Merge branch 'master' into develop

Conflicts:
	coderbot.cfg

Author: previ

camera.py

@@ -155,7 +155,9 @@ def video_rec(self, video_name=None):
       filename = VIDEO_PREFIX + video_name + self._camera.VIDEO_FILE_EXT;
       filename_thumb = VIDEO_PREFIX + video_name + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
       try:
+        #remove previous file and reference in album
         os.remove(PHOTO_PATH + "/" + filename)
+        self._photos.remove(filename)
       except:
         pass
 

coderbot.cfg

@@ -1 +1,2 @@
-{"move_tr_speed": "80", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_path_object_size_min": "4000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "4", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "move_power_angle_1": "45", "move_motor_trim": "1", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "prog_move_mpu": "yes", "ctrl_fw_speed": "100", "camera_refresh_timeout": "0.1", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "move_motor_mode": "dc", "camera_path_object_size_max": "160000", "show_page_control": "true"}
+{"move_tr_speed": "80", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_path_object_size_min": "4000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "4", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "move_power_angle_1": "45", "move_motor_trim": "1", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "prog_move_mpu": "yes", "ctrl_fw_speed": "100", "camera_refresh_timeout": "0.1", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "move_motor_mode": "dc", "camera_path_object_size_max": "160000", "show_page_control": "true"}
+{"move_tr_speed": "80", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_path_object_size_min": "4000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "prog_video_rec": "true", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "4", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "move_power_angle_1": "40", "move_motor_trim": "1.1", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_refresh_timeout": "0.1", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "move_motor_mode": "dc", "camera_path_object_size_max": "160000", "show_page_control": "true"}

data/program_.data

@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_adv_findFace\"><field name=\"RETVAL\">X</field></block></value></block></statement></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  get_cam().set_text(get_cam().find_face()[0])\n", "name": "face_find"}
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"32\" y=\"26\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">face</field><value name=\"VALUE\"><block type=\"coderbot_adv_findFace\"><field name=\"RETVAL\">ALL</field></block></value><next><block type=\"variables_set\"><field name=\"VAR\">face_x</field><value name=\"VALUE\"><block type=\"lists_getIndex\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\"><field name=\"VAR\">face</field></block></value><value name=\"AT\"><block type=\"math_number\"><field name=\"NUM\">1</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">face_size</field><value name=\"VALUE\"><block type=\"lists_getIndex\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\"><field name=\"VAR\">face</field></block></value><value name=\"AT\"><block type=\"math_number\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">face: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">face_x</field></block></value></block></value><next><block type=\"controls_if\"><value name=\"IF0\"><block type=\"variables_get\"><field name=\"VAR\">face_x</field></block></value><statement name=\"DO0\"><block type=\"controls_if\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">-10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_stop\"></block></statement></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "face = None\nface_x = None\nface_size = None\n\n\nwhile True:\n  get_prog_eng().check_end()\n  face = get_cam().find_face()\n  face_x = face[0]\n  face_size = face[1]\n  get_cam().set_text(str('face: ') + str(face_x))\n  if face_x:\n    if face_x < -10:\n      get_bot().left(speed=40, elapse=0.1)\n    elif face_x > 10:\n      get_bot().right(speed=40, elapse=0.1)\n    else:\n      get_bot().stop()\n", "name": "face_find"}

data/program_face_find.data

@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#000500</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  get_cam().set_text(get_cam().find_color('#000500')[0])\n", "name": "find_color"}
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n  get_prog_eng().check_end()\n  dist = get_cam().find_color('#96b73c')[0]\n  angle = get_cam().find_color('#96b73c')[1]\n  get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n", "name": "find_color"}

data/program_find_color.data

@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"text_print\" id=\"26\" x=\"-24\" y=\"170\"><value name=\"TEXT\"><block type=\"coderbot_audio_listen\" id=\"10\"><field name=\"MODEL\">model_simple</field></block></value></block></xml>", "code": "get_cam().set_text(get_audio().speech_recog(model=\"model_simple))\n", "name": "test_speech_recog"}
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-52\" y=\"138\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text\"><field name=\"TEXT\">Listening...</field></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_audio_listen\"><field name=\"MODEL\">model_simple</field></block></value><next><block type=\"coderbot_sleep\"><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">1</field></block></value></block></next></block></next></block></statement></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  get_cam().set_text('Listening...')\n  get_cam().set_text(get_audio().speech_recog(model=\"model_simple\"))\n  get_cam().sleep(1)\n", "name": "test_speech_recog"}

data/program_test_speech_recog.data

@@ -311,7 +311,7 @@ def run_server():
       audio.say(app.bot_config.get("sound_start"))
       try:
 	cam = Camera.get_instance()
-        motion = Motion.get_instance()
+        #motion = Motion.get_instance()
       except picamera.exc.PiCameraError:
         logging.error("Camera not present")
 

data/program_trim_test.data

@@ -0,0 +1,18 @@
+A	AH
+A(2)	EY
+BACKWARD	B AE K W ER D
+CODERBOT	K OW D AH R B AA T
+FORWARD	F AO R W ER D
+LEFT	L EH F T
+MOVE	M UW V
+OKAY	OW K EY
+PICTURE	P IH K CH ER
+RECORD	R AH K AO R D
+RECORD(2)	R EH K ER D
+RECORD(3)	R IH K AO R D
+RIGHT	R AY T
+SAY	S EY
+STOP	S T AA P
+TAKE	T EY K
+TURN	T ER N
+VIDEO	V IH D IY OW

main.py

@@ -0,0 +1,82 @@
+Language model created by QuickLM on Fri Jul 17 10:28:00 EDT 2015
+Copyright (c) 1996-2010 Carnegie Mellon University and Alexander I. Rudnicky
+
+The model is in standard ARPA format, designed by Doug Paul while he was at MITRE.
+
+The code that was used to produce this language model is available in Open Source.
+Please visit http://www.speech.cs.cmu.edu/tools/ for more information
+
+The (fixed) discount mass is 0.5. The backoffs are computed using the ratio method.
+This model based on a corpus of 9 sentences and 17 words
+
+\data\
+ngram 1=17
+ngram 2=24
+ngram 3=18
+
+\1-grams:
+-0.9031 </s> -0.3010
+-0.9031 <s> -0.2430
+-1.8573 A -0.2950
+-1.8573 BACKWARD -0.2430
+-1.8573 CODERBOT -0.2430
+-1.8573 FORWARD -0.2430
+-1.8573 LEFT -0.2430
+-1.5563 MOVE -0.2888
+-1.8573 OKAY -0.2950
+-1.8573 PICTURE -0.2430
+-1.8573 RECORD -0.2888
+-1.8573 RIGHT -0.2430
+-1.8573 SAY -0.2430
+-1.8573 STOP -0.2888
+-1.8573 TAKE -0.2950
+-1.5563 TURN -0.2888
+-1.5563 VIDEO -0.2430
+
+\2-grams:
+-0.9542 <s> MOVE 0.0000
+-1.2553 <s> OKAY 0.0000
+-1.2553 <s> RECORD 0.0000
+-1.2553 <s> SAY 0.0000
+-1.2553 <s> STOP 0.0000
+-1.2553 <s> TAKE 0.0000
+-0.9542 <s> TURN 0.0000
+-0.3010 A PICTURE 0.0000
+-0.3010 BACKWARD </s> -0.3010
+-0.3010 CODERBOT </s> -0.3010
+-0.3010 FORWARD </s> -0.3010
+-0.3010 LEFT </s> -0.3010
+-0.6021 MOVE BACKWARD 0.0000
+-0.6021 MOVE FORWARD 0.0000
+-0.3010 OKAY CODERBOT 0.0000
+-0.3010 PICTURE </s> -0.3010
+-0.3010 RECORD VIDEO 0.0000
+-0.3010 RIGHT </s> -0.3010
+-0.3010 SAY </s> -0.3010
+-0.3010 STOP VIDEO 0.0000
+-0.3010 TAKE A 0.0000
+-0.6021 TURN LEFT 0.0000
+-0.6021 TURN RIGHT 0.0000
+-0.3010 VIDEO </s> -0.3010
+
+\3-grams:
+-0.6021 <s> MOVE BACKWARD
+-0.6021 <s> MOVE FORWARD
+-0.3010 <s> OKAY CODERBOT
+-0.3010 <s> RECORD VIDEO
+-0.3010 <s> SAY </s>
+-0.3010 <s> STOP VIDEO
+-0.3010 <s> TAKE A
+-0.6021 <s> TURN LEFT
+-0.6021 <s> TURN RIGHT
+-0.3010 A PICTURE </s>
+-0.3010 MOVE BACKWARD </s>
+-0.3010 MOVE FORWARD </s>
+-0.3010 OKAY CODERBOT </s>
+-0.3010 RECORD VIDEO </s>
+-0.3010 STOP VIDEO </s>
+-0.3010 TAKE A PICTURE
+-0.3010 TURN LEFT </s>
+-0.3010 TURN RIGHT </s>
+
+\end\