Tux Droid
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 (should disappear after transfer)
- 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
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"
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
(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
Misc Questions
- How to control the volume by software?
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
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
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
tux.print_api_version() tux.connect_to_daemon() tux.disconnect_from_daemon() tux.recv_msg_Thread() tux.explicit_status() tux.data_pooling() tux.dispatch_data_from_tcp_server() tux.dispatch_data_from_sdaemon() tux.dispatch_data_from_tux() 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)