Integrated basic send video functionality into controller.py

Working on making the networking code more resistant to crashing, and capable
of self recovery, but stability after an error is still an issue. Need to a
restart count to the watchdog, to catch this and restart the controller.

.gitignore

@@ -11,6 +11,7 @@ gpio.conf
 #ignore (open?) files with ~ in name:
 *~
 *.pyc
+*.swp
 
 #ignore emacs temporary files
 \#*\#

audio_util.py

@@ -3,7 +3,7 @@
 
 def getAudioDeviceByName(name):
 
-	text = subprocess.check_output(['aplay', '-l'])
+	text = subprocess.check_output(['arecord', '-l'])
 	lines = text.splitlines()
 	for line in lines:
 		if name in line:

controller.py

@@ -38,9 +38,10 @@
     print ("Error in letsrobot.conf:", sys.exc_info()[0])
     sys.exit()
 
-
 handlingCommand = False    
 chat_module = None
+move_handler = None
+terminate = thread.allocate_lock()
 
 # This is required to allow us to get True / False boolean values from the
 # command line    
@@ -55,17 +56,15 @@ def str2bool(v):
 # TODO assess these and other options in the config to see which ones are most 
 # appropriate to be overidden from the command line.
 # check the command line for and config file overrides.
-
-
-
-
 parser = argparse.ArgumentParser(description='start robot control program')
 parser.add_argument('--robot-id', help='Robot ID', default=robot_config.get('robot', 'robot_id'))
 parser.add_argument('--info-server', help="Server that robot will connect to for information about servers and things", default=robot_config.get('misc', 'info_server'))
 parser.add_argument('--type', help="Serial or motor_hat or gopigo2 or gopigo3 or l298n or motozero or pololu", default=robot_config.get('robot', 'type'))
+parser.add_argument('--video', default=robot_config.get('camera', 'type'))
 parser.add_argument('--custom-hardware', type=str2bool, default=robot_config.getboolean('misc', 'custom_hardware'))
 parser.add_argument('--custom-tts', type=str2bool, default=robot_config.getboolean('misc', 'custom_tts'))
 parser.add_argument('--custom-chat', type=str2bool, default=robot_config.getboolean('misc', 'custom_chat'))
+parser.add_argument('--custom-video', type=str2bool, default=robot_config.getboolean('misc', 'custom_video'))
 parser.add_argument('--ext-chat-command', type=str2bool, default=robot_config.getboolean('tts', 'ext_chat'))
 parser.add_argument('--secure-cert', type=str2bool, default=robot_config.getboolean('misc', 'secure_cert'))
 parser.add_argument('--debug-messages', type=str2bool, default=robot_config.getboolean('misc', 'debug_messages'))
@@ -187,6 +186,11 @@ def handle_command(args):
         global handlingCommand
         handlingCommand = True
 
+        # catch move commands that happen before the controller has fully
+        # loaded and set a move handler.
+        if move_handler == None:
+           return
+
         if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:
 
             if debug_messages:
@@ -235,6 +239,11 @@ def auto_wifi_task():
     t = Timer(10, auto_wifi_task)
     t.daemon = True
     t.start()
+
+def restart_controller(command, args):
+    if extended_command.is_authed(args['name']) == 2: # Owner
+        terminate.acquire()
+
 
 # TODO : This really doesn't belong here, should probably be in start script.
 # watch dog timer
@@ -259,8 +268,6 @@ def auto_wifi_task():
 # If messenger is enabled, connect a chat socket for return messages
 if robot_config.getboolean('messenger', 'enable'):
     messengerSocket = networking.setupMessengerSocket()
-    messengerSocket.emit('chat_message', { 'message': '[Hello Bot] Hello world!', 'robot_id': '60582868', 'robot_name': 'Hello Bot', "secret": "iknowyourelookingatthisthatsfine"})
-
 
 # If reverse SSH is enabled and if the key file exists, import it and hook it in.
 if robot_config.getboolean('misc', 'reverse_ssh') and os.path.isfile(robot_config.get('misc', 'reverse-ssh-key-file')):
@@ -294,6 +301,36 @@ def auto_wifi_task():
 move_handler = module.move
 
 # Load a custom chat handler if enabled and exists
+if commandArgs.custom_video:
+    if os.path.exists('video/video_custom.py'):
+        if (sys.version_info > (3, 0)):
+            video_module = importlib.import_module('video.video_custom')
+        else:
+            video_module = __import__('video.video_custom', fromlist=['video_custom'])
+    else:
+        print("Unable to find video/video_custom.py")    
+        if (sys.version_info > (3, 0)):
+            video_module = importlib.import_module('video.'+commandArgs.video)
+        else:
+            video_module = __import__("video."+commandArgs.video, fromlist=[commandArgs.video])
+else:
+    if (sys.version_info > (3, 0)):
+        video_module = importlib.import_module('video.'+commandArgs.video)
+    else:
+        video_module = __import__("video."+commandArgs.video, fromlist=[commandArgs.video])
+
+# Setup the video encoding
+video_module.setup(robot_config)
+video_module.start()
+
+#load the extended chat commands
+if ext_chat:
+    extended_command.setup(robot_config)
+    extended_command.move_handler=move_handler
+    move_handler = extended_command.move_auth
+    extended_command.add_command('.restart', restart_controller)
+
+# Load the video handler
 if commandArgs.custom_chat:
     if os.path.exists('chat_custom.py'):
         if (sys.version_info > (3, 0)):
@@ -305,18 +342,16 @@ def auto_wifi_task():
 
     else:
        print("Unable to find chat_custom.py")
-
-#load the extended chat commands
-if ext_chat:
-    extended_command.setup(robot_config)
-    extended_command.move_handler=move_handler
-    move_handler = extended_command.move_auth
 
 # add auto wifi task
 if auto_wifi:
     auto_wifi_task()
 
-while True:
+import atexit
+atexit.register(print, "Attempting to clean up and exit nicely")
+
+while not terminate.locked():
     time.sleep(1)
     watchdog.watch()
-
+
+sys.exit()

extended_command.py

@@ -55,7 +55,6 @@
 dev_mode_mods = False
 anon_control = True
 owner = None
-v4l2_ctl = None
 robot_id = None
 api_key = None
 stationary = None
@@ -64,13 +63,11 @@
 
 def setup(robot_config):
     global owner
-    global v4l2_ctl
     global robot_id
     global api_key
     global buttons_json
 
     owner = robot_config.get('robot', 'owner')
-    v4l2_ctl = robot_config.get('misc', 'v4l2-ctl')
     robot_id = robot_config.get('robot', 'robot_id')
 
     if robot_config.has_option('robot', 'api_key'):
@@ -277,24 +274,6 @@ def show_exclusive_handler(command, args):
                     robot_util.setShowExclusive(True, robot_id, api_key)
                     return
 
-def brightness(command, args):
-    if len(command) > 1:
-        if is_authed(args['name']): # Moderator
-            os.system(v4l2_ctl + " --set-ctrl brightness=" + command[1])
-            print("brightness set to " + command[1])
-
-def contrast(command, args):
-    if len(command) > 1:
-        if is_authed(args['name']): # Moderator
-            os.system(v4l2_ctl + " --set-ctrl contrast=" + command[1])
-            print("contrast set to " + command[1])
-
-def saturation(command, args):
-    if len(command) > 2:
-        if is_authed(args['name']): # Moderator
-            os.system(v4l2_ctl + " --set-ctrl saturation=" + command[1])
-            print("saturation set to " + command[1])
-
 # This is a dictionary of commands and their handler functions
 commands={    '.anon'       :    anon_handler,
 	            '.ban'        :    ban_handler,
@@ -308,18 +287,19 @@ def saturation(command, args):
               '.public'    :    public_mode_handler,
               '.show_exclusive':     show_exclusive_handler,
               '.word_filter':    word_filter_handler,
-              '.brightness' :    brightness,
-              '.contrast'   :    contrast,    
-              '.saturation' :    saturation,
               '.stationary' :    stationary_handler
 	        }
 
 def handler(args):
     command = args['message']
 # TODO : This will not work with robot names with spaces, update it to split on ']'
 # [1:]
-    command = command.split(']')[1:][0].split(' ')[1:]
-    print(command)
+
+    try:	
+        command = command.split(']')[1:][0].split(' ')[1:]
+        print(command)
+    except IndexError: # catch empty messages
+        return
 
     if command != None:
         if command[0] in commands:

hardware/l298n.py

@@ -45,6 +45,7 @@ def setup(robot_config):
         mode=GPIO.getmode()
         print(" mode ="+str(mode))
 
+    GPIO.setwarnings(False)
     GPIO.cleanup()
 
     if robot_config.getboolean('tts', 'ext_chat'): #ext_chat enabled, add motor commands