:
+    def program_carton_board(self):
         self.move(FORWARD)
         self.move(FORWARD)
         self.turn(RIGHT)
@@ -89,9 +112,14 @@ class Vernie(MoveHub):
         self.move(BACKWARD, 2)
 
 
+# TODO: distance sensor game
+# TODO: find and follow the lightest direction game
+
 if __name__ == '__main__':
     logging.basicConfig(level=logging.DEBUG)
     comms.log.setLevel(logging.INFO)
 
     vernie = Vernie()
-    vernie.program()
+    say("Робот Веернии 01 готов к работе")
+    say("Вправо-влево, назад-вперед")
+    # vernie.program()