Feature/event tweaks

animations/curious.json

@@ -0,0 +1,12 @@
+[
+  {"servo:tilt:mv": 10},
+  {"sleep": 0.5},
+  {"servo:pan:mv": 15},
+  {"sleep": 0.5},
+  {"servo:pan:mv": -15},
+  {"sleep": 0.5},
+  {"servo:tilt:mv": -10},
+  {"sleep": 0.5},
+  {"servo:pan:mv": 0},
+  {"servo:tilt:mv": 0}
+]

animations/excitement.json

@@ -0,0 +1,17 @@
+[
+  {"servo:pan:mv": 30},
+  {"servo:tilt:mv": 20},
+  {"sleep": 0.3},
+  {"servo:pan:mv": -30},
+  {"servo:tilt:mv": -20},
+  {"sleep": 0.3},
+  {"servo:pan:mv": 40},
+  {"servo:tilt:mv": 30},
+  {"sleep": 0.3},
+  {"servo:pan:mv": -40},
+  {"servo:tilt:mv": -30},
+  {"sleep": 0.3},
+  {"servo:pan:mv": 0},
+  {"servo:tilt:mv": 0},
+  {"sleep": 1}
+]

animations/excitement2.json

@@ -0,0 +1,14 @@
+[
+  {"servo:pan:mv": 30},
+  {"servo:tilt:mv": 20},
+  {"led/color": "blue"},
+  {"sleep": 0.3},
+  {"servo:pan:mv": -30},
+  {"servo:tilt:mv": -20},
+  {"led/color": "red"},
+  {"sleep": 0.3},
+  {"servo:pan:mv": 0},
+  {"servo:tilt:mv": 0},
+  {"led/color": "green"},
+  {"sleep": 1}
+]

animations/level_neck.json

@@ -0,0 +1,4 @@
+[
+  {"servo:tilt:mvabs": 50},
+  {"sleep": 1}
+]

animations/sadness.json

@@ -0,0 +1,10 @@
+[
+  {"servo:tilt:mv": -20},
+  {"sleep": 1},
+  {"servo:pan:mv": -10},
+  {"sleep": 1},
+  {"servo:pan:mv": 10},
+  {"sleep": 1},
+  {"servo:pan:mv": 0},
+  {"servo:tilt:mv": 0}
+]

animations/surprise.json

@@ -0,0 +1,11 @@
+[
+  {"piservo/move": 40},
+  {"servo:tilt:mv": 30},
+  {"sleep": 0.2},
+  {"servo:pan:mv": 20},
+  {"sleep": 0.2},
+  {"servo:pan:mv": -20},
+  {"sleep": 0.2},
+  {"servo:tilt:mv": 0},
+  {"sleep": 0.5}
+]

arduino_sketch/Config.h

@@ -66,7 +66,7 @@ int PosSleep[SERVO_COUNT] = {40, 60, 95, 140, 120, 85, PosMax[7], 90, 180, 0};
 //0, 3 = HIP
 int PosStart[SERVO_COUNT] = {60, 0, 165, 120, 180, 30, 90, 90, 180, 0};
 
-int PosBackpack[SERVO_COUNT] = {30, 5, 90, 130, 120, 160, 90, 90, 180, 0}; // Position legs to support when mounted to backpack
+int PosBackpack[SERVO_COUNT] = {30, 5, 130, 130, 120, 160, 90, 90, 180, 0}; // Position legs to support when mounted to backpack
 int PosStraight[SERVO_COUNT] = {45, 90, 165, 135, 90, 20, 90, 90, 180, 0}; // straighten legs and point feet to fit in backpack upright
 
 //int PosRest[SERVO_COUNT] = {S1_REST, S2_REST, S3_REST, S4_REST, S5_REST, S6_REST, S7_REST, S8_REST, S9_REST};
@@ -79,6 +79,8 @@ int PosStand[SERVO_COUNT] = {45, 70, 80, 135, 110, 100, NOVAL, NOVAL, 180, 0};
 int PosLookLeft[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 180, 180, 0};
 int PosLookRight[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL,  NOVAL, NOVAL, 0, 180, 0};
 int PosLookRandom[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, -1, -1, 180, 0}; // Made random by calling the function moveRandom() if the value is -1
+int PosLookRandomRight[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, -1, 30, 180, 0};
+int PosLookRandomLeft[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, -1, 150, 180, 0};
 int PosLookUp[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 60, 90, 180, 0};
 int PosLookDown[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 120, 90, 180, 0};
 

config/vision.yml → config/vision_imx500.yml

@@ -1,5 +1,5 @@
-vision:
-  enabled: true
+vision_imx500:
+  enabled: false
   path: 'modules.vision.imx500.vision.Vision'
   config:
     preview: false

config/vision_opencv.yml

@@ -0,0 +1,5 @@
+vision_opencv:
+  enabled: true
+  path: 'modules.vision.opencv.vision.Vision'
+  config:
+    preview: false

modules/archived/opencv/vision.py

@@ -2,24 +2,31 @@
 import cv2
 from imutils.video import FPS # for FSP only
 
-try:
-    from modules.opencv.faces import Faces
-except ModuleNotFoundError as e:
-    # Local execution
-    from faces import Faces
-    import os
-    from video_stream import VideoStream
+from modules.vision.opencv.faces import Faces
+from modules.vision.opencv.video_stream import VideoStream
 
+from modules.base_module import BaseModule
 
-from pubsub import pub
 
-class Vision:
+def list_available_cameras(max_index=10):
+    available = []
+    for idx in range(max_index):
+        cap = cv2.VideoCapture(idx)
+        if cap.isOpened():
+            available.append(idx)
+            cap.release()
+    return available
+
+
+class Vision(BaseModule):
     MODE_MOTION = 0
     MODE_FACES = 1
 
-    def __init__(self, video, **kwargs):
+    def __init__(self, **kwargs):
         self.mode = kwargs.get('mode', Vision.MODE_MOTION)
-        self.path = kwargs.get('path', '/')
+        self.path = kwargs.get('path', '.')
+        # Make sure to use the correct camera index for your Pi camera
+        # Usually, index 0 is correct for the standard Pi camera
         self.index = kwargs.get('index', 0)
         self.static_back = None
         self.dimensions = kwargs.get('resolution', (640, 480))
@@ -28,46 +35,58 @@ def __init__(self, video, **kwargs):
 
         self.flip = kwargs.get('flip', False)
         self.rotate = kwargs.get('rotate', False)
-        self.video = video
+        self.video = VideoStream(
+            resolution=self.dimensions,
+            index=self.index
+        )
         self.lines = []
         self.current_match = False
         self.last_match = datetime.now()  # @todo improve
-        pub.subscribe(self.exit, "exit")
 
         # start the FPS counter
         self.fps = FPS().start()
 
         if self.mode == Vision.MODE_FACES:
-            self.cascade_path = self.path + "/modules/opencv/haarcascade_frontalface_default.xml"
+            self.cascade_path = self.path + "/modules/vision/opencv/haarcascade_frontalface_default.xml"
+            print(f"[Vision] Loading cascade from {self.cascade_path}")
             self.cascade = cv2.CascadeClassifier(self.cascade_path)
             self.faces = Faces(detector=self.cascade, path=self.path)
 
+        print("[Vision] Scanning for available cameras...")
+        available_cams = list_available_cameras(10)
+        print(f"[Vision] Available camera indexes: {available_cams}")
+
+        self.video.start()
         self.running = True
 
+    def setup_messaging(self):
+        """Subscribe to necessary topics."""
+        self.subscribe('system/loop', self.detect)
+
     def exit(self):
         self.running = False
         self.video.stop()
         # Destroying all the windows
         cv2.destroyAllWindows()
         self.fps.stop()
-        pub.sendMessage("log", msg="[Vision] Approx. FPS: {:.2f}".format(self.fps.fps()))
+        self.log("[Vision] Approx. FPS: {:.2f}".format(self.fps.fps()), 'debug')
 
     def reset(self):
         self.static_back = None
 
     def detect(self):
         if not self.running:
             return
-        # if not self.video.stream.isOpened():
-        #     raise Exception('Unable to load camera')
+        if not self.video.stream.isOpened():
+            raise Exception('Unable to load camera')
         # update the FPS counter
         self.fps.update()
 
         matches = []
 
         frame = self.video.read()
-        if frame is None:
-            return
+        if frame is None or frame is False:
+            raise Exception("[Vision] No frame captured, stopping detection")
 
         if self.flip is True:
             frame = cv2.flip(frame, 0)
@@ -88,8 +107,8 @@ def detect(self):
             if len(matches) < 1:
                 if self.current_match:
                     self.current_match = False
-                    pub.sendMessage('vision:nomatch')
                 if self.preview is False:
+                    print("[Vision] No faces detected")
                     return matches
 
             names = []
@@ -142,6 +161,8 @@ def detect(self):
         if len(matches) > 0:
             self.current_match = True
             self.last_match = datetime.now()
+
+        print(f"[Vision] Detected {len(matches)} matches")
 
         return matches
 

modules/personality.py

@@ -63,8 +63,10 @@ def loop(self):
             self.random_animation()
 
     def random_animation(self):
+        self.publish('animate', action='level_neck')
         animations = [
             'head_shake',
+            'head_nod',
             'head_left',
             'head_right',
             # 'look_down',

modules/vision/imx500/tracking.py

@@ -64,8 +64,6 @@ def handle(self, matches):
         """Handle new detections by processing in an asynchronous thread."""
         if not self.active or self.moving:
             return
-        # print("Handling matches")
-        # print(matches)
         asyncio.run(self.process_matches(matches))
 
     @staticmethod