Dev alex video start on authenticated

controller.py

@@ -16,6 +16,12 @@
 import logging.handlers
 import json
 import atexit
+import gps
+import subprocess
+import threading
+from ast import literal_eval
+
+last_active_time = 0
 
 if (sys.version_info > (3, 0)):
     import importlib
@@ -111,9 +117,8 @@ def write(self, config_file):
     os.rename(config_file, config_file+'.bak')
 
     # write out the updated config file
-    f = open(config_file, 'w')
-    f.writelines(lines)
-    f.close
+    with open(config_file, 'w') as f:
+        f.writelines(lines)
 
     log.info("Config file saved.")
 
@@ -219,8 +224,8 @@ def str2bool(v):
 # Functions
 
 def handle_message(ws, message):
+    global last_active_time
     log.debug(message)
-
     try:
         messageData = json.loads(message)
     except:
@@ -234,15 +239,42 @@ def handle_message(ws, message):
     data = messageData["d"]
 
     if event == "BUTTON_COMMAND":
+        last_active_time = time.time()
+        log.debug("Received Button Command")
+        data['moderator'] = messageData.get('moderator', False)
         on_handle_command(data)
        # handle_command(data)
+
+    elif event == "MUTE_MIC":
+        process = subprocess.Popen(
+        ["pactl", "set-source-mute", "@DEFAULT_SOURCE@", "1"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE
+        )
+        stdout, stderr = process.communicate()
+
+        log.debug("STDOUT: %s", stdout)
+        log.debug("STDERR: %s", stderr)
+
+    elif event == "UNMUTE_MIC":
+        process = subprocess.Popen(
+        ["pactl", "set-source-mute", "@DEFAULT_SOURCE@", "0"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE
+        )
+        stdout, stderr = process.communicate()
+
+        log.debug("STDOUT: %s", stdout)
+        log.debug("STDERR: %s", stderr)
+
 
     elif event == "MESSAGE_RECEIVED":
         if data['channel_id'] == networking.channel_id:
-            if data['type'] != "robot":
+            if data['type'] == 'message':
                on_handle_chat_message(data)
 
     elif event == "ROBOT_VALIDATED":
+        last_active_time = time.time()
         networking.handleConnectChatChannel(data["host"])
 
     else:
@@ -267,16 +299,32 @@ def handle_chat_message(args):
 
 def handle_command(args):
         global handlingCommand
+        global geofence_was_breached
+        global last_move_direction
         handlingCommand = True
 
         # catch move commands that happen before the controller has fully
         # loaded and set a move handler.
         if move_handler == None:
            return
 
+        if gps_is_enabled() and not args.get('moderator', False):
+            # Only block and report on the first breach. After that, let commands
+            # through - the server decides which directions to allow/block.
+            if not gps.is_within_geofence() and not geofence_was_breached:
+                log.info('Movement blocked by geofence, last direction: %s' % last_move_direction)
+                networking.reportGeofenceBreach(last_move_direction)
+                geofence_was_breached = True
+                handlingCommand = False
+                return
+
         log.debug('got command : %s', args)
         move_handler(args)
 
+        command = args.get('button', {}).get('command', '')
+        if command in ('f', 'b'):
+            last_move_direction = command
+
         handlingCommand = False
 
 
@@ -288,15 +336,28 @@ def on_handle_command(*args):
        thread.start_new_thread(handle_command, args)
 
 def on_handle_chat_message(*args):
-   if chat_module == None:
-       thread.start_new_thread(handle_chat_message, args)
-   else:
-       thread.start_new_thread(chat_module.handle_chat, args)
+    if chat_module is None:
+        target = handle_chat_message
+    else:
+        target = chat_module.handle_chat
+
+    def _tts_then_finish():
+        try:
+            target(*args)
+        except Exception as e:
+            log.error('TTS error: %s', e)
+        networking.declareFinishedTTS()
+
+    t = threading.Thread(target=_tts_then_finish)
+    t.daemon = True
+    t.start()
 
 def restart_controller(command, args):
     if extended_command.is_authed(args['sender']) == 2: # Owner
         terminate.acquire()
 
+def gps_is_enabled():
+    return robot_config.getboolean('gps', 'enable_gps')
 
 # TODO : This really doesn't belong here, should probably be in start script.
 # watch dog timer
@@ -387,13 +448,44 @@ def restart_controller(command, args):
 
     else:
        log.warning("Unable to find chat_custom.py")
-
+
+
+
+geofence_was_breached = False
+last_move_direction = ''
+
+if robot_config.has_section('gps') and robot_config.getboolean('gps', 'enable_gps'):
+    geofence_points = literal_eval(robot_config.get('gps', 'geofence_array'))
+    log.info("Starting GPS thread")
+    gps.start_gps_thread()
+    log.debug(geofence_points)
+    for point in geofence_points:
+        log.debug(point)
+    gps.set_geofence(geofence_points)
+else:
+    log.critical('Please configure gps settings')
+
+
 atexit.register(log.debug, "Attempting to clean up and exit nicely")
 if not test_mode:
     log.critical('RemoTV Controller Started')
-    while not terminate.locked():
+    while not terminate.locked(): # Main control loop. This handles anythign that involves timing, everything else is asynchronous
         time.sleep(1)
         watchdog.watch()
+
+        if last_active_time + robot_config.getint('robot', 'inactivity_timeout') < time.time():
+            networking.reportInactivity()
+
+        if robot_config.getboolean('gps', 'enable_gps'):
+            lat, lon = gps.get_position()  # Get the latest position
+            if lat is not None and lon is not None:
+                if lat == 0 and lon == 0:
+                    log.debug("Waiting for GPS fix...")
+                else:
+                    inside = gps.is_within_geofence()
+                    if geofence_was_breached and inside:
+                        networking.reportGeofenceClear()
+                        geofence_was_breached = False
 
     log.critical('RemoTV Controller Exiting')
 else:

controller.sample.conf

@@ -23,27 +23,28 @@ type=none
 turn_delay=0.4
 straight_delay=0.5
 
+inactivity_timeout=30 # Time after which, the robot reports inactivity (in seconds)
+
+[gps]
+enable_gps = false
+geofence_array = []
+
 [camera]
 # Disable video
 no_camera=false
 
 # Disable mic
 no_mic=false
 
-
 # Specify the audio / video encoder you are using here. Currently ffmpeg,
 # ffmpeg-arecord and none. Note: Only robots with Raspberry Pi's or other Linux
 # based controllers  should use ffmpeg-arecord. All others should use ffmpeg or 
 # none.
-type=ffmpeg-arecord
+type=ffmpeg-ivc
 
 # X and Y resolution to capture video at
-#x_res = 640
-#y_res = 480
-x_res = 768
-y_res = 432
-#x_res = 1280
-#y_res = 720
+x_res = 1280
+y_res = 720
 
 # Video device
 camera_device = /dev/video0
@@ -60,7 +61,14 @@ mic_device=
 
 [ffmpeg]
 # Combined ffmpeg options for audio and video
+# stream_output = ivs
+# stream_output = obs
+# stream_output = both # IVS and OBS
+stream_output_destinations = ivs
+
+pre_ffmpeg = 
 ffmpeg_location = /usr/bin/ffmpeg
+thread_queue_size = 1024
 # Windows path example
 #ffmpeg_location = c://ffmpeg//bin//ffmpeg.exe 
 
@@ -69,22 +77,22 @@ v4l2-ctl_location=/usr/bin/v4l2-ctl
 
 # Audio codec ffmpeg should use, only mp2 is supported but twolame will work 
 # when compiled in to ffmpeg.
-audio_codec = mp2
+audio_codec = aac
 
 # Audio channels, 1 for mono 2 for stereo.
 audio_channels = 1
 
 # Bitrate for the audio stream in kilobytes
-audio_bitrate = 32
+audio_bitrate = 320
 
 # Sample rate fot the audio stream in hertz
 audio_sample_rate = 44100
 
 # Video codec ffmpeg should use. Currently only mpeg1video is supported.
-video_codec = mpeg1video
+video_codec = h264
 
 # Bitrate for the video stream in kilobytes
-video_bitrate = 350
+video_bitrate = 1500
 
 # Video filter options. To rotate the video 180 degree, uncomment this line
 #video_filter = transpose=2,transpose=2
@@ -118,7 +126,7 @@ arecord_format=S16_LE
 [tts]
 # Specify the TTS engine you are using here. Current valid types are espeak,
 # festival and none
-type=espeak
+type=none
 
 # TTS volume
 tts_volume=80
@@ -131,7 +139,7 @@ anon_tts=true
 filter_url_tts=true
 
 # Enable extended chat commands
-ext_chat=true
+ext_chat=False
 
 # ALSA HW number for your playback device
 # For Tellys this is 2. 
@@ -353,8 +361,8 @@ topic = LR/command
 # Name of the log file to be written to
 log_file=controller.log
 # log levels in order of importance are CRITICAL, ERROR, WARNING, INFO, DEBUG
-file_level=WARNING
-console_level=ERROR
+file_level=DEBUG
+console_level=DEBUG
 # log size is in bytes
 max_size=100000
 # Number of old log files to hang onto.
@@ -363,19 +371,27 @@ num_backup=2
 # This is mostly stuff you probably shouldn't be touching
 [misc]
 # host server to connect to
-server = remo.tv
+server = robots.electricranch.co
 # API version is the version of the API.
 api_version  = dev
 # video server to connect to so you can use local websocket and remote video server
-video_server = remo.tv:1567
+video_format_ivs = 
+video_server_ivs = 
+video_stream_key_ivs =
+
+video_format_obs =
+video_server_obs = 
+video_stream_key_obs =
+
+
 # Enable the controller to look for custom handler code
-custom_hardware = True
+custom_hardware = False
 # Enable the controller to look for custom TTS handler code
-custom_tts = True
+custom_tts = False
 # Enable the controller to look for custom chat handler code
-custom_chat = True
+custom_chat = False
 # Enable the controller to look for custom video handler code
-custom_video = True
+custom_video = False
 # Enable the watchdog timer, if you are not using a raspberry pi, you won't want
 # this.
 watchdog = True