ability to read config and command files to automate controlling mult…

…iple iSOBOTs

iSOBOT_Control/isobot.py

@@ -1,4 +1,6 @@
 import requests
+import ping
+import socket
 import time
 import re
 
@@ -11,243 +13,27 @@ class iSobotException(Exception):
 
 
 class iSobot(object):
- serialPort = 0
- # iSobot Command byte list
- # Source: http://minkbot.blogspot.com/2009/08/isobot-infrared-remote-protocol-hack.html
- # Standard commands
- CMD_RC = 0x07
- CMD_PM = 0x08
- CMD_SA = 0x09
- CMD_VC = 0x0a
- CMD_1P = 0x13 # left punch
- CMD_2P = 0x14 # right punch
- CMD_3P = 0x15 # left side whack (arm outwards)
- CMD_4P = 0x16 # right side whack
- CMD_11P = 0x17 # left + right punch
- CMD_12P = 0x18 # right + left punch
- CMD_13P = 0x19 # left up-down chop
- CMD_14P = 0x1a # right up-down chop
- CMD_21P = 0x1b # both up-down chop
- CMD_22P = 0x1c # both down-up chop
- CMD_23P = 0x1d # right + left punch, both up-down chop, both whack
- CMD_24P = 0x1e # look left, up-down chop
- CMD_31P = 0x1f # look right, up-down chop
- CMD_32P = 0x20 # "c'mon, snap out of it" slap
- CMD_34P = 0x21 # both whack
- CMD_1K = 0x22 # left wide kick
- CMD_2K = 0x23 # right wide kick
- CMD_3K = 0x24 # left kick
- CMD_4K = 0x25 # right kick
- CMD_11K = 0x26 # left side kick
- CMD_12K = 0x27 # right side kick
- CMD_13K = 0x28 # left back kick
- CMD_14K = 0x29 # right back kick
- CMD_31K = 0x2a # right high side kick
- CMD_42K = 0x2b # right soccer/low kick
- CMD_21K = 0x2c # left + right high side kick
- CMD_22K = 0x2d # right + left soccer/low kick
- CMD_23K = 0x2e # combo kick low-left, high-side-right, left
- CMD_24K = 0x2f # another left kick
- CMD_31K = 0x30 # right high kick
- CMD_34K = 0x31 # split
- CMD_1G = 0x32 # Block! "whoa buddy"
- CMD_2G = 0x33 # right arm block
- CMD_3G = 0x34 #
- CMD_4G = 0x35 # both arms block
- CMD_11G = 0x36 # dodge right (move left)
- CMD_12G = 0x37 # dodge left (move right)
- CMD_13G = 0x38 # headbutt
- CMD_14G = 0x39 # right arm to face
- CMD_21G = 0x3a # taunt1
- CMD_22G = 0x3b # hit & down
- CMD_23G = 0x3c # dodge right, left, block left, head, fall down
- CMD_A = 0x3d
- CMD_B = 0x3e
- CMD_1A = 0x3f # "Roger!" raise right arm
- CMD_2A = 0x40 # weird gesture
- CMD_2A = 0x41 # "All your base are belong to isobot"
- CMD_3A = 0x42 # "absolutely not!" flaps both arms
- CMD_4A = 0x43 # bow/crouch? and get back up
- CMD_11A = 0x44 # "Good morning!" raise both arms, stand on left foot
- CMD_12A = 0x45 # "Greetings I come in peace" wave right arm
- CMD_13A = 0x46 # "Y'all come back now, you hear!"
- CMD_14A = 0x47 # "Wassap!?" opens both arms sideways over and down
- CMD_21A = 0x48 # "Greetings human" raise left arm and bow
- CMD_22A = 0x49 # "It's an honor to meet you!" bow and shake right hand
- CMD_23A = 0x4a # "Bye bye"
- CMD_31A = 0x4b # "Bon voyage!"
- CMD_32A = 0x4c # *clap* *clap* "Thanks! I'll be here all week" raise right arm
- CMD_33A = 0x4d # "T-t-that's all robots!" raise left arm, stand on left foot
- CMD_41A = 0x4e # "Domo arigato from isobot-o"
- CMD_42A = 0x4f
- CMD_43A = 0x50
- CMD_111A = 0x51
- CMD_222A = 0x52
- CMD_333A = 0x53
- CMD_11B = 0x54 # Walk forward + "Give me a bear hug"
- CMD_12B = 0x55
- CMD_13B = 0x56
- CMD_14B = 0x57
- CMD_31B = 0x58
- CMD_22B = 0x59
- CMD_23B = 0x5a
- CMD_24B = 0x5b
- CMD_31B = 0x5c
- CMD_32B = 0x5d # "woe is me ... what to do ... what to do" bow, shakes head
- CMD_33B = 0x5e # "No no .... not again. ... No no"
- CMD_234B = 0x5f # "Oh, I can't believe I did that"
- CMD_41B = 0x60 # "I throw myself into a mercy" (?)
- CMD_42B = 0x61 # "Oh, like a dagger through my heart"
- CMD_43B = 0x62 # Same as 44B but no voice
- CMD_44B = 0x63 # "Ouch, that hurts!"
- CMD_112A = 0x65 # points left "wahoo"
- CMD_113A = 0x66 # pose northwest "hoo-ah!"
- CMD_114A = 0x67 # points left "kapwingg"
- CMD_124A = 0x6b # "iz nice. you like?"
- CMD_131A = 0x6c # both arm wave left right left
- CMD_132A = 0x6d # drunk
- CMD_113B = 0x6e # "no please make it stop." "please i can't take it anymore" "no no" lying down and get up
- CMD_114B = 0x6f # "yippe yippe" 3 times, goal post arms
- CMD_121B = 0x70 # "ho ho ho ... <something-something> isobot"
- CMD_122B = 0x71 # "yeehaaw" both arm wave left right
- CMD_123B = 0x72
- CMD_124B = 0x73 # stand on one foot, goal post arms, "wow that's amazing"
- CMD_131B = 0x74 # bow, arms over head and down
- CMD_132B = 0x75
- CMD_133B = 0x76
- CMD_134B = 0x77
- CMD_141A = 0x78
- CMD_143A = 0x79 # sit cross legged
- CMD_144A = 0x7b # ... owl?
- CMD_211B = 0x7c
- CMD_212B = 0x7d # "Ahh, let me get comfortable. I'm too sexy for my servos" lie down, flips over, gets up
- CMD_213B = 0x7e
- CMD_221B = 0x80 # balancing act + bleeps (+)
- CMD_222B = 0x81 # looks like a push up
- CMD_223B = 0x82
- CMD_224B = 0x83 # "You can count on me"
- CMD_232B = 0x85
- CMD_233B = 0x86
- CMD_241B = 0x88 # headstand
- CMD_242B = 0x89
- CMD_A = 0x8a # flip forward back forward about 3 times
- CMD_B = 0x8b
- CMD_AB = 0x8c
- CMD_AAA = 0x8d
- CMD_BBB = 0x8e
- CMD_BAB = 0x8f # "BANZAI" 3 times
- CMD_ABB = 0x95 # chicken
- CMD_BBA = 0x97 # dancing (+)
- CMD_ABA = 0x98 # giant robot motion
- CMD_ABAB = 0x99
- CMD_AAAA = 0x9a
- CMD_FWRD = 0xb7
- CMD_BWRD = 0xb8
- CMD_FWLT = 0xb9
- CMD_FWRT = 0xba
- CMD_LEFT = 0xbb
- CMD_RGHT = 0xbc
- CMD_BKLT = 0xbd
- CMD_BKRT = 0xbe
- CMD_411A = 0xc7
- CMD_412A = 0xc8
- CMD_413A = 0xc9
- CMD_444B = 0xca
- CMD_444A = 0xcb # nothing
- CMD_LVSoff = 0xd3
- CMD_HP = 0xd5
- CMD_NOIMP = 0xd6
- CMD_END = 0xd7
- MSG_NOIMP = 0x848080
- MSG_NOIMP = 0x848080
- MSG_RUP = 0x878280
- MSG_RDW = 0x808280
- MSG_RRT = 0x8480f0
- MSG_RLT = 0x848080
- MSG_LUP = 0x84f080
- MSG_LDW = 0x841080
- MSG_LRT = 0xec8080
- MSG_LLT = 0x0c8080
+ def __init__(self, url="http://192.168.4.1", channel=0, debug=False):
+ self._url = None
+ self.url = url
+ assert channel in [0, 1]
+ self.channel = channel
+ self.debug = debug
+
+ def _ping(self, url):
+ try:
+ ping.do_one(url, timeout=5)
+ except socket.error as e:
+ print("ERROR Can't connect to {}".format(url))
+ raise e
 
- # Bonus Commands
- CMD_TURNON = 0x01
- CMD_ACTIVATED = 0x02
- CMD_READY = 0x03
- CMD_RC_CONFIRM = 0x04
- CMD_RC_PROMPT = 0x05
- CMD_MODE_PROMPT = 0x06
- CMD_IDLE_PROMPT = 0x0B # = 0x0C,= 0x0D,= 0x0E all the same
- CMD_HUMMING_PROMPT = 0x0F
- CMD_COUGH_PROMPT = 0x10
- CMD_TIRED_PROMPT = 0x11
- CMD_SLEEP_PROMPT = 0x12
- CMD_FART = 0x40 # 2A
- CMD_SHOOT_RIGHT = 0x64
- CMD_SHOOT_RIGHT2 = 0x68
- CMD_SHOOT2 = 0x69
- CMD_BEEP = 0x6a
- CMD_BANZAI = 0x7F # "TAKARA TOMY"
- CMD_CHEER1 = 0x90
- CMD_CHEER2 = 0x91
- CMD_DOG = 0x92
- CMD_CAR = 0x93
- CMD_EAGLE = 0x94
- CMD_ROOSTER = 0x95
- CMD_GORILLA = 0x96
- CMD_LOOKOUT = 0xA1
- CMD_STORY1 = 0xA2 # knight and princess
- CMD_STORY2 = 0xA3 # ready to start day
- CMD_GREET1 = 0xA4 # good morning
- CMD_GREET2 = 0xA5 # do somthing fun
- CMD_POOP = 0xA6 # poops his pants
- CMD_GOOUT = 0xA7 # ready to go out dancing
- CMD_HIBUDDY = 0xA8 # .. bring a round of drinks
- CMD_INTRODUCTION = 0xA9
- CMD_ATYOURSERVICE = 0xAA
- CMD_SMELLS = 0xAB
- CMD_THATWASCLOSE = 0xAC
- CMD_WANNAPICEOFME = 0xAD
- CMD_RUNFORYOURLIFE = 0xAE
- CMD_TONEWTODIE = 0xAF
- # 0xB0 - nothing?
- CMD_SWANLAKE = 0xB1
- CMD_DISCO = 0xB2
- CMD_MOONWALK = 0xB3
- CMD_REPEAT_PROMPT = 0xB4
- CMD_REPEAT_PROMPT2 = 0xB5
- CMD_REPEAT_PROMPT3 = 0xB6
- # 0xB7-= 0xC4 single steps in different directions
- CMD_HEADSMASH = 0xC5
- CMD_HEADHIT = 0xC6
- # 0xCC-= 0xD2 - unknown (use param?)
- # after exercising one of these I am getting only beeps instead of voice/sounds
- # (looks like a tool to synchronize sound with moves)
- CMD_HIBEEP = 0xD3
- # = 0xD4 - unknown (use param?)
- CMD_BEND_BACK = 0xD8 # same untill = 0xDB
- CMD_SQUAT = 0xDB # also = 0xDC # doesn't work (both)
- CMD_BEND_FORWARD = 0xDD
- CMD_HEAD_LEFT_60 = 0xDE
- CMD_HEAD_LEFT_45 = 0xDF
- CMD_HEAD_LEFT_30 = 0xE0
- CMD_HEAD_RIGHT_30 = 0xE1
- CMD_HEAD_RIGHT_45 = 0xE2
- CMD_HEAD_RIGHT_60 = 0xE3
- # seems identical to A & B getups
- CMD_GETUP_BELLY = 0xE4
- CMD_GETUP_BACK = 0xE5
- # E6 unknown
- CMD_HEAD_SCAN_AND_BEND = 0xE7
- CMD_ARM_TEST = 0xE8
- CMD_FALL_AND_LEG_TEST = 0xE9
- CMD_THANKYOUSIR = 0xEA
- CMD_ILOVEYOU_SHORT = 0xEB
- CMD_3BEEPS = 0xEC
- CMD_FALL_DEAD = 0xED
- CMD_3BEEPS_AND_SLIDE = 0xEE
- # EF-FF unknown
+ @property
+ def url(self):
+ return self._url
 
- def __init__(self, url="http://192.168.4.1"):
+ @url.setter
+ def url(self, url):
+ self._ping(url)
  self._url = url
 
  """
@@ -294,15 +80,15 @@ def calcChecksum(self, header, byte0, byte1, byte2):
  s = (s & 7) + ((s >> 3) & 7) + ((s >> 6) & 7)
  return s & 7
 
- def makeCmd(self, ch=0, cmdType=1, cmd1=0, cmd2=0):
- if ch not in [0, 1] or cmdType not in [0, 1]:
+ def makeCmd(self, cmdType=1, cmd1=0, cmd2=0):
+ if cmdType not in [0, 1]:
  raise iSobotException("Channel or command type invalid. Valid channels/types are '0' and '1'")
 
  # param is constant @ 0x03
  param = 0x03
 
  # Calculate checksum
- header = (ch << 5) + (cmdType << 3)
+ header = (self.channel << 5) + (cmdType << 3)
  checksum = self.calcChecksum(header, cmd1, cmd2, param)
  headersum = header + checksum
 
@@ -318,7 +104,8 @@ def sendCmd(self, cmd):
  url = "{}/cmd:{}".format(self._url, cmd)
  r = requests.post(url, data={'cmd': cmd}, timeout=5)
  if r.status_code == 200:
- print("HTTP Post success!")
+ if self.debug:
+ print("HTTP Post success!")
  else:
  print("HTTP Post failed. Status, reason: {}, {}".format(r.status_code, r.reason))
  except requests.exceptions.ConnectionError as e:
@@ -331,7 +118,6 @@ def sendCmd(self, cmd):
  # e.g. sending the Walk FWRD command once, the robot will accept the command but not move forward
  def repeatCmd(self, cmd, rep=300):
  for i in range(rep):
- # print("Tx {}".format(i))
  self.sendCmd(cmd)
  time.sleep(0.1)
 
@@ -345,17 +131,18 @@ def formatType1Cmd(self, cmd):
 
  # Needs carriage return
  cmd += '\r'
-
- print("Command string: {}".format(cmd))
+
+ if self.debug:
+ print("Command string: {}".format(cmd))
  return cmd
 
- def isobotDoType1(self, action, channel=0, repeat=3):
+ def isobotDoType1(self, action, repeat=3):
  # Shorthand function for lazy people
  try:
- cmd = self.formatType1Cmd(self.makeCmd(channel, 1, action))
+ cmd = self.formatType1Cmd(self.makeCmd(1, action))
  self.repeatCmd(cmd, repeat)
  except Exception as e:
- print("FAILED: action {}, channel {}, repeat {}".format(action, channel, repeat))
+ print("FAILED: action {}, channel {}, repeat {}".format(action, self.channel, repeat))
  raise e
 
  return True
@@ -365,24 +152,31 @@ def isobotDoType1(self, action, channel=0, repeat=3):
 
  bot = iSobot()
  commands = [
- # (0, bot.CMD_CHEER1),
- # (0, bot.CMD_GORILLA),
- # (0, bot.CMD_MOONWALK),
- # (0, bot.CMD_42B),
- # (0, bot.CMD_1P),
- # (0, bot.CMD_3BEEPS),
- # (0, bot.CMD_2G),
- (0, bot.CMD_FWRD),
- # (0, 0x00),
- # (0, bot.CMD_21K),
- # (0, bot.CMD_22K),
- # (1, 0x00),
+ (bot.CMD_CHEER1, 1),
+ ('sleep 8', 0),
+ (0x00, 2),
+ (bot.CMD_FWRD, 10),
+ (bot.CMD_GORILLA, 1),
+ # (bot.CMD_MOONWALK),
+ # (bot.CMD_42B),
+ # (bot.CMD_1P),
+ # (bot.CMD_3BEEPS),
+ # (bot.CMD_2G),
+ # (0x00),
+ # (bot.CMD_21K),
+ # (bot.CMD_22K),
  ]
  try:
- for ch, cmd in commands:
- print("{},{:02x}".format(ch, cmd))
- bot.isobotDoType1(cmd, ch, repeat=10)
- time.sleep(8)
+ for cmd, repeat in commands:
+ if isinstance(cmd, str):
+ sleepLength = int(cmd.split(' ')[-1])
+ print('sleeping {}'.format(sleepLength))
+ time.sleep(sleepLength)
+ else:
+ print("{},{:02x}".format(ch, cmd))
+ bot.isobotDoType1(cmd, repeat=repeat)
+ time.sleep(1)
+ # time.sleep(8)
 
  except KeyboardInterrupt:
  print("keyboard interrupt, stopping")