Merge pull request #2 from hapi-robo/devel

Devel
hapi-robo · Aug 18, 2020 · 1e6c730 · 1e6c730
2 parents ea87017 + 1bcd66d
commit 1e6c730
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diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,4 @@
-temipy/__pycache__/
-temipy.egg-info/
+pytemi/__pycache__/
+pytemi.egg-info/
 venv/
 test.py
diff --git a/README.md b/README.md
@@ -1,37 +1,30 @@
-# temi Connect Python Package
+# pytemi
 Control temi using Python scripts over MQTT.
 
 
 ## Prerequisites
 * [Python 3](https://www.python.org/downloads/)
-* Python [virtualenv](https://virtualenv.pypa.io/en/stable/installation.html)
-* Connect APK installed on temi, see [here](https://github.com/hapi-robo/connect/tree/devel/android)
+* [Connect app](https://github.com/hapi-robo/connect/releases) installed on temi
 * MQTT broker. Free brokers for testing:
 	* [Eclipse](http://test.mosquitto.org/)
 	* [Mosquitto](http://mqtt.eclipse.org)
 	* [HiveMQ](http://broker.hivemq.com)
 
 
-## Ubuntu / MacOS Setup
-Clone this repository:
+## Setup
+Clone this repository and install all dependencies with pip:
 ```
-git clone ...
+pip install -r requirements.txt
 ```
 
-Create a Python virtual environment (`venv`) and install all dependencies:
+For Linux users, there's a script that will create a Python virtual environment (assuming it's installed) and install all dependencies:
 ```
-cd temipy/
 ./setup.sh
 ```
 
-Activate the virtual environment:
-```
-source venv/bin/activate
-```
-
 
 ## Usage
-Make sure temi is connected to an MQTT broker via the Connect app.
+Make sure the robot is connected to an MQTT broker via the [Connect app](https://github.com/hapi-robo/connect/releases).
 
 Edit the `sample.py` script and adjust the `parameters` appropriately, then run:
 ```
@@ -41,12 +34,14 @@ python sample.py
 
 ## Sample Script
 ```
-import temipy as temi
+import pytemi as temi
 
+MQTT_HOST = "test.mosquitto.org"
+MQTT_PORT = 1883
 TEMI_SERIAL = "01234567890"
 
-# connect to the MQTT server
-mqtt_client = temi.connect("test.mosquitto.org", 1883)
+# connect to the MQTT broker
+mqtt_client = temi.connect(MQTT_HOST, MQTT_PORT)
 
 # create robot object
 robot = temi.Robot(mqtt_client, TEMI_SERIAL)

diff --git a/temipy/__init__.py → pytemi/__init__.py b/temipy/__init__.py → pytemi/__init__.py
diff --git a/temipy/connect.py → pytemi/connect.py b/temipy/connect.py → pytemi/connect.py
diff --git a/temipy/robot.py → pytemi/robot.py b/temipy/robot.py → pytemi/robot.py
@@ -18,73 +18,85 @@ def __init__(self, mqtt_client, temi_serial):
 
         """
         self.client = mqtt_client
-        self.serial = temi_serial
+        self.id = temi_serial
 
     def rotate(self, angle):
-        """Rotate robot
+        """Rotate
 
         """
         print("[CMD] Rotate: {} [deg]".format(angle))
 
-        topic = "temi/" + self.serial + "/command/move/turn_by"
-        payload = json.dumps({"angle": angle})
+        if (angle != 0):
+            topic = "temi/" + self.id + "/command/move/turn_by"
+            payload = json.dumps({"angle": angle})
 
-        self.client.publish(topic, payload, qos=0)
+            self.client.publish(topic, payload, qos=0)
 
     def translate(self, value):
-        """Translate robot
+        """Translate
 
         """
         print("[CMD] Translate: {} [unitless]".format(value))
 
-        if math.copysign(1, value):
-            topic = "temi/" + self.serial + "/command/move/forward"
-        elif math.copysign(1, value):
-            topic = "temi/" + self.serial + "/command/move/backward"
+        if math.copysign(1, value) > 0:
+            topic = "temi/" + self.id + "/command/move/forward"
+            self.client.publish(topic, "{}", qos=0)
+        elif math.copysign(1, value) < 0:
+            topic = "temi/" + self.id + "/command/move/backward"
+            self.client.publish(topic, "{}", qos=0)
         else:
             pass  # do nothing
 
-        self.client.publish(topic, "{}", qos=0)
 
     def tilt(self, angle):
-        """Tilt robot's head (absolute angle)
+        """Tilt head (absolute angle)
 
         """
         print("[CMD] Tilt: {} [deg]".format(angle))
 
-        topic = "temi/" + self.serial + "/command/move/tilt"
+        topic = "temi/" + self.id + "/command/move/tilt"
         payload = json.dumps({"angle": angle})
 
         self.client.publish(topic, payload, qos=0)
 
     def tilt_by(self, angle):
-        """Tilt robot's head (relative angle)
+        """Tilt head (relative angle)
 
         """
         print("[CMD] Tilt By: {} [deg]".format(angle))
 
-        topic = "temi/" + self.serial + "/command/move/tilt_by"
+        topic = "temi/" + self.id + "/command/move/tilt_by"
         payload = json.dumps({"angle": angle})
 
         self.client.publish(topic, payload, qos=0)
 
     def stop(self):
-        """Follow
+        """Stop
 
         """
         print("[CMD] Stop")
 
-        topic = "temi/" + self.serial + "/command/move/stop"
+        topic = "temi/" + self.id + "/command/move/stop"
+
+        self.client.publish(topic, "{}", qos=1)
+
+    def follow(self):
+        """Follow
+
+        """
+        print("[CMD] Follow")
+
+        topic = "temi/" + self.id + "/command/follow/unconstrained"
 
         self.client.publish(topic, "{}", qos=1)
 
     def goto(self, location_name):
-        """Go to a specified location
+        """Go to a saved location
 
         """
         print("[CMD] Go-To: {}".format(location_name))
 
-        topic = "temi/" + self.serial + "/command/waypoint/goto"
+        topic = "temi/" + self.id + "/command/waypoint/goto"
         payload = json.dumps({"location": location_name})
 
         self.client.publish(topic, payload, qos=1)
@@ -95,7 +107,7 @@ def tts(self, text):
         """
         print("[CMD] TTS: {}".format(text))
 
-        topic = "temi/" + self.serial + "/command/tts"
+        topic = "temi/" + self.id + "/command/tts"
         payload = json.dumps({"utterance": text})
 
         self.client.publish(topic, payload, qos=1)
@@ -106,7 +118,7 @@ def tts(self, text):
     #     """
     #     print("[CMD] Play Audio: {}".format(url))
 
-    #     topic = "temi/" + self.serial + "/command/media/audio"
+    #     topic = "temi/" + self.id + "/command/media/audio"
     #     payload = json.dumps({"url": url})
 
     #     self.client.publish(topic, payload, qos=1)
@@ -117,7 +129,7 @@ def video(self, url):
         """
         print("[CMD] Play Video: {}".format(url))
 
-        topic = "temi/" + self.serial + "/command/media/video"
+        topic = "temi/" + self.id + "/command/media/video"
         payload = json.dumps({"url": url})
 
         self.client.publish(topic, payload, qos=1)
@@ -128,7 +140,7 @@ def youtube(self, video_id):
         """
         print("[CMD] Play YouTube: {}".format(video_id))
 
-        topic = "temi/" + self.serial + "/command/media/youtube"
+        topic = "temi/" + self.id + "/command/media/youtube"
         payload = json.dumps({"video_id": video_id})
 
         self.client.publish(topic, payload, qos=1)
@@ -139,18 +151,29 @@ def webview(self, url):
         """
         print("[CMD] Show Webview: {}".format(url))
 
-        topic = "temi/" + self.serial + "/command/media/webview"
+        topic = "temi/" + self.id + "/command/media/webview"
         payload = json.dumps({"url": url})
 
         self.client.publish(topic, payload, qos=1)
 
+    def app(self, package_name):
+        """Start Android app
+
+        """
+        print("[CMD] Start App: {}".format(package_name))
+
+        topic = "temi/" + self.id + "/command/app"
+        payload = json.dumps({"package_name": package_name})
+
+        self.client.publish(topic, payload, qos=1)
+
     def call(self, room_name):
         """Start a call
 
         """
         print("[CMD] Call: {}".format(room_name))
 
-        topic = "temi/" + self.serial + "/command/call/start"
+        topic = "temi/" + self.id + "/command/call/start"
         payload = json.dumps({"room_name": room_name})
 
         self.client.publish(topic, payload, qos=1)
@@ -161,6 +184,6 @@ def hangup(self):
         """
         print("[CMD] Hangup")
 
-        topic = "temi/" + self.serial + "/command/call/end"
+        topic = "temi/" + self.id + "/command/call/end"
 
         self.client.publish(topic, "{}", qos=1)
diff --git a/sample.py b/sample.py
@@ -3,7 +3,7 @@
 """Sample script
 
 """
-import temipy as temi
+import pytemi as temi
 import time
 
 
@@ -12,7 +12,7 @@
 MQTT_PORT = 1883
 TEMI_SERIAL = "01234567890"
 
-# connect to the MQTT server
+# connect to the MQTT broker
 mqtt_client = temi.connect(MQTT_HOST, MQTT_PORT)
 
 # create robot object
@@ -22,62 +22,54 @@
 # --------------------------------------------------------------
 # TEXT-TO-SPEECH COMMANDS
 # --------------------------------------------------------------
-# command the robot to speak
-robot.tts("Going to the Entrance")
+robot.tts("Going to the Entrance") # command the robot to speak
+time.sleep(1) # wait some time for action to complete
 
 
 # --------------------------------------------------------------
 # WAYPOINT COMMANDS
 # --------------------------------------------------------------
-# command the robot to go to a saved location
-robot.goto("entrance")
+robot.goto("entrance") # command the robot to go to a saved location
+time.sleep(1) # wait some time for action to complete
 
 
 # --------------------------------------------------------------
 # MOVE COMMANDS
 # --------------------------------------------------------------
-# tilt the robot's head to +55 degrees (absolute angle)
-robot.tilt(+45)
-time.sleep(3)  # wait 3 seconds for action to complete
+robot.tilt(+45) # tilt the robot's head (absolute angle)
+time.sleep(3) # wait some time for action to complete
 
-# tilt the robot's head to -15 degrees (absolute angle)
-robot.tilt(-15)
-time.sleep(3)  # wait 3 seconds for action to complete
+robot.tilt(-15) # tilt the robot's head (absolute angle)
+time.sleep(3) # wait some time for action to complete
 
-# tilt the robot's head to +30 degrees (relative angle)
-robot.tilt_by(+30)
-time.sleep(3)  # wait 3 seconds for action to complete
+robot.tilt_by(+30) # tilt the robot's head (relative angle)
+time.sleep(3) # wait some time for action to complete
 
-# tilt the robot's head to -10 degrees (relative angle)
-robot.tilt_by(-10)
-time.sleep(3)  # wait 3 seconds for action to complete
+robot.tilt_by(-10) # tilt the robot's head (relative angle)
+time.sleep(3) # wait some time for action to complete
 
-# rotate the robot by 90 degrees (relative angle)
-robot.rotate(90)
-time.sleep(5)  # wait 5 seconds for action to complete
+robot.rotate(90) # rotate the robot (relative angle)
+time.sleep(5) # wait some time for action to complete
 
-# rotate the robot by -30 degrees (relative angle)
-robot.rotate(-30)
-time.sleep(5)  # wait 5 seconds for action to complete
+robot.rotate(-30) # rotate the robot (relative angle)
+time.sleep(5) # wait some time for action to complete
 
 
 # --------------------------------------------------------------
 # MEDIA COMMANDS
 # --------------------------------------------------------------
-# play YouTube video by passing in a video ID
-robot.youtube("ZsEano0qwcg")
-time.sleep(30)  # wait 30 seconds before performing next action
+robot.youtube("ZsEano0qwcg") # play YouTube video by passing in a YouTube video ID
+time.sleep(30) # wait some time for action to complete
 
-# play online video by passing a URL
 robot.video(
     "https://roboteam-assets.s3.eu-central-1.amazonaws.com/ui/skills/tutorials/videos/intorducing+temi.mp4"
-)
-time.sleep(30)  # wait 30 seconds before performing next action
+) # play online video by passing a URL
+time.sleep(30) # wait some time for action to complete
 
 # show webview by passing a URL
 robot.webview("https://www.robotemi.com/")
-time.sleep(5)  # wait 5 seconds before performing next action
-robot.webview("https://www.his.co.jp/en/")
-time.sleep(5)  # wait 5 seconds before performing next action
+time.sleep(5)
 robot.webview("https://hapi-robo.com/")
-time.sleep(5)  # wait 5 seconds before performing next action
+time.sleep(5)
+robot.webview("https://www.his.co.jp/en/")
+time.sleep(5)
diff --git a/setup.py b/setup.py
@@ -5,18 +5,21 @@ def readme():
     with open("README.md", "r") as f:
         return f.read()
 
+def requirements():
+    with open("requirements.txt", "r") as f:
+        return f.read().splitlines()
 
 setuptools.setup(
-    name="temipy",
+    name="pytemi",
     version="1.0.0",
-    description="MQTT bridge for temi",
+    description="A Python client that can be used with Connect MQTT bridge for temi.",
     long_description=readme(),
     long_description_content_type="text/markdown",
     author="R. Oung",
     author_email="r.oung@hapi-robo.com",
     url="https://github.com/",
     packages=setuptools.find_packages(),
-    install_requires=["paho-mqtt",],
+    install_requires=requirements(),
     classifiers=[
         "Programming Language :: Python :: 3",
         "License :: OSI Approved :: MIT License",