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2. Function Demonstration¶
This project shows you all of PiDog’s usual actions and sounds.
You can make PiDog make actions or make sounds by entering the serial number.
The motion/sound effects currently included in this example are listed below.
Actions: |
Sound Effect: |
|---|---|
1.stand |
16.angry |
2.sit |
17.confused_1 |
3.lie |
18.confused_2 |
4.lie_with_hands_out |
19.confused_3 |
5.trot |
20.growl_1 |
6.forward |
21.growl_2 |
7.backward |
22.howling |
8.turn_left |
23.pant |
9.turn_right |
24.single_bark_1 |
10.doze_off |
25.single_bark_2 |
11.stretch |
26.snoring |
12.pushup |
27.woohoo |
13.shake_head |
|
14.tilting_head |
|
15.wag_tail |
Run the Code
cd ~/pidog/examples
sudo python3 2_function_demonstration.py
After running this example, you input 1 and press ENTER, PiDog will stand; input 2, PiDog will sit down; input 27, PiDog will issue “woohoo~ “.
Press Ctrl+C to exit the program.
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like pidog\examples. After modifying the code, you can run it directly to see the effect.
#!/usr/bin/env python3
from time import sleep
from pidog import Pidog
import os
import curses
import curses_utils
# init pidog
# ======================================
my_dog = Pidog()
sleep(0.5)
# global variables
# ======================================
actions = [
# name, head_pitch_adjust(-1, use last_pitch), speed
['stand', 0, 50],
['sit', -30, 50],
['lie', 0, 20],
['lie_with_hands_out', 0, 20],
['trot', 0, 95],
['forward', 0, 98],
['backward', 0, 98],
['turn_left', 0, 98],
['turn_right', 0, 98],
['doze_off', -30, 90],
['stretch', 20, 20],
['push_up', -30, 50],
['shake_head', -1, 90],
['tilting_head', -1, 60],
['wag_tail', -1, 100],
]
actions_len = len(actions)
sound_effects = []
# change working directory
abspath = os.path.abspath(os.path.dirname(__file__))
# print(abspath)
os.chdir(abspath)
for name in os.listdir('../sounds'):
sound_effects.append(name.split('.')[0])
sound_effects.sort()
sound_len = len(sound_effects)
# limit sound quantity
if sound_len > actions_len:
sound_len = actions_len
sound_effects = sound_effects[:actions_len]
last_index = 0
last_display_index = 0
exit_flag = False
last_head_pitch = 0
STANDUP_ACTIONS = ['trot', 'forward', 'backward', 'turn_left', 'turn_right']
# define pad size
# ======================================
curses_utils.PAD_Y = 22
curses_utils.PAD_X = 70
# display fuctions
# ======================================
def display_head(subpad):
title = "Function Demonstration"
tip1 = "Input Function number to see how it goes."
tip2 = "Actions will repeat 10 times."
type_name_1 = "Actions:"
type_name_2 = "Sound Effect:"
tip3 = "(need to run with sudo)"
curses_utils.clear_line(subpad, 0, color=curses_utils.BLACK_BLUE)
subpad.addstr(0, 2, title, curses_utils.BLACK_BLUE | curses.A_BOLD)
subpad.addstr(1, 2, tip1, curses_utils.GRAY)
subpad.addstr(2, 2, tip2, curses_utils.GRAY)
curses_utils.clear_line(subpad, 3, color=curses_utils.WHITE_GRAY)
subpad.addstr(3, 2, type_name_1, curses_utils.WHITE_GRAY)
subpad.addstr(3, 30, type_name_2, curses_utils.WHITE_GRAY)
subpad.addstr(3, 31+len(type_name_2), tip3, curses_utils.YELLOW_GRAY)
def display_selection(subpad, index):
global last_display_index
# reset last selection
if last_display_index > actions_len + sound_len-1 or last_display_index < 0:
last_display_index = 0
if last_display_index != index:
if last_display_index < actions_len:
subpad.addstr(last_display_index, 2, f"{last_display_index+1}. {actions[last_display_index][0]}", curses_utils.LIGHT_GRAY)
else:
sound_index = last_display_index-actions_len
subpad.addstr(sound_index, 30, f"{last_display_index+1}. {sound_effects[sound_index]}", curses_utils.LIGHT_GRAY)
last_display_index = index
# highlight currernt selection
if index > actions_len + sound_len-1 or index < 0:
pass
elif index < actions_len:
subpad.addstr(index, 2, f"{index+1}. {actions[index][0]}", curses_utils.WHITE_BLUE)
else:
sound_index = index-actions_len
subpad.addstr(sound_index, 30, f"{index+1}. {sound_effects[sound_index]}", curses_utils.WHITE_BLUE)
def display_actions(subpad):
for i in range(actions_len):
subpad.addstr(i, 2, f"{i+1}. {actions[i][0]}", curses_utils.LIGHT_GRAY)
for i in range(sound_len):
subpad.addstr(i, 30, f"{i+actions_len+1}. {sound_effects[i]}", curses_utils.LIGHT_GRAY)
def display_bottom(subpad):
curses_utils.clear_line(subpad, 0, color=curses_utils.WHITE_GRAY)
subpad.addstr(0, 0, "Enter function number: ", curses_utils.WHITE_GRAY)
subpad.addstr(0, curses_utils.PAD_X-16, "Ctrl^C to quit", curses_utils.WHITE_GRAY)
def do_function(index):
global last_index, last_head_pitch
my_dog.body_stop()
if index < 0:
return
if index < actions_len:
name, head_pitch_adjust, speed = actions[index]
# If last action is push_up, then lie down first
if last_index < len(actions) and actions[last_index][0] in ('push_up'):
last_head_pitch = 0
my_dog.do_action('lie', speed=60)
# If this action is trot, forward, turn left, turn right and backward, and, last action is not, then stand up
if name in STANDUP_ACTIONS and last_index < len(actions) and actions[last_index][0] not in STANDUP_ACTIONS:
last_head_pitch = 0
my_dog.do_action('stand', speed=60)
if head_pitch_adjust != -1:
last_head_pitch = head_pitch_adjust
my_dog.head_move_raw([[0, 0, last_head_pitch]], immediately=False, speed=60)
my_dog.do_action(name, step_count=10, speed=speed, pitch_comp=last_head_pitch)
last_index = index
elif index < actions_len + sound_len:
my_dog.speak(sound_effects[index - len(actions)], volume=80)
last_index = index
def main(stdscr):
# reset screen
stdscr.clear()
stdscr.move(4, 0)
stdscr.refresh()
# disable cursor
curses.curs_set(0)
# init color
curses.start_color()
curses.use_default_colors()
curses_utils.init_preset_colors()
curses_utils.init_preset__color_pairs()
# init pad
pad = curses.newpad(curses_utils.PAD_Y, curses_utils.PAD_X)
# init subpad
head_pad = pad.subpad(4, curses_utils.PAD_X, 0, 0)
selection_pad = pad.subpad(actions_len, curses_utils.PAD_X, 4, 0)
bottom_pad = pad.subpad(1, curses_utils.PAD_X, actions_len+4, 0)
# add content to a
display_head(head_pad)
display_actions(selection_pad)
display_head(head_pad)
curses_utils.pad_refresh(pad)
curses_utils.pad_refresh(selection_pad)
# for i in range(2):
# for i in range(30):
# display_selection(selection_pad, i)
# curses_utils.pad_refresh(selection_pad)
# sleep(0.1)
# enable cursor and echo
curses.curs_set(0)
curses.echo()
while True:
# draw bottom bar
display_bottom(bottom_pad)
curses_utils.pad_refresh(bottom_pad)
# reset cursor
stdscr.move(actions_len+4, 23)
stdscr.refresh()
# red key
key = stdscr.getstr()
try:
index = int(key) - 1
except ValueError:
index = -1
# display selection
display_selection(selection_pad, index)
curses_utils.pad_refresh(selection_pad)
# do fuction
do_function(index)
sleep(0.2)
if __name__ == "__main__":
try:
curses.wrapper(main)
except KeyboardInterrupt:
pass
except Exception as e:
print(f"\033[31mERROR: {e}\033[m")
finally:
my_dog.close()