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botd_client.py
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botd_client.py
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#!/bin/python3
from http.server import BaseHTTPRequestHandler, HTTPServer
import time
import json
from io import BytesIO
import re
import sys
import copy
import os
import base64
import requests
import threading
#define global variables
current_order = None
bot_definition = None
video_devices = {}
video_buffers = {}
class BotClient(threading.Thread):
#initialise BotClient
def __init__(self, thread_name, thread_ID):
threading.Thread.__init__(self)
self.thread_name = thread_name
self.thread_ID = thread_ID
# helper function to execute the threads
def run(self):
global current_order
global bot_definition
global video_devices
global video_buffers
time.sleep(1)
print("Connecting to server @ %s" % (remote_server))
remote_server_base_uri = "http://" + remote_server
#bot_definition["port"] = local_server_port
request = requests.post(url = remote_server_base_uri + "/register", json = bot_definition)
data = request.json()
#print(data)
if (bot_definition["type"] == "CONTROLLER"):
if not "remote_bot_id" in bot_definition:
print("Bot ID not set, defaulting to bot0")
bot_definition["remote_bot_id"] = "bot0"
print("Connecting to " + bot_definition["remote_bot_id"] + " (use flag --bot <bot_id> to change this)")
current_order = None
while True:
if not (current_order == None):
#if current_order has expired, set current_order to None
output_motor_levels = {}
if (current_order["expiry"] < time.time()):
current_order = None
for actuator in bot_definition["actuators"]:
output_motor_levels[actuator["name"]] = 0
#Set all actuators pins GPIOs to low
#for actuator in bot_definition["actuators"]:
#
# for pin in actuator["motor_pins"]:
# GPIO.output(actuator["motor_pins"][pin], GPIO.LOW)
else:
output_motor_levels = {}
print(current_order)
if "x_vel" in current_order:
for motor in bot_definition["intents"]["x"]:
if not motor in output_motor_levels:
output_motor_levels[motor] = 0
output_motor_levels[motor] += bot_definition["intents"]["x"][motor] * current_order["x_vel"]
if "y_vel" in current_order:
print("MOVE Y")
if "yaw_vel" in current_order:
for motor in bot_definition["intents"]["yaw"]:
if not motor in output_motor_levels:
output_motor_levels[motor] = 0
output_motor_levels[motor] += bot_definition["intents"]["yaw"][motor] * current_order["yaw_vel"]
#print(output_motor_levels)
for actuator in bot_definition["actuators"]:
if actuator["name"] in output_motor_levels:
if actuator["type"] == "BRUSHED":
if output_motor_levels[actuator["name"]] > 0.1:
GPIO.output(actuator["motor_pins"]["cw"], GPIO.HIGH)
GPIO.output(actuator["motor_pins"]["ccw"], GPIO.LOW)
elif output_motor_levels[actuator["name"]] < -0.1:
GPIO.output(actuator["motor_pins"]["cw"], GPIO.LOW)
GPIO.output(actuator["motor_pins"]["ccw"], GPIO.HIGH)
else:
GPIO.output(actuator["motor_pins"]["cw"], GPIO.LOW)
GPIO.output(actuator["motor_pins"]["ccw"], GPIO.LOW)
elif actuator["type"] == "ABSTRACTED_HTTP":
int_level = str(round(output_motor_levels[actuator["name"]]))
float_level = str(output_motor_levels[actuator["name"]])
remote_bot = bot_definition["http_middleware_address"]
print("Sending abstracted HTTP instruction to %s" % (remote_bot))
parsed_path = actuator["endpoint"].replace("$int;", int_level).replace("$float;", float_level)
remote_bot_uri = "http://" + remote_bot + "/" + parsed_path
request = requests.get(url = remote_bot_uri)
#
if "cameras" in bot_definition:
for camera in bot_definition["cameras"]:
if video_devices[camera["name"]].isOpened():
ret, frame = video_devices[camera["name"]].read()
#cv2.imshow("uwu", frame)
#cv2.waitKey()
#cv2.imwrite("test.jpg", frame)
frame_encode = cv2.imencode(".jpg", frame)[1]
data_encode = numpy.array(frame_encode)
byte_encode = data_encode.tobytes()
video_buffers[camera["name"]] = byte_encode
else:
print("COULD NOT READ CAMERA (NOT OPENED)")
time.sleep(0.1)
#print(str(self.thread_name) +" "+ str(self.thread_ID));
class BotServerHost(threading.Thread):
def __init__(self, thread_name, thread_ID):
threading.Thread.__init__(self)
self.thread_name = thread_name
self.thread_ID = thread_ID
# helper function to execute the threads
def run(self):
global current_order
global bot_definition
client_thread = BotClient("main_client", 128);
client_thread.start()
if bot_definition["hostname"] == "":
print("Client responder starting on port %s" % (bot_definition["port"]))
else:
print("Client responder starting http://%s:%s" % (bot_definition["hostname"], bot_definition["port"]))
web_server = HTTPServer((bot_definition["hostname"], bot_definition["port"]), BotServer)
try:
web_server.serve_forever()
except KeyboardInterrupt:
pass
web_server.server_close()
print("Client stopped.")
class BotServer(BaseHTTPRequestHandler):
def log_message(self, format, *args):
return
def do_POST(self):
global current_order
global bot_definition
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
if (self.headers['Content-Length'] == None):
self.do_GET()
return
content_length = int(self.headers['Content-Length'])
body = self.rfile.read(content_length).decode("utf-8")
try:
body = json.loads(body)
except ValueError: # includes simplejson.decoder.JSONDecodeError
self.send_response(401)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "INVALID_JSON_PAYLOAD"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
return
if (re.compile("^motor[0-9]+$").match(path_components[0])):
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"request": body
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
elif (path_components[0] == "cmd"):
#print("INTENT:")
#print(body)
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"intent": body
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
current_order = body
current_order["expiry"] = current_order["expiry"] + time.time()
## TODO : PARSE INTENT
else:
self.do_GET()
def do_PUT(self):
global current_order
global bot_definition
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
if (re.compile("^screen[0-9]+$").match(path_components[0])):
timestamp = time.time()
filename = "display/" + path_components[1] + "-" + str(timestamp) + ".jpeg"
file_length = int(self.headers['Content-Length'])
with open(filename, 'wb') as output_file:
output_file.write(self.rfile.read(file_length))
self.send_response(201, "Created")
self.end_headers()
reply_body = json.dumps({
"status": "OK"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "INVALID_PUT_LOCATION"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
def do_GET(self):
global current_order
global bot_definition
global video_buffers
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
if (path_components[0] == ""):
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "OK"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
elif (re.compile("^camera[0-9]+$").match(path_components[0])):
if (len(path_components) >= 2):
if (path_components[1] == "latest.jpg"):
cameraidx = int(re.search(r'\d{0,3}$', path_components[0]).group())
self.send_response(200)
self.end_headers()
reply_body = bytes(video_buffers[bot_definition["cameras"][cameraidx]["name"]])
self.wfile.write(reply_body)
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "ENDPOINT_NOT_FOUND",
"error_at": path_components[1]
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
else:
cameraidx = int(re.search(r'\d{0,3}$', path_components[0]).group())
self.send_response(200)
self.end_headers()
try:
reply_body = json.dumps({
"status": "OK",
"camera_index": cameraidx,
"camera_name": bot_definition["cameras"][cameraidx]["name"],
"buffer": base64.b64encode(video_buffers[bot_definition["cameras"][cameraidx]["name"]]).decode("utf-8")
}, indent=4)
except IndexError:
reply_body = json.dumps({
"status": "INVALID_CAMERA_INDEX",
"camera_index": cameraidx
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "ENDPOINT_NOT_FOUND"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
if __name__ == "__main__":
import random
switch_name = "PYFILE"
host_name = ""
remote_server = None
remote_bot = None
config_file = None
local_server_port = random.randint(38000, 38999)
for arg in sys.argv:
if switch_name == None:
if (arg.startswith("-")):
if (arg.startswith("--")):
if (arg == "--port"):
switch_name = "PORT"
if (arg == "--remote"):
switch_name = "REMOTE_SERVER"
if (arg == "--bot"):
switch_name = "REMOTE_BOT"
else:
if (arg == "-p"):
switch_name = "PORT"
if (arg == "-r"):
switch_name = "REMOTE_SERVER"
else:
config_file = arg
elif switch_name == "PORT":
local_server_port = int(arg)
switch_name = None
elif switch_name == "REMOTE_SERVER":
remote_server = arg
switch_name = None
elif switch_name == "REMOTE_BOT":
remote_bot = "bot" + arg
switch_name = None
elif switch_name == "PYFILE":
switch_name = None
else:
print("Argument parse error!")
if remote_server == None:
print("No remote server supplied!")
print("python3 botd_client.py --remote <ip_address>[:port] <config_file>")
elif config_file == None:
print("No config file supplied!")
print("python3 botd_client.py --remote <ip_address>[:port] <config_file>")
else:
f = open(config_file)
bot_definition = json.load(f)
f.close()
bot_definition["port"] = local_server_port
bot_definition["hostname"] = host_name
if (bot_definition["type"] == "BOT"):
if "cameras" in bot_definition:
import cv2
import numpy
for camera in bot_definition["cameras"]:
videodev = os.readlink(camera["path"]).split("/")[-1]
videodevidx = re.search(r'\d{0,3}$', videodev).group()
videodevpath = "/dev/video" + str(videodevidx)
print("Camera %s at OpenCV path %s" % (camera["name"], videodevpath))
video_buffers[camera["name"]] = bytearray()
video_devices[camera["name"]] = cv2.VideoCapture(videodevpath)
if not video_devices[camera["name"]].isOpened():
print("FAILED TO OPEN CAMERA")
if (bot_definition["control_scheme"] == "SIMPLE_HTTP_SERVER"):
print("Simple HTTP Server")
if (bot_definition["control_scheme"] == "TELEMETRY_ONLY"):
print("Telemetry-only robot")
if (bot_definition["control_scheme"] == "MIXED"):
print("Mixed control robot")
if (bot_definition["control_scheme"] == "RPI_ONBOARD_GPIO"):
try:
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
#GPIO.setup(36, GPIO.OUT)
#GPIO.setup(38, GPIO.OUT)
#GPIO.setup(40, GPIO.OUT)
for actuator in bot_definition["actuators"]:
for pin in actuator["motor_pins"]:
print("Activating motor pin %s" % (actuator["motor_pins"][pin]))
GPIO.setup(actuator["motor_pins"][pin], GPIO.OUT)
GPIO.output(actuator["motor_pins"][pin], GPIO.LOW)
#for pin in actuator["encoder_pins"]:
# print("Activating encoder pin %s" % (pin))
# GPIO.setup(pin, GPIO.INPUT)
bot_definition["motors_active"] = True
except ImportError:
print("CANNOT START RPI CONTROL WITHOUT RPI MODULE")
print("Try: pip install RPi.GPIO")
#print(bot_definition)
server_thread = BotServerHost("main_server", 64);
server_thread.start()
elif (bot_definition["type"] == "CONTROLLER"):
if not remote_bot == None:
bot_definition["remote_bot_id"] = remote_bot
server_thread = BotServerHost("main_server", 64);
server_thread.start()
if (bot_definition["control_scheme"] == "KEYBOARD_ROOT"):
try:
import keyboard
print("Starting virtual controller!")
while True:
key = keyboard.read_key()
intents = []
expiry = 0
for keymap in bot_definition["keymap"]:
if (keymap["key"] == key):
intents = intents + keymap["intents"]
if expiry < keymap["expiry"]:
expiry = keymap["expiry"]
built_intent = {"expiry": expiry}
send_intent = False
for intent in intents:
send_intent = True
if intent["axis"] in built_intent:
built_intent[intent["axis"]] = intent["rate"] + built_intent[intent["axis"]]
else:
built_intent[intent["axis"]] = intent["rate"]
if send_intent:
if "remote_bot_id" in bot_definition:
remote_server_base_uri = "http://" + remote_server
request = requests.post(url = remote_server_base_uri + "/" + bot_definition["remote_bot_id"] + "/cmd", json = built_intent)
data = request.json()
else:
print("NO REMOTE BOT")
except ImportError:
print("CANNOT START VIRTUAL CONTROLLER WITHOUT KEYBOARD MODULE")
print("Try: pip install keyboard")
print("Note: On linux this script requires root")
quit()
elif (bot_definition["control_scheme"] == "PYGLET_CONTROLLER"):
try:
import pyglet
from pyglet.shapes import Circle, Rectangle, Arc
window = pyglet.window.Window(720, 480)
batch = pyglet.graphics.Batch()
@window.event
def on_draw():
window.clear()
batch.draw()
class ControllerDisplay:
"""A class to visualize all the Controller inputs."""
def __init__(self, batch):
self.label = pyglet.text.Label("No Controller connected.", x=10, y=window.height - 20,
multiline=True, width=720, batch=batch)
self.left_trigger = Rectangle(70, 310, 40, 10, batch=batch)
self.right_trigger = Rectangle(610, 310, 40, 10, batch=batch)
self.d_pad = Rectangle(280, 185, 10, 10, batch=batch)
self.left_stick = Arc(180, 240, 20, batch=batch)
self.left_stick_label = pyglet.text.Label("(0.00, 0.00)", x=180, y=50, anchor_x='center', batch=batch)
self.left_stick_bar_x = Rectangle(180, 30, 0, 10, batch=batch)
self.left_stick_bar_y = Rectangle(180, 10, 0, 10, batch=batch)
self.right_stick = Arc(540, 240, 20, batch=batch)
self.right_stick_label = pyglet.text.Label("(0.00, 0.00)", x=540, y=50, anchor_x='center', batch=batch)
self.right_stick_bar_x = Rectangle(540, 30, 0, 10, batch=batch)
self.right_stick_bar_y = Rectangle(540, 10, 0, 10, batch=batch)
self.l_outline1 = Arc(180, 240, 75, color=(44, 44, 44), batch=batch)
self.l_outline2 = Arc(285, 190, 35, color=(44, 44, 44), batch=batch)
self.r_outline1 = Arc(540, 240, 75, color=(44, 44, 44), batch=batch)
self.r_outline2 = Arc(435, 190, 35, color=(44, 44, 44), batch=batch)
self.buttons = {'a': Circle(435, 170, 9, color=(124, 178, 232), batch=batch),
'b': Circle(455, 190, 9, color=(255, 102, 102), batch=batch),
'x': Circle(415, 190, 9, color=(255, 105, 248), batch=batch),
'y': Circle(435, 210, 9, color=(64, 226, 160), batch=batch),
'leftshoulder': Rectangle(70, 290, 40, 10, batch=batch),
'rightshoulder': Rectangle(610, 290, 40, 10, batch=batch),
'start': Circle(390, 240, 9, batch=batch),
'guide': Circle(360, 240, 9, color=(255, 255, 100), batch=batch),
'back': Circle(330, 240, 9, batch=batch),
'leftstick': Circle(180, 240, 9, batch=batch),
'rightstick': Circle(540, 240, 9, batch=batch)}
self.raw_values = {
"left_stick_x": 0,
"left_stick_y": 0,
"right_stick_x": 0,
"right_stick_y": 0,
"left_trigger": 0,
"right_trigger": 0
}
for button in self.buttons.values():
button.visible = False
def on_button_press(self, controller, button_name):
if button := self.buttons.get(button_name, None):
button.visible = True
controller.rumble_play_weak(1.0, 0.1)
def on_button_release(self, controller, button_name):
if button := self.buttons.get(button_name, None):
button.visible = False
def on_dpad_motion(self, controller, dpleft, dpright, dpup, dpdown):
position = [280, 185]
if dpup:
position[1] += 25
if dpdown:
position[1] -= 25
if dpleft:
position[0] -= 25
if dpright:
position[0] += 25
self.d_pad.position = position
def on_stick_motion(self, controller, stick, xvalue, yvalue):
if stick == "leftstick":
self.raw_values["left_stick_x"] = xvalue
self.raw_values["left_stick_y"] = yvalue
self.left_stick.position = 180+xvalue*50, 240+yvalue*50
self.left_stick_label.text = f"({xvalue:.2f}, {yvalue:.2f})"
self.left_stick_bar_x.width = xvalue * 100
self.left_stick_bar_y.width = yvalue * 100
elif stick == "rightstick":
self.raw_values["right_stick_x"] = xvalue
self.raw_values["right_stick_y"] = yvalue
self.right_stick.position = 540+xvalue*50, 240+yvalue*50
self.right_stick_label.text = f"({xvalue:.2f}, {yvalue:.2f})"
self.right_stick_bar_x.width = xvalue * 100
self.right_stick_bar_y.width = yvalue * 100
def on_trigger_motion(self, controller, trigger, value):
if trigger == "lefttrigger":
self.raw_values["left_trigger"] = value
self.left_trigger.y = 310 + (value*50)
#controller.rumble_play_weak(value, duration=5)
elif trigger == "righttrigger":
self.raw_values["right_trigger"] = value
self.right_trigger.y = 310 + (value*50)
#controller.rumble_play_strong(value, duration=5)
controller_display = ControllerDisplay(batch=batch)
def on_connect(controller):
controller.open()
controller.rumble_play_weak(1.0, 0.1)
controller_display.label.text = f"Detected: {controller.name}\nController GUID: {controller.guid}"
controller.push_handlers(controller_display)
def on_disconnect(controller):
controller_display.label.text = "No Controller connected."
controller.remove_handlers(controller_display)
# ControllerManager instance to handle hot-plugging:
controller_manager = pyglet.input.ControllerManager()
controller_manager.on_connect = on_connect
controller_manager.on_disconnect = on_disconnect
# Handle already connected controller:
if controllers := controller_manager.get_controllers():
on_connect(controllers[0])
def update(dt):
intents = []
expiry = dt + 0.001
built_intent = {}
if "default_intent" in bot_definition:
built_intent = copy.deepcopy(bot_definition["default_intent"])
#built_intent["expiry"] = expiry
send_intent = False
for keymap in bot_definition["keymap"]:
if keymap["input"] in controller_display.raw_values:
intentval = keymap["intents"]
for i in range(0,len(intentval)):
intentval[i]["value"] = controller_display.raw_values[keymap["input"]]
intents = intents + intentval
if expiry < keymap["expiry"]:
expiry = keymap["expiry"]
built_intent["expiry"] = expiry
for intent in intents:
send_intent = True
active = True
if "dead_below" in intent:
if intent["value"] < intent["dead_below"]:
active = False
if "dead_above" in intent:
if intent["value"] > intent["dead_above"]:
active = False
if active:
val = (intent["mult"] * intent["value"]) + intent["offset"]
if intent["axis"] in built_intent:
built_intent[intent["axis"]] = val + built_intent[intent["axis"]]
else:
built_intent[intent["axis"]] = val
if "remote_bot_id" in bot_definition:
remote_server_base_uri = "http://" + remote_server
request = requests.post(url = remote_server_base_uri + "/" + bot_definition["remote_bot_id"] + "/cmd", json = built_intent)
data = request.json()
else:
print("NO REMOTE BOT")
pyglet.clock.schedule_interval(update, 0.1)
pyglet.app.run()
except:
print("ERROR!!!")
e = sys.exc_info()
print(e)
elif (bot_definition["control_scheme"] == "KEYBOARD"):
try:
import sys
import tty
import termios
while True:
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
if ch.encode("utf-8").hex() == "03":
# horrible bodge
quit()
raise KeyboardInterrupt
print(ch.encode("utf-8").hex())
key=ch
intents = []
expiry = 0
for keymap in bot_definition["keymap"]:
if (keymap["key"] == key):
intents = intents + keymap["intents"]
if expiry < keymap["expiry"]:
expiry = keymap["expiry"]
built_intent = {"expiry": expiry}
send_intent = False
for intent in intents:
send_intent = True
if intent["axis"] in built_intent:
built_intent[intent["axis"]] = intent["rate"] + built_intent[intent["axis"]]
else:
built_intent[intent["axis"]] = intent["rate"]
if send_intent:
if "remote_bot_id" in bot_definition:
remote_server_base_uri = "http://" + remote_server
request = requests.post(url = remote_server_base_uri + "/" + bot_definition["remote_bot_id"] + "/cmd", json = built_intent)
data = request.json()
else:
print("NO REMOTE BOT")
except KeyboardInterrupt:
print("Keyboard interrupt, bailing out")