Tux Droid

2007-07-01T15:26:48Z

86.196.146.182: /* Misc */

===Introduction===
_The_ gadget any linux geek should have ;-)

Moreover it is designed in Belgium, tadaam!

Having kids can help justifying such a, hum, impulsive buy ;-)

http://www2.tux-is-alive.com/mediawiki/images/thumb/b/b9/Tux-proto.jpg/200px-Tux-proto.jpg

===Sites===
* [http://www.kysoh.com Keep Your Sense Of Humor] Commercial site
* [http://www.tuxisalive.com/ Tux is alive!] Community site ([http://www.tuxisalive.com/recently_modified recent changes])
* [http://wiki.tuxisalive.com/index.php/Main_Page Tux Droid development wiki]
* [http://193.190.210.23/irclogs/index.html Logs] of the IRC channel #tuxdroid on irc.freenode.net
* Blogs aggregated [http://www.tuxisalive.com/siteplanet_view/ flatted] or [http://www.tuxisalive.com/tux-droid-forum/Members/jaguarondi/planet/ summarized]
* [http://www.tuxisalive.com/tux-droid-forum Forum]
* Mailing lists
** [https://lists.sourceforge.net/lists/listinfo/tux-droid-user tux-droid-user]
** [https://lists.sourceforge.net/lists/listinfo/tux-droid-svn tux-droid-svn]
** tux@kysoh.com was the old one(?)
* [https://svn.kysoh.com Subversion server]
* Bugreports
** [http://www.tuxisalive.com/issue-trackers/tux-daemon/ daemon]
** [http://www.tuxisalive.com/issue-trackers/firmware firmware/hardware]
** [http://www.tuxisalive.com/issue-trackers/api API]
** [http://www.tuxisalive.com/issue-trackers/tuxup bootloader]
* Atmel
** [http://www.atmel.com/dyn/products/product_card.asp?part_id=3302 ATmega88]

===Audio===
* Plugging everything for the first time, and I got immediately a new Alsa device:
cat /proc/asound/cards
...
2 [default ]: USB-Audio - TUX RF DONGLE
C2ME BELGIUM TUX RF DONGLE at usb-0000:00:1d.2-1, full speed
And I can already place an Ekiga test call :-)
 Note that echo between internal speaker and microphone is very important so echo tests are quite terrible!
 Using the OSS emulation, I can play whatever I want:
mpg321 -o oss -a /dev/dsp2 /path/to/some/mp3
mplayer -ao oss:/dev/dsp2 http://www.paul.sladen.org/pronunciation/torvalds-says-linux.mp3
Or using the native alsa layer:
mplayer -ao alsa:device=plughw=2.0 http://www.paul.sladen.org/pronunciation/torvalds-says-linux.mp3
Or using esound:
esd -d plughw:2,0
mplayer -ao esd http://www.paul.sladen.org/pronunciation/torvalds-says-linux.mp3

XMMS:
* Select alsa output plugin -> configure -> type "plughw:1,0" manually and select software volume control.
* Select OSS output plugin -> configure -> USB but then no volume control is possible.
* Select esound output plugin and launch esd as shown above

===Reflashing===
Then I learn that to run the new (alpha2) tuxdaemon I'll also need to flash the stuffed pinguin.
 Instructions are given [http://www.tuxisalive.com/documentation/how-to/updating-the-firmware on the web site] and are not... straightforward.

Additional notes:
* Be sure to have installed properly libusb and to have mounted /proc/bus/usb, cf /usr/share/doc/libusb-0.1-4
** For users to have the right to access usbfs, change /etc/udev/rules.d/020_permissions.rules and add GROUP=usb:
SUBSYSTEM=="usb_device", MODE="0664", GROUP="usb"
* Recompile dfu-programmer from sources! I first tried alien on the rpm but there were glibc problems and when trying tuxup fuxusb.hex I got the following "common problem" but here it's really not because of permission problems.
Programming fuxusb.hex in USB CPU
Tux not found on USB
* They explain about tuxup fuxrf.hex and tuxup --main . but I had also to fix the tux rf counterpart: tuxup tuxrf.hex
* At the end, replug the dongle and restart the tux
===Compiling a firmware===
apt-get install gcc-avr avr-libc gdb-avr
Follow the [http://www.tuxisalive.com/documentation/how-to/setup-the-avr-tool-chain-and-compile-the-firmware howto] starting from SVNWCRev section.
 To get the proper header files to compile SVNCRev:
apt-get install libsvn-dev
And edit svncrev-0.1/config.mk to fix the following path:
APR_INCLUDE=/usr/include/apr-1.0
===Personalizing the firmware===
For basic stuff, we'll only change the tuxcore.eep file where are stored the basic standalone behaviors.
 Edit common/config.h based on commands listed in common/commands.h
 Each line is one first byte (what for?) then a frame of 4 bytes to combine between 1 and 4 commands as explained in commands.h
 My first personalized firmware has the following behavior:
 Eyes closed when no rf link and opened when rf link is established.
 Note that it would be easier if there was a CLOSE_EYES_CMD
 I solved it by using the seq "OPEN_EYES_CMD, BLINK_EYES_CMD, 1, 0"

===Remote Control===
(from the forum)
 Press 'ALT' then 'Tux and phone' and you're in test mode.
 The arrows should move tux, if you press a digit key, you change the number of movements. So 4 then up will move the eyes 4 times (2 blinks: close - open -close - open)
 Read firmware/tuxcore/trunk/standalone.c l262 to see all possiblities
===Raw commands===
gtdi allows to send raw commands, see /firmware/tuxdefs/commands.h

===Misc Tips===
* First time, don't forget to plug Tux to the power adaptor for a while (~5h)
* Want to get Acapela Telecom? It's actually available as the [http://www.tuxisalive.com/software/tts-daemon tts-daemon]

===Misc Problems===
* tuxdaemon from svn eats all CPU when running daemonised :-(
* tuxttsdaemon launched by gtdi eated 100% cpu after a while with tux off
* gtdi
** source to be modified: add a space between gnome-terminal -e and "the_commands"
** should check for the presence of gnome--terminal or fallback to xterm
** tuxttsdaemon button desync
* wrong comments in commands.h 0x1A & 0x1B control both leds
* we should have save/restore raw commands for led & position

===Misc Questions===
* How to control the volume by software?
* How tuxes see each other? They ping constantly through IR (from the right eye) as it can be seen through a webcam.
* How a dongle and a tux are paired? What if many tuxes are present simultaneously?

===Misc===
* Voice recognition
** Here is a project to help open source developers make their project work better by submitting your speech samples to add them to a speech corpus used to train 4 open source projects that work on that task: http://www.voxforge.org/home
** Here is the wiki page about speech recognition on the official's Tux droid development wiki: http://wiki.tuxisalive.com/index.php/Speech_recognition

===Python===
====Examples====
I don't know python so for those who don't know it neither, here's a small snippet to start with (from Fosdem presentation):
<pre>
#!/usr/bin/python

import sys
sys.path.append('/opt/tuxdroid/api/python')
from tux import *

tux.tts.select_voice(3,150)
tux.cmd.leds_blink(200,10)
tux.cmd.mouth_on_free(22)
tux.tts.speak("The box said: 'Requires Windows 95 or better', so I installed LINUX")
tux.cmd.eyes_on_free(4)
tux.cmd.wings_on_free(4)
tux.tts.speak("ha ha ha")
if tux.event.wait_head_bt_pushed(60):
tux.tts.speak("Ouch! That hurts!")
</pre>
Problem: sometimes there is a delay before the speech and then movements/speech get desync.
 It could be nice to get events from tts daemon when starting and stopping the speech.

To launch gtdi from /usr/local/bin/gtdi I wrote a little bash script:
<pre>
#!/bin/bash

cd /opt/tuxdroid/lib/gtdi
./gtdi.py
</pre>

To get an interactive python shell I wrote this script /usr/local/bin/tuxsh:
<pre>
#!/bin/bash

python -i -c "import sys;sys.path.append('/opt/tuxdroid/api/python');from tux import *"
</pre>
You can run it interactively or piping some commands:
echo 'tux.cmd.mouth_open()'|./tuxsh
====Python API====
List of functions can be generated by
<pre>
gawk '/^class/{match($0,/class +TUX(.*)$object$:/,a);
if(a[1]=="TCPCommunicator")c=""; else c=tolower(a[1])"."}
/^ +def/ && !/__init__/{$0=gensub(/^ +def (.*)self,?(.*):/,"tux." c "\\1\\2",1);print}'\
/opt/tuxdroid/api/python/tuxapi_class.py
</pre>

Or much cleaner:
tux.misc.build_documentation('/tmp/tuxapi.html')
tux.misc.doc(tux)
tux.misc.doc(tux.hw)
...

Try also help(tux.cmd)

===IR===
* http://www2.tux-is-alive.com/wiki/Freaks_Asking_Questions#How_to_get_an_IR_RC5_code_from_the_API.3F
* Looks like some of the keys of my remote are RC5 and some not... I'll try with lirc-audio hw to capture raw streams and analysing them.

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Tux Droid