prepare 4.1

.circleci/config.yml

@@ -7,7 +7,7 @@ jobs:
   build:
     docker:
       # specify the version you desire here
-      - image: coderbot/python-gpac:3.7
+      - image: coderbot/coderbot-ci:3.9-bullseye-ffmpeg
 
     working_directory: ~/repo
 

activity.py

@@ -0,0 +1,45 @@
+from tinydb import TinyDB, Query
+from tinydb.operations import delete
+import json
+
+# Programs and Activities databases
+class Activities():
+    _instance = None
+
+    @classmethod
+    def get_instance(cls):
+        if cls._instance == None:
+            cls._instance = Activities()
+        return cls._instance
+
+    def __init__(self):
+        self.activities = TinyDB("data/activities.json")
+        self.query = Query()
+
+    def load(self, name, default):
+        if name:
+            return self.activities.search(self.query.name == name)[0]
+        elif default is not None:
+            default_Activities = self.activities.search(self.query.default == True)
+            if len(self.activities.search(self.query.default == True)) > 0:
+                return self.activities.search(self.query.default == True)[0]
+            else:
+                return None
+
+    def save(self, activity):
+        if self.activities.search(self.query.name == activity["name"]) == []:
+            self.activities.insert(activity)
+        else:
+            if activity.get("default", False) == True:
+                self.activities.update({'default': False})
+            self.activities.update(activity, self.query.name == activity["name"])
+
+    def delete(self, activity):
+        activity = self.activities.search(self.query.name == activity["name"])[0]
+        if activity.get("default", False) == True:
+            self.activities.update({'default': True}, self.query.stock == True)
+        self.activities.remove(self.query.name == activity["name"])
+
+    def list(self):
+        return self.activities.all()
+

api.py

@@ -6,15 +6,16 @@
 import os
 import subprocess
 import json
+import logging
 import connexion
-from tinydb import TinyDB, Query
-from tinydb.operations import delete
+import pigpio
 from cachetools import cached, TTLCache
 from coderbot import CoderBot
 from program import ProgramEngine, Program
 from config import Config
+from activity import Activities
 from coderbotTestUnit import run_test as runCoderbotTestUnit
-import pigpio
+from cnn_manager import CNNManager
 from musicPackages import MusicPackageManager
 
 BUTTON_PIN = 16
@@ -25,8 +26,6 @@
     encoder=bool(bot_config.get("encoder"))
 )
 
-query = Query()
-
 def get_serial():
     """
     Extract serial from cpuinfo file
@@ -108,8 +107,7 @@ def get_info():
 prog = None
 prog_engine = ProgramEngine.get_instance()
 
-# Programs and Activities databases
-activities = TinyDB("data/activities.json")
+activities = Activities.get_instance()
 
 ## Robot control
 
@@ -133,7 +131,8 @@ def turn(data):
 
 def exec(data):
     program = prog_engine.create(data["name"], data["code"])
-    return json.dumps(program.execute())
+    options = data["options"]
+    return json.dumps(program.execute(options))
 
 ## System
 
@@ -173,14 +172,23 @@ def restoreSettings():
     Config.get()
     return "ok"
 
+
 def updateFromPackage():
     os.system('sudo bash /home/pi/clean-update.sh')
     file_to_upload = connexion.request.files['file_to_upload']
     file_to_upload.save(os.path.join('/home/pi/', 'update.tar'))
     os.system('sudo reboot')
     return 200
 
-def updatePackages():
+def listMusicPackages():
+    """
+    list available music packages
+    """
+    musicPkg = MusicPackageManager.get_instance()
+    response = musicPkg.listPackages()
+    return json.dumps(response)
+
+def updateMusicPackages():
     """
     Add a musical package an save the list of available packages on disk
     also add sounds and directory
@@ -196,14 +204,23 @@ def updatePackages():
     if response == 1:
         return 200
     elif response == 2:
-        return 2
+        return 400
     elif response == 3:
-        return 3
+        return 400
 
+def deleteMusicPackage(package_data):
+    """
+    Delete a musical package an save the list of available packages on disk
+    also delete package sounds and directory
+    """
+    musicPkg = MusicPackageManager.get_instance()
+    musicPkg.deletePackage(package_data['package_name'])
+    return 200 
 
 ## Programs
 
-def saveProgram(data, overwrite):
+def saveProgram(data):
+    overwrite = data["overwrite"]
     existing_program = prog_engine.load(data["name"])
     if existing_program and not overwrite:
         return "askOverwrite"
@@ -227,23 +244,17 @@ def listPrograms():
 ## Activities
 
 def saveActivity(data):
-    data = data["activity"]
-    if activities.search(query.name == data["name"]) == []:
-        activities.insert(data)
-        return 200
-    else:
-        activities.update(data, query.name == data["name"])
-        return 200
+    activity = data["activity"]
+    activities.save(activity)
 
-def loadActivity(name):
-    return activities.search(query.name == name)[0], 200
+def loadActivity(name=None, default=None):
+    return activities.load(name, default)
 
 def deleteActivity(data):
-    activities.remove(query.name == data["name"])
-
+    activities.delete(data), 200
 
 def listActivities():
-    return activities.all()
+    return activities.list()
 
 def resetDefaultPrograms():
     """
@@ -273,3 +284,9 @@ def testCoderbot(data):
     # taking first JSON key value (varargin)
     tests_state = runCoderbotTestUnit(data[list(data.keys())[0]])
     return tests_state
+
+def list_cnn_models():
+    cnn = CNNManager.get_instance()
+    logging.info("cnn_models_list")
+    return json.dumps(cnn.get_models())
+

atmega328p.py

@@ -16,6 +16,8 @@
 CMD_RESET       = 0x00
 CMD_SET_DATA    = 0x01
 CMD_GET_DATA    = 0x02
+CMD_SET_MODE    = 0x03
+CMD_SET_LED     = 0x04
 
 ADDR_AI_FIRST   = 0x00
 ADDR_AI_LAST    = 0x01
@@ -35,7 +37,7 @@ def get_instance(cls):
         return cls._instance
 
     def __init__(self):
-        #Initialze the SPI 
+        # Initialze the SPI 
         self.spi = spidev.SpiDev()
         self.spi.open(0,0)
         self.spi.max_speed_hz = BAUDRATE_MAX
@@ -54,6 +56,23 @@ def analogRead(self, addr):
         resp = self.spi.xfer([START, CMD_GET_DATA, addr, 0, 0], BAUDRATE)
         return resp[3]
 
+    def setLed(self, begin_led, end_led, red, green, blue):
+        resp = self.spi.xfer([START, CMD_SET_LED, 
+                              min(max(begin_led, 0), 60),
+                              min(max(end_led, 0), 60),
+                              min(max(red, 0), 254),
+                              min(max(green, 0), 254),
+                              min(max(blue, 0), 254)], BAUDRATE)
+        return resp[3]
+
+    def set_led(self, begin_led, end_led, red, green, blue):
+        begin = begin_led - 1
+        end = end_led - 1
+        red = int(red * 255 / 100)
+        green = int(green * 255 / 100)
+        blue = int(blue * 255 / 100)
+        return self.setLed(begin, end, red, green, blue)
+
     def get_input(self, addr):
         if addr >= ADDR_AI_FIRST and addr <= ADDR_AI_LAST:
             return self.analogRead(addr)

audio.py

@@ -35,7 +35,7 @@
 # [END import_libraries]
 
 # Audio recording parameters
-RATE = 16000
+RATE = 44100
 CHUNK = int(RATE / 10)  # 100ms
 FORMAT = pyaudio.paInt16
 

audioControls.py

@@ -47,7 +47,6 @@ def getVolume(self):
     def setVolume(self,valueVolume):
         self.mixer.setvolume(valueVolume)
 
-if __name__ == "__main__":
-    a = AudioCtrl()
-    a.setVolume(20)
-    #a.setVolume(100)
+# if __name__ == "__main__":
+#    a = AudioCtrl()
+#    a.setVolume(20)

cnn_classifier.py

@@ -23,16 +23,23 @@
 import logging
 
 import numpy as np
-from tensorflow.lite.python.interpreter import Interpreter
+try:
+    from tensorflow.lite.python.interpreter import Interpreter
+except:
+    logging.warning("tensorflow not available (for inference)")
+try:
+    from tflite_runtime.interpreter import Interpreter
+except:
+    logging.warning("tflite not available")
+
 import cv2
 
 logger = logging.getLogger(__name__)
 
 class CNNClassifier(object):
     def __init__(self, model_file, label_file):
         logger.info(model_file)
-        self._interpreter = Interpreter(model_path=model_file)
-        self._interpreter.set_num_threads(4)
+        self._interpreter = Interpreter(model_path=model_file, num_threads=4)
         self._interpreter.allocate_tensors()
         self._labels = self.load_labels(label_file)
         self._input_details = self._interpreter.get_input_details()

cnn_manager.py

@@ -26,7 +26,11 @@
 import json
 import threading
 
-from cnn_train import CNNTrainer
+try:
+    from cnn_train import CNNTrainer
+except:
+    logging.warning("tensorflow not available (for training)")
+
 from cnn_classifier import CNNClassifier
 
 MODEL_PATH = "./cnn_models"
@@ -117,6 +121,7 @@ def load_model(self, model_name):
             return CNNClassifier(model_file=MODEL_PATH + "/" + model_name + ".tflite",
                                  label_file=MODEL_PATH + "/" + model_name + ".txt")
         return None
+
     class TrainThread(threading.Thread):
 
         def __init__(self, manager, model_name, architecture, image_tags, photos_metadata, training_steps, learning_rate):