Difference between revisions of "Tux Droid"
Jump to navigation
Jump to search
m (→Python API) |
m (Reverted edits by Etegohy (Talk) to last revision by PhilippeTeuwen) |
||
| (15 intermediate revisions by 2 users not shown) | |||
| Line 11: | Line 11: | ||
* [http://www.kysoh.com Keep Your Sense Of Humor] Commercial site |
* [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://www.tuxisalive.com/ Tux is alive!] Community site ([http://www.tuxisalive.com/recently_modified recent changes]) |
||
| − | * [http:// |
+ | * [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 |
* [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] |
* Blogs aggregated [http://www.tuxisalive.com/siteplanet_view/ flatted] or [http://www.tuxisalive.com/tux-droid-forum/Members/jaguarondi/planet/ summarized] |
||
| Line 41: | Line 41: | ||
Or using the native alsa layer: |
Or using the native alsa layer: |
||
mplayer -ao alsa:device=plughw=2.0 http://www.paul.sladen.org/pronunciation/torvalds-says-linux.mp3 |
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=== |
===Reflashing=== |
||
| Line 70: | Line 78: | ||
<br>Note that it would be easier if there was a CLOSE_EYES_CMD |
<br>Note that it would be easier if there was a CLOSE_EYES_CMD |
||
<br>I solved it by using the seq "OPEN_EYES_CMD, BLINK_EYES_CMD, 1, 0" |
<br>I solved it by using the seq "OPEN_EYES_CMD, BLINK_EYES_CMD, 1, 0" |
||
| − | |||
| − | Note that for such personalization, only eep file is required but if you plan to use the hex file, I noticed that there was a problem in the versioning structures order, you've to some files and invert some lines: |
||
| − | |||
| − | firmware/tuxaudio/trunk/main.c invert lines 42 and 44 |
||
| − | firmware/tuxcore/trunk/global.c invert lines 53 and 55 |
||
===Remote Control=== |
===Remote Control=== |
||
| Line 96: | Line 99: | ||
** tuxttsdaemon button desync |
** tuxttsdaemon button desync |
||
* wrong comments in commands.h 0x1A & 0x1B control both leds |
* wrong comments in commands.h 0x1A & 0x1B control both leds |
||
| + | * we should have save/restore raw commands for led & position |
||
===Misc Questions=== |
===Misc Questions=== |
||
* How to control the volume by software? |
* 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=== |
===Misc=== |
||
* Voice recognition |
* 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 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=== |
===Python=== |
||
====Examples==== |
====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): |
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): |
||
| + | <source lang=python> |
||
| − | <pre> |
||
#!/usr/bin/python |
#!/usr/bin/python |
||
| Line 122: | Line 130: | ||
if tux.event.wait_head_bt_pushed(60): |
if tux.event.wait_head_bt_pushed(60): |
||
tux.tts.speak("Ouch! That hurts!") |
tux.tts.speak("Ouch! That hurts!") |
||
| − | </ |
+ | </source> |
Problem: sometimes there is a delay before the speech and then movements/speech get desync. |
Problem: sometimes there is a delay before the speech and then movements/speech get desync. |
||
<br>It could be nice to get events from tts daemon when starting and stopping the speech. |
<br>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: |
To launch gtdi from /usr/local/bin/gtdi I wrote a little bash script: |
||
| + | <source lang=bash> |
||
| − | <pre> |
||
#!/bin/bash |
#!/bin/bash |
||
cd /opt/tuxdroid/lib/gtdi |
cd /opt/tuxdroid/lib/gtdi |
||
./gtdi.py |
./gtdi.py |
||
| − | </ |
+ | </source> |
To get an interactive python shell I wrote this script /usr/local/bin/tuxsh: |
To get an interactive python shell I wrote this script /usr/local/bin/tuxsh: |
||
| + | <source lang=bash> |
||
| − | <pre> |
||
#!/bin/bash |
#!/bin/bash |
||
python -i -c "import sys;sys.path.append('/opt/tuxdroid/api/python');from tux import *" |
python -i -c "import sys;sys.path.append('/opt/tuxdroid/api/python');from tux import *" |
||
| − | </ |
+ | </source> |
You can run it interactively or piping some commands: |
You can run it interactively or piping some commands: |
||
echo 'tux.cmd.mouth_open()'|./tuxsh |
echo 'tux.cmd.mouth_open()'|./tuxsh |
||
====Python API==== |
====Python API==== |
||
| + | List of functions can be generated by |
||
| − | Generated by |
||
<pre> |
<pre> |
||
gawk '/^class/{match($0,/class +TUX(.*)\(object\):/,a); |
gawk '/^class/{match($0,/class +TUX(.*)\(object\):/,a); |
||
| Line 151: | Line 159: | ||
</pre> |
</pre> |
||
| + | Or much cleaner: |
||
| − | <pre> |
||
| + | tux.misc.build_documentation('/tmp/tuxapi.html') |
||
| − | tux.print_api_version() |
||
| − | tux. |
+ | tux.misc.doc(tux) |
| + | tux.misc.doc(tux.hw) |
||
| − | tux.disconnect_from_daemon() |
||
| + | ... |
||
| − | tux.recv_msg_Thread() |
||
| + | |||
| − | tux.explicit_status() |
||
| + | Try also help(tux.cmd) |
||
| − | tux.data_pooling() |
||
| + | |||
| − | tux.dispatch_data_from_tcp_server() |
||
| + | ===IR=== |
||
| − | tux.dispatch_data_from_sdaemon() |
||
| + | * http://www2.tux-is-alive.com/wiki/Freaks_Asking_Questions#How_to_get_an_IR_RC5_code_from_the_API.3F |
||
| − | tux.dispatch_data_from_tux() |
||
| + | * 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. |
||
| − | tux.sys.time() |
||
| − | tux.sys.wait(seconds) |
||
| − | tux.sys.shell(command) |
||
| − | tux.sys.shell_free(command) |
||
| − | tux.sys.add_time_event(cmd_type,cmd,year,month,day,hour,minute,second) |
||
| − | tux.sys.clear_time_events() |
||
| − | tux.sys.time_events_Thread() |
||
| − | tux.event.clear() |
||
| − | tux.event.store() |
||
| − | tux.event.restore() |
||
| − | tux.event.wait_status(DATA_STATUS,DATA_VALUE,time_out) |
||
| − | tux.event.wait_stable_status(DATA_STATUS,DATA_VALUE,stable_time,time_out) |
||
| − | tux.event.wait_bt_pushed(time_out) |
||
| − | tux.event.wait_head_bt_pushed(time_out) |
||
| − | tux.event.wait_head_bt_relealed() |
||
| − | tux.event.wait_lwing_bt_pushed(time_out) |
||
| − | tux.event.wait_lwing_bt_released() |
||
| − | tux.event.wait_rwing_bt_pushed(time_out) |
||
| − | tux.event.wait_rwing_bt_released() |
||
| − | tux.event.wait_remote_bt(remote_key,timeout) |
||
| − | tux.event.set_on_bt_pushed(function) |
||
| − | tux.event.set_on_head_bt_pushed(function) |
||
| − | tux.event.set_on_lwing_bt_pushed(function) |
||
| − | tux.event.set_on_rwing_bt_pushed(function) |
||
| − | tux.event.set_on_bt_released(function) |
||
| − | tux.event.set_on_head_bt_released(function) |
||
| − | tux.event.set_on_lwing_bt_released(function) |
||
| − | tux.event.set_on_rwing_bt_released(function) |
||
| − | tux.event.set_on_remote_bt(key,function) |
||
| − | tux.cmd.cmd_ack() |
||
| − | tux.cmd.structured(fct,cmd,param1,param2,param3) |
||
| − | tux.cmd.raw(cmd,param1,param2,param3) |
||
| − | tux.cmd.eyes_on(count=1) |
||
| − | tux.cmd.eyes_open() |
||
| − | tux.cmd.eyes_close() |
||
| − | tux.cmd.eyes_on_free(count=1) |
||
| − | tux.cmd.eyes_off() |
||
| − | tux.cmd.mouth_on(count=1) |
||
| − | tux.cmd.mouth_on_free(count=1) |
||
| − | tux.cmd.mouth_open() |
||
| − | tux.cmd.mouth_close() |
||
| − | tux.cmd.mouth_off() |
||
| − | tux.cmd.wings_on(count=1,speed=5) |
||
| − | tux.cmd.wings_on_free(count=1,speed=5) |
||
| − | tux.cmd.wings_off() |
||
| − | tux.cmd.spinl_on(count=4,speed=5) |
||
| − | tux.cmd.spinl_on_free(count=4,speed=5) |
||
| − | tux.cmd.spinl_off() |
||
| − | tux.cmd.spinr_on(count=4,speed=5) |
||
| − | tux.cmd.spinr_on_free(count=4,speed=5) |
||
| − | tux.cmd.spinr_off() |
||
| − | tux.cmd.ir_on() |
||
| − | tux.cmd.ir_off() |
||
| − | tux.cmd.ir_send(address,command) |
||
| − | tux.cmd.leds_on() |
||
| − | tux.cmd.leds_blink(count,delay) |
||
| − | tux.cmd.leds_off() |
||
| − | tux.cmd.leds_during(seconds) |
||
| − | tux.cmd.leds_during_free(seconds) |
||
| − | tux.cmd.ledl_on() |
||
| − | tux.cmd.ledl_off() |
||
| − | tux.cmd.ledl_during(seconds) |
||
| − | tux.cmd.ledl_during_free(seconds) |
||
| − | tux.cmd.ledr_on() |
||
| − | tux.cmd.ledr_off() |
||
| − | tux.cmd.ledr_during(seconds) |
||
| − | tux.cmd.ledr_during_free(seconds) |
||
| − | tux.cmd.sound_play(index,volume) |
||
| − | tux.cmd.sound_storing(number) |
||
| − | tux.cmd.sound_store_index(highAdd,middleAdd,lowerAdd) |
||
| − | tux.cmd.sound_test() |
||
| − | tux.cmd.ping(count) |
||
| − | tux.cmd.sleep_on() |
||
| − | tux.cmd.sleep_off() |
||
| − | tux.cmd.audio_channel_general() |
||
| − | tux.cmd.audio_channel_tts() |
||
| − | tux.status.capture_light_level_thread() |
||
| − | tux.status.rsp_status(DATA_STATUS) |
||
| − | tux.status.get(DATA_STATUS) |
||
| − | tux.status.get_wings_motor_backward() |
||
| − | tux.status.get_spin_motor_backward() |
||
| − | tux.status.get_spin_motor_forward() |
||
| − | tux.status.get_mouth_open_position() |
||
| − | tux.status.get_mouth_closed_position() |
||
| − | tux.status.get_head_push_position() |
||
| − | tux.status.get_charger_inhibit_signal() |
||
| − | tux.status.get_wings_position_switch() |
||
| − | tux.status.get_motor_for_wings() |
||
| − | tux.status.get_left_blue_led() |
||
| − | tux.status.get_right_blue_led() |
||
| − | tux.status.get_head_motor_for_mouth() |
||
| − | tux.status.get_head_motor_for_eyes() |
||
| − | tux.status.get_ir_receiver_signal() |
||
| − | tux.status.get_spin_position_switch() |
||
| − | tux.status.get_wings_motor_forward() |
||
| − | tux.status.get_ir_led() |
||
| − | tux.status.get_eyes_open_position_switch() |
||
| − | tux.status.get_eyes_closed_position_switch() |
||
| − | tux.status.get_left_wing_push() |
||
| − | tux.status.get_right_wing_push() |
||
| − | tux.status.get_power_plug_switch() |
||
| − | tux.status.get_head_push_switch() |
||
| − | tux.status.get_tux_mute_sound() |
||
| − | tux.status.get_light_level() |
||
| − | tux.status.get_eyes_position_counter() |
||
| − | tux.status.get_mouth_position_counter() |
||
| − | tux.status.get_wings_position_counter() |
||
| − | tux.status.get_spin_position_counter() |
||
| − | tux.status.get_RF_state() |
||
| − | tux.status.get_sound_flash_count() |
||
| − | tux.sdaemon.cmd_ack() |
||
| − | tux.sdaemon.rsp_info(DATA_INFO) |
||
| − | tux.sdaemon.cmd(cmd,param1,param2,param3) |
||
| − | tux.sdaemon.cmd_no_ack(cmd,param1,param2,param3) |
||
| − | tux.sdaemon.request(req,param1,param2,param3) |
||
| − | tux.sdaemon.disconnect_client(id_client) |
||
| − | tux.sdaemon.disconnect_me() |
||
| − | tux.sdaemon.kill() |
||
| − | tux.sdaemon.set_my_client_name(name) |
||
| − | tux.sdaemon.get_version() |
||
| − | tux.sdaemon.get_client_count() |
||
| − | tux.sdaemon.get_client_name(id_client) |
||
| − | tux.sdaemon.get_my_client_id() |
||
| − | tux.hw.get_firmware_versioning(cpu_index) |
||
| − | tux.hw.behavior_get_version() |
||
| − | tux.hw.audio_get_version() |
||
| − | tux.hw.tuxrf_get_version() |
||
| − | tux.hw.donglerf_get_version() |
||
| − | tux.hw.alsa_devices_enumerate() |
||
| − | tux.hw.alsa_devices_count() |
||
| − | tux.hw.alsa_devices_select(number) |
||
| − | tux.tts.connect_to_daemon() |
||
| − | tux.tts.disconnect_from_daemon() |
||
| − | tux.tts.recv_msg_Thread() |
||
| − | tux.tts.data_pooling() |
||
| − | tux.tts.dispatch_data_from_tcp_server() |
||
| − | tux.tts.getTime() |
||
| − | tux.tts.wait_time(seconds) |
||
| − | tux.tts.send_command_to_tts(cmd_type,cmd,param1,param2,param3,param4) |
||
| − | tux.tts.soundconf_reinit(usb_bus,usb_device) |
||
| − | tux.tts.soundconf_stop() |
||
| − | tux.tts.select_voice(speaker,pitch) |
||
| − | tux.tts.select_voice_fr_male() |
||
| − | tux.tts.select_voice_fr_female() |
||
| − | tux.tts.select_voice_us_male() |
||
| − | tux.tts.select_voice_us_female() |
||
| − | tux.tts.select_voice_fr_male_tuxed() |
||
| − | tux.tts.select_voice_fr_female_tuxed() |
||
| − | tux.tts.select_voice_us_male_tuxed() |
||
| − | tux.tts.select_voice_us_female_tuxed() |
||
| − | tux.tts.speak(text) |
||
| − | tux.tts.speak_free(text) |
||
| − | tux.tts.play() |
||
| − | tux.tts.pause() |
||
| − | tux.tts.stop() |
||
| − | tux.tts.get_sound_state() |
||
| − | tux.tts.send_disconnect() |
||
| − | tux.tts.print_audio_fifo_state() |
||
| − | tux.tts.print_tux_sound_cards() |
||
| − | tux.tts.kill_daemon() |
||
| − | tux.tts.wait_until_status1(CMD_TYPE,CMD_STATUS,time_out) |
||
| − | </pre> |
||
Latest revision as of 21:33, 24 November 2010
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
- Keep Your Sense Of Humor Commercial site
- Tux is alive! Community site (recent changes)
- Tux Droid development wiki
- Logs of the IRC channel #tuxdroid on irc.freenode.net
- Blogs aggregated flatted or summarized
- Forum
- Mailing lists
- tux-droid-user
- tux-droid-svn
- tux@kysoh.com was the old one(?)
- Subversion server
- Bugreports
- Atmel
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 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 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 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):
#!/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!")
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:
#!/bin/bash
cd /opt/tuxdroid/lib/gtdi
./gtdi.py
To get an interactive python shell I wrote this script /usr/local/bin/tuxsh:
#!/bin/bash
python -i -c "import sys;sys.path.append('/opt/tuxdroid/api/python');from tux import *"
You can run it interactively or piping some commands:
echo 'tux.cmd.mouth_open()'|./tuxsh
Python API
List of functions can be generated by
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
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.