Hello GroG,
 
All good ?
 
It's done, Eclipse is well installed, and all is ok, i can compile MRL without problem.
can you explain me the next step to create my own service please.
 
And i've also an other question . I'm trying to make to activate the leds of my robot mouth move while it's speaking.
I thinked, the method " isSpeaking" of the service "speak" will give me a bolean . but i see in the javadoc that.
It need a bolean . Can you explain how it work ?
 
I've tried someting like " while mouth.isSpeaking() -> talk() " Where "talk()" is the fonction that make the leds sequence "
But of course " Python ERROR ; isSpeaking need 1 arg, give 0 "
 
Ah ! and a last question : I begin to have some test files in phyton for my sweety, can i put them in the git repository for
python exemples ( Pyrobotlab ) And if yes, how to do that .
 
That all, thx for your help
Have a nice day
beetlejuice

GroG

9 years 11 months ago

Hello Beetlejuice !

Yes I'm very well thank you.

The next step is just copy & paste the _TemplateService.java service.  Rename it to something you want.

So now this service would control all the other services you want.
And that would depend on what hardware you have.

If I remember correctly - you have 2 Arduinos ?
6 UltrasonicSensors
OpenCV for the webcam .. etc..

You would add these as members of your new class..

For the mouth & speech - you might want to check out MouthControl - this sends out servo motor commands depending on speech.  

isSpeaking and saying are both "publishing" methods - they are called by the service , not your program - they represent changing events of the Speech service.

you would "map or bind" with them from your service to do what you wanted.

For example :

You see this line in MouthControl ?
mouth.addListener(getName(), "saying");

it's it binds the mouth's "saying" with its own - so that every time mouth has a "saying event" - the method in MouthControl named 'saying" gets called

Inside MouthControl you see it's "saying" method - which breaks apart the words and moves the servo - its starts like this ..
 

public synchronized void saying(String text) {
log.info("move moving to :" + text);
 
 
Hope this helps !

Hello !

 

I need help, I'm trying to understand how to do the "Sweety's service", I run  MRL from eclipse, ans run python (installed from right clic and 'install' in the runtime tab.

But how to install sweety's service ? if i try to run it with 

sweety = runtime.createAndStart("sweety", "Sweety")

I get this ERROR :

51708 [python] INFO  class org.myrobotlab.service.Python  - exec sweety = runtime.createAndStart("sweety", "Sweety")
51740 [Thread-6] INFO  class org.myrobotlab.service.Runtime  - Runtime.createService sweety
51756 [Thread-6] ERROR class org.myrobotlab.service.Runtime  - error unknown service org.myrobotlab.service.Sweety 
51756 [Thread-6] ERROR class org.myrobotlab.service.Runtime  - org.myrobotlab.service.Sweety is not installed - please install it
 

its not defined in the an xml file called serviceData.xml - that's why its complaining about not being installed..

My bet is that it is being created and started .. just not displayed as a tab.

You could confirm this by having some logging in the constructor or serviceStart() which say something like 

log.info("IT WORKY !!!") 

and searching for it in the logs.. or set a breakpoint :)

The "sweety" tab is well displayed, nothing run ( arduino , opencv ) i need to understand By reading the sources of other services .

To try i've just added runtime.start("arduino", "Arduino") under runtime.start("GUI", "GUIService")

But it's not only my service that need to be installed, a lot of them like Arduino or python need to be installed.

Easy for them, just right clic and install ...

 

And another question ; Why ultrasonicSensors's service is in the runtime time of this version from source and not in the buids version like 1.0.84 ? Of course, it work if start from python, but there is no icon in the runtime tab .

have a nice day !

in the future you should use :

Runtime.start("arduino","Arduino")

The difference is this is calling a static method, runtime with a small "r" is a convienence handle which Python provides.  Even in python you can (and should) call Runtime.start("sweety","Sweety") with a capital "R"

Yes .. use the source Luke

UltrasonicSensor uses the source's version - because you are running from sources .. the build process makes binaries with the build version - different stuff.

There's no Icon because the serviceData.xml does not have your service in it.

Rock On !

Runtime.start("arduino","Arduino")

I did it, i made this mistake just when i writed this line in the previus post . When i run from source is normal that i must install almost all the service ? just few of them are already installed .

Here is Sweety.java :

package org.myrobotlab.service;

import org.myrobotlab.framework.Service;
import org.myrobotlab.logging.Level;
import org.myrobotlab.logging.LoggerFactory;
import org.myrobotlab.logging.Logging;
import org.myrobotlab.logging.LoggingFactory;
import org.slf4j.Logger;

public class Sweety extends Service {

	private static final long serialVersionUID = 1L;

	public final static Logger log = LoggerFactory.getLogger(Sweety.class);

	public Sweety(String n) {
		super(n);
	}

	@Override
	public String getDescription() {
		return "Service for the robot Sweety";
	}

 static void main(String[] args) {
		LoggingFactory.getInstance().configure();
		LoggingFactory.getInstance().setLevel(Level.INFO);

		try {

			Sweety sweety = (Sweety)Runtime.start("sweety", "Sweety");
			sweety.test();
			
			/*Runtime.start("gui", "GUIService");;*/
						
			Arduino arduino = (Arduino)Runtime.start("arduino", "Arduino");

		} catch (Exception e) {
			Logging.logException(e);
		}
	}

}

Here is the python script that i would to put in a service ( for now ) :

 

# this is the script for sweety

# libraries
from java.lang import String
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
from time import sleep
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo

#################
# Hardware setup
#################

# Arduino's pins
rightMotorBackwardPin = 2
rightMotorForwardPin = 3
leftMotorForwardPin = 4
leftMotorBackwardPin = 5

backUltrasonicTrig = 22
backUltrasonicEcho = 23
back_leftUltrasonicTrig = 24
back_leftUltrasonicEcho = 25
back_rightUltrasonicTrig = 26
back_rightUltrasonicEcho = 27
front_leftUltrasonicTrig = 28
front_leftUltrasonicEcho = 29
frontUltrasonicTrig = 30
frontUltrasonicEcho = 31
front_rightUltrasonicTrig = 32
front_rightUltrasonicEcho = 33

SHIFT = 47
LATCH = 48
DATA = 49

# Arduino setup and start
comPort = "COM8"
arduino = Runtime.createAndStart("arduino","Arduino")
arduino.setBoard("atmega2560") # atmega168 | mega2560 | etc

# create ear and mouth
ear = Runtime.createAndStart("ear","Sphinx")
mouth = Runtime.createAndStart("mouth","Speech")
mouth.setLanguage("fr") # choose the langage
mouth.setBackendType("GOOGLE") # can be replaced by "FREETTS"
mouth.setGenderFemale() # setGenderMale or setGenderFemale


 
# Connect the arduino
arduino.connect(comPort,57600,8,1,0)
sleep(2) # give it two second for the serial device to get ready

# set pinMode
arduino.pinMode(SHIFT, Arduino.OUTPUT)
arduino.pinMode(LATCH, Arduino.OUTPUT)
arduino.pinMode(DATA, Arduino.OUTPUT)

# Creating and starting servos services

leftForearm = runtime.createAndStart("leftForearm","Servo")
rightForearm = runtime.createAndStart("rightForearm","Servo")
rightShoulder = runtime.createAndStart("rightShoulder","Servo")
leftShoulder = runtime.createAndStart("leftShoulder","Servo")
rightArm = runtime.createAndStart("rightArm","Servo")
neck = runtime.createAndStart("neck","Servo")
leftEye = runtime.createAndStart("leftEye","Servo")
leftArm = runtime.createAndStart("leftArm","Servo")
rightEye = runtime.createAndStart("rightEye","Servo")
rightHand = runtime.createAndStart("rightHand","Servo")
rightWrist = runtime.createAndStart("rightWrist","Servo")
leftHand = runtime.createAndStart("leftHand","Servo")
leftWrist = runtime.createAndStart("lefttWrist","Servo")

# attach servos
rightForearm.attach(arduino.getName(),34)
leftForearm.attach(arduino.getName(),35)
rightShoulder.attach(arduino.getName(),36)
leftShoulder.attach(arduino.getName(),37)
rightArm.attach(arduino.getName(),38)
leftArm.attach(arduino.getName(),41)
neck.attach(arduino.getName(),39)
leftEye.attach(arduino.getName(),40)
rightEye.attach(arduino.getName(),42)
rightHand.attach(arduino.getName(),46)
rightWrist.attach(arduino.getName(),44)
leftHand.attach(arduino.getName(),43)
leftWrist.attach(arduino.getName(),45)

# Servos min and max
leftForearm.setMinMax(85,140)
rightForearm.setMinMax(5,67)
rightShoulder.setMinMax(0,155)
leftShoulder.setMinMax(0,145)
rightArm.setMinMax(25,130)
neck.setMinMax(55,105)
leftEye.setMinMax(25,125)
leftArm.setMinMax(45,117)
rightEye.setMinMax(80,180)
rightHand.setMinMax(10,75)
rightWrist.setMinMax(0,180)
leftHand.setMinMax(80,150)
leftWrist.setMinMax(0,180)

# Servos start position
def startPosition() :
	leftForearm.moveTo(136)
	rightForearm.moveTo(5)
	rightShoulder.moveTo(4)
	leftShoulder.moveTo(145)
	rightArm.moveTo(30)
	leftArm.moveTo(108)
	neck.moveTo(75)
	leftEye.moveTo(75)
	rightEye.moveTo(127)
	rightHand.moveTo(10)
	rightWrist.moveTo(116)
	leftHand.moveTo(150)
	leftWrist.moveTo(85)

# update the gui with configuration changes
arduino.publishState()
leftForearm.publishState()
rightForearm.publishState()
rightShoulder.publishState()
leftShoulder.publishState()
rightArm.publishState()
neck.publishState()
leftEye.publishState()
leftArm.publishState()
rightEye.publishState()
rightHand.publishState()
rightWrist.publishState()
leftHand.publishState()
leftWrist.publishState()

# Create shiftOut fonction
def shiftOut(value):
	arduino.digitalWrite(LATCH, arduino.LOW)		# Stop the copy
	for byte in value:
		if byte == 1 :
			arduino.digitalWrite(DATA,arduino.HIGH)  
		else :
			arduino.digitalWrite(DATA,arduino.LOW)
		arduino.digitalWrite(SHIFT, arduino.HIGH) 
		arduino.digitalWrite(SHIFT, arduino.LOW)
	arduino.digitalWrite(LATCH, arduino.HIGH)	# copy 

# Mouth LEDs fonctions

def smile():
	shiftOut([1,1,0,1,1,1,0,0]) #	send data
def notHappy():	
	shiftOut([0,0,1,1,1,1,1,0]) #	send data
def speechLess():
	shiftOut([1,0,1,1,1,1,0,0]) # send data
def talk():
	shiftOut([0,0,0,0,0,0,0,0]) #	send data
	sleep(0.05)
	shiftOut([0,0,0,0,0,1,0,0]) #	send data
	sleep(0.05)
	shiftOut([0,0,0,1,1,1,0,0]) #	send data
	sleep(0.05)
	shiftOut([0,0,0,0,0,1,0,0]) #	send data
	sleep(0.05)



#################
# listen and talk
#################

# start listening for the words we are interested in
ear.startListening("bonjour | statut | depart")
 
# 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 and print the word recognized

def heard():
      data = msg_ear_recognized.data[0]
      print "heard ", data
      if (data == "bonjour"):
		print data
		hello()
      elif (data == "depart"):
      	print  data
      	startPosition()
    # ... etc
 


def hello():
         	mouth.speak("bonjour")
		rightShoulder.moveTo(155)
		sleep(0.8)
		rightArm.moveTo(45)
		i = 0
		for i in range(1,5):
			rightForearm.moveTo(30)
			sleep(0.2)
			rightForearm.moveTo(5)
			sleep(0.2)
			i+=1
		sleep(0.5)
		rightArm.moveTo(30)	
		rightShoulder.moveTo(4)


# prevent infinite loop - this will suppress the
# recognition when speaking - default behavior
# when attaching an ear to a mouth :)
#ear.attach("mouth")


# starting
startPosition()
hello()
"""if (mouth.isSpeaking()):
	talk()"""
smile()


      
    
          
  • 
      

    

  








    

  

    

      

  


    

  

  

    
    

              
        

        
            
            
Hi, i need again your help ...


I've an error  [Thread-7] ERROR class org.myrobotlab.logging.Logging  - ------ two time in the python's log when i run the sweety service .


can you help me ? i've just added the function myShiftout, and a line for add a servo that was missing, but the error was already here before i commit these change .


I send you a noworky and i update the sweety.java file on github.


Thx



      
    
          
  •