general improvements and fixes

Author: previ

coderbot/api.py

@@ -114,6 +114,7 @@ def move(body):
     distance=body.get("distance")
     if (speed is None or speed == 0) or (elapse is not None and distance is not None):
         return 400
+    speed = max(-100, min(100, speed))
     bot.move(speed=speed, elapse=elapse, distance=distance)
     return 200
 
@@ -123,6 +124,7 @@ def turn(body):
     distance=body.get("distance")
     if (speed is None or speed == 0) or (elapse is not None and distance is not None):
         return 400
+    speed = max(-100, min(100, speed))
     bot.turn(speed=speed, elapse=elapse, distance=distance)
     return 200
 
@@ -201,23 +203,26 @@ def listPhotos():
 
 def getPhoto(name):
     mimetype = {'jpg': 'image/jpeg', 'mp4': 'video/mp4'}
+    name = os.path.basename(name)
     try:
         media_file = cam.get_photo_file(name)
-        return send_file(media_file, mimetype=mimetype.get(name[:-3], 'image/jpeg'), max_age=0)
+        return send_file(media_file, mimetype=mimetype.get(name[-3:], 'image/jpeg'), max_age=0)
     except picamera.exc.PiCameraError as e:
         logging.error("Error: %s", str(e))
         return 503
     except FileNotFoundError:
         return 404
 
 def savePhoto(name, body):
+    name = os.path.basename(name)
     try:
         cam.update_photo({"name": name, "tag": body.get("tag")})
     except FileNotFoundError:
         return 404
 
 def deletePhoto(name):
     logging.debug("photo delete")
+    name = os.path.basename(name)
     try:
         cam.delete_photo(name)
     except FileNotFoundError:
@@ -235,10 +240,10 @@ def saveSettings(body):
     return 200
 
 def updateFromPackage():
-    os.system('sudo bash /home/pi/clean-update.sh')
+    subprocess.run(['sudo', 'bash', '/home/pi/clean-update.sh'], check=False)
     file_to_upload = connexion.request.files['file_to_upload']
     file_to_upload.save(os.path.join('/home/pi/', 'update.tar'))
-    os.system('sudo reboot')
+    subprocess.run(['sudo', 'reboot'], check=False)
     return 200
 
 def listMusicPackages():

coderbot/audio.py

@@ -21,6 +21,7 @@
 from array import array
 import time
 import logging
+import subprocess
 import wave
 import audioop
 import pyaudio
@@ -64,8 +65,16 @@ def exit(self):
     def say(self, what, locale='en'):
         if what and "$" in what:
             self.play(what[1:] + SOUNDEXT)
-        elif what and what:
-            os.system('espeak --stdout -v' + locale + ' -p 90 -a 200 -s 150 -g 10 "' + what + '" 2>>/dev/null | aplay -q')
+        elif what:
+            try:
+                espeak = subprocess.Popen(
+                    ['espeak', '--stdout', '-v', locale, '-p', '90', '-a', '200', '-s', '150', '-g', '10', what],
+                    stdout=subprocess.PIPE, stderr=subprocess.DEVNULL
+                )
+                subprocess.run(['aplay', '-q'], stdin=espeak.stdout, stderr=subprocess.DEVNULL)
+                espeak.wait()
+            except FileNotFoundError:
+                logging.warning("espeak or aplay not found")
 
     def normalize(self, snd_data):
         "Average the volume out"

coderbot/camera.py

@@ -127,9 +127,8 @@ def load_photo_metadata(self):
             self.save_photo_metadata()
 
     def save_photo_metadata(self):
-        f = open(PHOTO_METADATA_FILE, "wt")
-        json.dump(self._photos, f)
-        f.close()
+        with open(PHOTO_METADATA_FILE, "wt") as f:
+            json.dump(self._photos, f)
 
     def update_photo(self, photo):
         for p in self._photos:
@@ -152,17 +151,14 @@ def photo_take(self):
         photo_index = self.get_next_photo_index()
         filename = PHOTO_PREFIX + str(photo_index) + self._camera.PHOTO_FILE_EXT
         filename_thumb = PHOTO_PREFIX + str(photo_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT
-        of = open(PHOTO_PATH + "/" + filename, "wb+")
-        oft = open(PHOTO_PATH + "/" + filename_thumb, "wb+")
         im_str = self.get_image_jpeg()
-        of.write(im_str)
-        # thumb
-        im_pil = PILImage.open(BytesIO(im_str))
-        im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
+        with open(PHOTO_PATH + "/" + filename, "wb+") as of:
+            of.write(im_str)
+        with open(PHOTO_PATH + "/" + filename_thumb, "wb+") as oft:
+            im_pil = PILImage.open(BytesIO(im_str))
+            im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
         self._photos.append({"name":filename})
         self.save_photo_metadata()
-        of.close()
-        oft.close()
 
     def is_recording(self):
         return self.recording
@@ -186,15 +182,14 @@ def video_rec(self, video_name=None):
             except Exception:
                 pass
 
-        oft = open(PHOTO_PATH +  "/" + filename_thumb, "wb")
-        im_str = self._camera.get_image_jpeg()
-        im_pil = PILImage.open(BytesIO(im_str))
-        im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
+        with open(PHOTO_PATH +  "/" + filename_thumb, "wb") as oft:
+            im_str = self._camera.get_image_jpeg()
+            im_pil = PILImage.open(BytesIO(im_str))
+            im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
         self._photos.append({"name":filename})
         self.save_photo_metadata()
         self._camera.video_rec(PHOTO_PATH + "/" + filename)
         self.video_start_time = time.time()
-        oft.close()
 
     def video_stop(self):
         if self.recording:

coderbot/coderbot.py

@@ -17,8 +17,6 @@
 #    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 ############################################################################
 
-import os
-import sys
 import time
 from math import copysign
 import logging
@@ -102,11 +100,12 @@ class CoderBot(object):
     # pylint: disable=too-many-instance-attributes
 
     def __init__(self, motor_trim_factor=1.0, motor_min_power=0, motor_max_power=100, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+        self._mpu = None
         try:
             self._mpu = mpu.AccelGyroMag()
             logging.info("MPU available")
-        except:
-            logging.info("MPU not available")
+        except Exception:
+            logging.warning("MPU not available")
 
         self.GPIOS = HW_VERSIONS.get(hw_version, GPIO_CODERBOT_V_5())
         self._pin_out = [self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD, self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD, self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
@@ -178,11 +177,20 @@ def turn(self, speed=100, elapse=None, distance=None):
         self.motor_control(speed_left=speed_left, speed_right=speed_right, time_elapse=elapse, target_distance=distance)
 
     def turn_angle(self, speed=100, angle=0):
-        z = self._mpu.get_gyro()[2]
+        if self._mpu is None:
+            logging.warning("MPU not available, cannot turn by angle")
+            return
+        accumulated = 0.0
         self.turn(speed, elapse=0)
-        while abs(z - self._mpu.get_gyro()[2]) < angle:
+        t = time.time()
+        while abs(accumulated) < angle:
+            now = time.time()
+            dt = now - t
+            t = now
+            gyro_z = self._mpu.get_gyro()[2]
+            accumulated += gyro_z * dt
+            logging.info("turn_angle: accumulated=%.2f target=%s", accumulated, angle)
             time.sleep(0.05)
-            logging.info(self._mpu.get_gyro()[2])
         self.stop()
 
     def forward(self, speed=100, elapse=None, distance=None):
@@ -204,24 +212,32 @@ def get_sonar_distance(self, sonar_id=0):
         return self.sonar[sonar_id].get_distance()
 
     def get_mpu_accel(self, axis=None):
+        if self._mpu is None:
+            return None
         acc = self._mpu.get_acc()
         if axis is None:
             return acc
         else:
             return int(acc[axis]*100.0)/100.0
 
     def get_mpu_gyro(self, axis=None):
+        if self._mpu is None:
+            return None
         gyro = self._mpu.get_gyro()
         if axis is None:
             return gyro
         else:
-            return int(gyro[axis]*100.0)/200.0
+            return int(gyro[axis]*100.0)/100.0
 
     def get_mpu_heading(self):
+        if self._mpu is None:
+            return None
         hdg = self._mpu.get_hdg()
         return int(hdg)
 
     def get_mpu_temp(self):
+        if self._mpu is None:
+            return None
         temp = self._mpu.get_temp()
         return int(temp*100.0)/100.0
 
@@ -242,7 +258,7 @@ def stop(self):
         self._twin_motors_enc.stop()
 
     def is_moving(self):
-        return self._twin_motors_enc._is_moving
+        return self._twin_motors_enc.is_moving()
 
     # Distance travelled getter
     def distance(self):
@@ -254,7 +270,7 @@ def speed(self):
 
     # CoderBot direction getter
     def direction(self):
-        return self._twin_motors_enc.speed()
+        return self._twin_motors_enc.direction()
 
     def set_callback(self, gpio, callback, elapse):
         self._cb_elapse[gpio] = elapse * 1000

coderbot/config.py

@@ -37,14 +37,13 @@ def read(cls):
             cls.restore()
         with open(CONFIG_FILE, 'r') as f:
           cls._config = json.load(f)
-          f.close()
           return cls._config
 
     @classmethod
     def write(cls, config):
         cls._config = config
-        f = open(CONFIG_FILE, 'w')
-        json.dump(cls._config, f)
+        with open(CONFIG_FILE, 'w') as f:
+            json.dump(cls._config, f)
         return cls._config
 
     @classmethod

coderbot/cv/camera.py

@@ -122,8 +122,8 @@ def get_image_bgr(self):
     def set_overlay_text(self, text):
         try:
             self.camera.annotate_text = text
-        except picamera.PiCameraValueError:
-            logging.info("PiCameraValueError")
+        except Exception:
+            logging.info("Unable to set overlay text")
 
     def close(self):
         self.camera.close()

coderbot/cv/image.py

@@ -29,8 +29,8 @@
 
 try:
     from pyzbar.pyzbar import decode
-except:
-    logging.info("zbar not availabe")
+except Exception:
+    logging.info("zbar not available")
 
 class Image():
     r_from = np.float32([[0, 0], [640, 0], [640, 480], [0, 480]])
@@ -123,7 +123,7 @@ def grayscale(self):
         return Image(data)
 
     def blackwhite(self):
-        data = cv2.threshold(self._data, 128, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)
+        _, data = cv2.threshold(self._data, 128, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)
         return Image(data)
 
     def invert(self):

coderbot/main.py

@@ -95,15 +95,16 @@ def run_server():
             CNNManager.get_instance()
             EventManager.get_instance("coderbot")
 
-            if app.bot_config.get('load_at_start') and app.bot_config.get('load_at_start'):
+            if app.bot_config.get('load_at_start'):
                 prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
                 prog.execute()
+
+            bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
+
         except ValueError as e:
             app.bot_config = {}
             logging.error(e)
 
-        bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
-
         remove_doreset_file()
 
         app.run(host="0.0.0.0", port=5000)

coderbot/motion.py

@@ -170,10 +170,9 @@ def track_keypoints(self, prev_image, cur_image, tracks):
         #print "initial tp: ", len(self.tracks), " current tp: ", len(new_tracks)
         #print len(new_tracks), len(tracks)
         tracks[:] = new_tracks[:]
-        if tracks is False:
+        if not tracks:
             logging.warning("lost ALL tp!")
             self.bot.stop()
-            #exit(0)
         #cv2.polylines(self.vis, [np.int32(tr) for tr in self.tracks], False, (0, 255, 0))
 
     def calc_motion(self):