Python service.Runtime类代码示例

from org.myrobotlab.service import Runtime
from org.myrobotlab.service import AudioCapture
from time import sleep
audiocapture = Runtime.createAndStart("audiocapture","AudioCapture")
#it starts capturing audio
audiocapture.captureAudio()
# it will record for 5 seconds
sleep(5)
#then it stops recording audio
audiocapture.stopAudioCapture()
#it plays audio recorded
audiocapture.playAudio()

from time import sleep
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Runtime
 
#Starting the required Services
 
serial = Runtime.createAndStart("serial","Serial")
chessgame = Runtime.createAndStart("chessgame", "ChessGame")
log = Runtime.createAndStart("log", "Log")
speech = Runtime.create("speech","Speech")
 
#Configureing Speech Service
 
speech.startService()
speech.setLanguage("en")
speech.speak("Game Begins!")
 
count = 0
chessMove = ""
 
#Connecting Arduino via Serial
 
if not serial.isConnected():
    serial.connect("COM9")
 
# Adding Listeners
serial.addListener("publishByte", python.name, "input") 
chessgame.addListener("computerMoved", python.name, "voice") 
chessgame.addListener("computerMoved", log.name, "log")
chessgame.addListener("makeMove", serial.name, "write") 
 

import random
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from java.lang import String
from time import sleep
from org.myrobotlab.net import BareBonesBrowserLaunch
wdf = Runtime.createAndStart("wikiDataFetcher", "WikiDataFetcher")
holygrail = Runtime.createAndStart("holygrail", "WebGui")
wksr = Runtime.createAndStart("webkitspeechrecognition", "WebkitSpeechRecognition")
elias = Runtime.createAndStart("elias", "ProgramAB")
elias.startSession("elias")
htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")
acapelaSpeech = Runtime.createAndStart("speech", "AcapelaSpeech")
voices = acapelaSpeech.getVoices()
for voice in voices:
    acapelaSpeech.setVoice("Graham")
wksr.addTextListener(elias)
elias.addTextListener(htmlfilter)
htmlfilter.addTextListener(acapelaSpeech)

def BT():
    global c
    c = b - a
    sleep(2)
    print c
    if (c == 2):
       resp = elias.getResponse("AUTORESPOND1")          
    if (c == 4):
	  resp = elias.getResponse("AUTORESPOND2")           
    if (c == 6):

from java.lang import String
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
  
# create mouth arduino and servo
ear = Runtime.createAndStart("ear","Sphinx")
arduino = Runtime.createAndStart("arduino","Arduino")
arduino.connect("COM4")
servo = Runtime.createAndStart("servo","Servo")
servo.attach(arduino, 10)
  
# start listening for the words we are interested in
ear.startListening("go forward|go backwards|stop")
  
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass()); 
  
# this method is invoked when something is 
# recognized by the ear - in this case we
# have the mouth "talk back" the word it recognized
def heard(phrase):
      print("I heard ", phrase)
      if phrase == "go forward":
        servo.moveTo(170)
      elif phrase == "go backwards":
        servo.moveTo(10)
      elif phrase == "stop":
        servo.moveTo(90)
      

from org.myrobotlab.service import Runtime
from org.myrobotlab.service import Roomba
from time import sleep
 
roomba = Runtime.create("roomba","Roomba")
roomba.connect( "COM9" )
roomba.startService()
roomba.startup()
roomba.control()
roomba.playNote( 72, 10 )
roomba.sleep( 200 )
roomba.goForward()
roomba.sleep( 1000 )
roomba.goBackward()
roomba.sleep( 1000 )
roomba.spinRight()
roomba.sleep( 1000 )

from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint;
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from time import sleep

# system specif variables
actservox = 90
actservoy = 90

xpid = Runtime.createAndStart("xpid","PID")
ypid = Runtime.createAndStart("ypid","PID")
xpid.setMode(1)
xpid.setOutputRange(-3, 3)
xpid.setPID(10.0, 0, 1.0)
xpid.setControllerDirection(1)
xpid.setSetpoint(160) # we want the target in the middle of the x
ypid.setMode(1)
ypid.setOutputRange(-3, 3)
ypid.setPID(10.0, 0, 1.0)
ypid.setControllerDirection(1)
ypid.setSetpoint(120)

arduino = Runtime.createAndStart("arduino","Arduino")
pan 	= Runtime.createAndStart("pan","Servo")
tilt	= Runtime.createAndStart("tilt","Servo")

##############################################
# This script creates 2 servos of a pan / tilt kit
# attaches them to an Arduino and attaches
# a joystick to control the servos

from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Runtime
from time import sleep

# create the services
arduino = Runtime.createAndStart("arduino","Arduino")
pan 	= Runtime.createAndStart("pan","Servo")
tilt	= Runtime.createAndStart("tilt","Servo")
joystick = Runtime.createAndStart("joystick","Joystick")

arduino.connect("COM10", 57600, 8, 1, 0)

sleep(2)

# attach servos to Arduino
pan.attach(arduino.getName(), 9)
tilt.attach(arduino.getName(), 10)

# attach joystick to servos
joystick.attach(pan, Joystick.Z_AXIS)
joystick.attach(tilt, Joystick.Z_ROTATION)
joystick.setController(2);
joystick.startPolling();	

from java.lang import String
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint;
from org.myrobotlab.service import OpenCV

# create or get a handle to an OpenCV service
opencv = Runtime.create("opencv","OpenCV")
opencv.startService()
# reduce the size - face tracking doesn't need much detail
# the smaller the faster
opencv.addFilter("PyramidDown1", "PyramidDown")
# add the face detect filter
opencv.addFilter("FaceDetect1", "FaceDetect")

# ----------------------------------
# input
# ----------------------------------
# the "input" method is where Messages are sent to
# from other Services. The data from these messages can
# be accessed on based on these rules:
# Details of a Message structure can be found here
# http://myrobotlab.org/doc/org/myrobotlab/framework/Message.html 
# When a message comes in - the input function will be called
# the name of the message will be msg_+<sending service name>+_+<sending method name>
# In this particular case when the service named "opencv" finds a face it will publish
# a CvPoint.  The CvPoint can be access by msg_opencv_publish.data[0]
def input():

# sayThings.py
# example script for MRL showing various methods
# of the Speech Service 
# http://myrobotlab.org/doc/org/myrobotlab/service/Speech.html

# The preferred method for creating services is
# through the Runtime. This will allow
# the script to be rerun without creating a new
# Service each time. The initial delay from Service
# creation and caching voice files can be large, however
# after creation and caching methods should return 
# immediately

# Create a running instance of the Speech Service.
# Name it "speech". And start it right away.
speech = Runtime.createAndStart("speech","Speech")


# Speak with initial defaults - Google en
speech.speak("hello brave new world")

# Google must have network connectivity
# the back-end will cache a sound file
# once it is pulled from Goole.  So the 
# first time it is slow but subsequent times its very 
# quick and can be run without network connectivity.
speech.setBackendType("GOOGLE") 
speech.setLanguage("en")
speech.speak("Hello World From Google.")
speech.setLanguage("pt") # Google supports some language codes
speech.speak("Hello World From Google.")

######################################
# Example Document Processing pipeline
######################################
from org.myrobotlab.service import Runtime
from org.myrobotlab.document.transformer import WorkflowConfiguration
from org.myrobotlab.document.transformer import StageConfiguration
# create the pipeline service
pipeline = Runtime.createAndStart("docproc", "DocumentPipeline")
# create a pipeline
# pipeline.workflowName = "default";
# create a workflow to load into that pipeline service
workflowConfig = WorkflowConfiguration();
workflowConfig.setName("default");
staticFieldStageConfig = StageConfiguration();
staticFieldStageConfig.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
staticFieldStageConfig.setStageName("SetTableField");
# statically assign the value of "MRL" to the field "table" on the document
staticFieldStageConfig.setStringParam("table", "MRL");
workflowConfig.addStage(staticFieldStageConfig);
# a stage that sends a document to solr

openNLPConfig = StageConfiguration()
openNLPConfig.setStageClass("org.myrobotlab.document.transformer.OpenNLP")
openNLPConfig.setStageName("OpenNLP")
openNLPConfig.setStringParam("textField","description")
workflowConfig.addStage(openNLPConfig)

sendToSolrConfig = StageConfiguration();
sendToSolrConfig.setStageClass("org.myrobotlab.document.transformer.SendToSolr")
sendToSolrConfig.setStageName("SendToSolr")
sendToSolrConfig.setStringParam("solrUrl", "http://www.skizatch.org:8983/solr/graph")

try:
	mp3file = urllib2.urlopen('http://www.inmoov.fr/wp-content/uploads/2015/05/starting-mouth.mp3')
	output = open(soundfilename,'wb')
	output.write(mp3file.read())
	output.close()
except IOError:
	print "Check access right on the directory"
except Exception:
	print "Can't get the sound File ! Check internet Connexion"



leftPort = "COM20"  #modify port according to your board

i01 = Runtime.createAndStart("i01", "InMoov")
i01.startEar()

mouth = Runtime.createAndStart("mouth","Speech")
i01.startMouth()
##############
torso = i01.startTorso("COM20")  #modify port according to your board
# tweaking default torso settings
torso.topStom.setMinMax(0,180)
torso.topStom.map(0,180,67,110)
torso.midStom.setMinMax(0,180)
torso.midStom.map(0,180,60,120)
#torso.lowStom.setMinMax(0,180)
#torso.lowStom.map(0,180,60,110)
#torso.topStom.setRest(90)
#torso.midStom.setRest(90)

from jarray import array
from java.lang import String
from java.lang import Class
from org.myrobotlab.service import Runtime
from org.myrobotlab.framework import Message

catcher = Runtime.createAndStart("catcher", "TestCatcher")
thrower = Runtime.createAndStart("thrower", "TestThrower")


def input():
    # python catches data from thrower - then throws to catcher
    print "thrower sent me ", msg_thrower_send.data[0]
    print "modifying the ball"
    msg_thrower_send.data[0] = "throw from python->catcher"
    print "throwing to catcher now"
    python.send("catcher", "catchString", msg_thrower_send.data[0])


# thrower sends data to python
thrower.throwString("python", "input", "throw from thrower->python")

#script to control the TrashyBot platform through remote control via Xbox 360 wireless remote
#
#
#Nolan B. 1/8/16


from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Runtime
from time import sleep

#----------------------------------Web Gui--------------------------
webgui = Runtime.create("webgui", "WebGui")
webgui.autoStartBrowser(False)
Runtime.start("webgui", "WebGui")


#---------------------------------Create Services----------------------
arduino = Runtime.createAndStart("arduino","Arduino")
joystick = Runtime.createAndStart("joystick","Joystick")
motorL = Runtime.start("motorL","Motor")
motorR = Runtime.start("motorR","Motor")
log = Runtime.start("log","Log")



#----------------------Connect Peripherals-----------------------------------
joystick.setController(0); #PC only - Pi needs new
joystick.addInputListener(python)
arduino.connect("/dev/ttyACM0");
# Tell the joystick to turn on

from org.myrobotlab.service import Arduino
from org.myrobotlab.service import MagaBot
from org.myrobotlab.service import Runtime

from time import sleep

# Create a running instance of the MagaBot Service.

magabot = Runtime.create("magabot","MagaBot")
magabot.startService()
magabot.init("COM8")  # initalize arduino on port specified to 9600 8n1

for x in range(0,20):
  magabot.sendOrder('a')
  sleep(0.5)
  
#magabot.sendOrder('a')
#sleep(0.5)
#magabot.sendOrder('a')
#sleep(0.5)
#magabot.sendOrder('a')
#sleep(0.5)

##############################################
# This script creates the parts of a ROFI and 
# attaches them to MRL
#from org.myrobotlab.service import UltrasonicSensor
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import GUIService
from org.myrobotlab.service import Speech
from time import sleep

# we need a dictionary of arrays which store calibration data for each servo/joint
calib = {}

# create the services
speech = Runtime.createAndStart("speech","Speech") # For voice feedback
#ear = Runtime.createAndStart("listen","Sphinx") # For hearing spoken commands

gui = Runtime.start("gui", "GUIService")
keyboard = Runtime.start("keyboard", "Keyboard") # For getting user confirmation

#keyboard.addKeyListener(python)

# Arduino to connect everything to like a spinal cord
arduino = Runtime.createAndStart("arduino","Arduino")

#sr04 = Runtime.start("sr04", "UltrasonicSensor") # For an ultrasonic view of the world

# 6 joints in the Right leg
rAnkle = Runtime.createAndStart("R Ankle","Servo")
rLowLeg = Runtime.createAndStart("R Low Leg","Servo")