100 lines
2.7 KiB
Python
100 lines
2.7 KiB
Python
import sched
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import time
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from threading import Thread
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from multiprocessing import Queue
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from queue import Empty, Full
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import json
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import logging
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from redis import Redis
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from control.walle import WallE
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from control.audio import AudioSystem
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logging.basicConfig(level=logging.DEBUG)
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INTERVAL_TICK = 0.025 # 40/s
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sound_action_queue = Queue()
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class RedisConnection(Thread):
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def __init__(self):
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super(RedisConnection, self).__init__()
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self.keep_running = True
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self.dbcon = Redis()
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self.pubsub = self.dbcon.pubsub()
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self.pubsub.subscribe(['move', 'look', 'sound'])
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def run(self) -> None:
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while self.keep_running:
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item = self.pubsub.get_message()
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if not item:
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time.sleep(0.01)
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continue
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channel = item['channel'].decode()
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data = item['data']
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if not isinstance(data, bytes):
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print(f"Channel {channel} got message that is not bytes {data}")
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continue
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try:
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self.handle_message(channel, data)
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except ValueError:
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pass # todo
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self.pubsub.close()
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def stop(self):
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self.keep_running = False
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def handle_message(self, channel: str, data: bytes):
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data_dict = json.loads(data.decode())
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if channel == 'move':
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walle.set_movement(data_dict['angle'], data_dict['force'])
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elif channel == 'look':
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walle.set_eye_velocity(data_dict['angle'], data_dict['force'])
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elif channel == 'sound':
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try:
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sound_action_queue.put_nowait(data_dict)
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except Full:
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print(f'Queue was full, skipping sound')
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else:
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print(f'Unknown channel {channel}')
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def store_audio(self, sounds):
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self.dbcon.set('sound_data', json.dumps(sounds))
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scheduler = sched.scheduler()
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audio = AudioSystem(scheduler, 'sounds.json')
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walle = WallE()
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walle.setup()
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def walle_tick():
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scheduler.enter(INTERVAL_TICK, 3, walle_tick)
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walle.tick()
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while True:
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try:
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item = sound_action_queue.get_nowait()
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except Empty:
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break
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if item['action'] == 'play':
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audio.queue_sound(item['name'])
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scheduler.enter(INTERVAL_TICK, 3, walle_tick)
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audio.queue_sound('walle.boot')
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if __name__ == '__main__':
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redisdb = Redis()
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redis_connection = RedisConnection()
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redis_connection.store_audio([{'name': sound['name'], 'title': sound.get('title', sound['name'])}
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for sound in audio.sound_data['sounds']])
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redis_connection.start()
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try:
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scheduler.run()
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except KeyboardInterrupt:
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redis_connection.stop()
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raise
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