Config as YAML files instead of python. Live translation of logs and TTS

README.md

@@ -10,7 +10,7 @@ To use the Googla Coral USB Accelerator, first flash the Pi SD card with the ima
 
 (I attempted to install the required software from the coral [getting started guide](https://coral.ai/docs/accelerator/get-started#1-install-the-edge-tpu-runtime) but I was unable to get past an error relating to grpico "GLIBC_2.29' not found")
 
-Alternatively, set Config.VISION_TECH to `opencv` for the original (slower) facial recognition. I am not updating this anymore so you may find some integration issues.
+Alternatively, set Config.vision.tech to `opencv` for the original (slower) facial recognition. I am not updating this anymore so you may find some integration issues.
 
 ## Installation
 ```

config/buzzer.yml

@@ -0,0 +1,7 @@
+buzzer:
+  pin: 27
+  docs:
+    description: "The buzzer is a piezo speaker that can be used to play tones and melodies."
+    events: 
+      sub: 
+        - speech

config/hotword.yml

@@ -0,0 +1,3 @@
+hotword:
+  model: ''
+  sleep: 0.03

config/motion.yml

@@ -0,0 +1,11 @@
+motion:
+  pin: 13
+  docs:
+    description: "The motion module is used to detect motion using a microwave sensor."
+    event:
+      sub:
+        - loop:1:
+            description: "Trigger read evey second."
+      pub:
+        - motion:
+            description: "Sent when motion is detected."

config/neopixel.yml

@@ -0,0 +1,37 @@
+neopixel:
+  pin: None
+  count: 7
+  docs:
+    description: "The neopixel module is used to drive neopixel LEDs."
+    events:
+      sub:
+        - led:
+            description: "Set specific LEDs"
+            args:
+              - identifiers: "array[integer] | integer"
+              - color: string
+        - led:full:
+            description: "Set all LEDs"
+            args:
+              - color: string
+        - led:eye:
+            description: "Set eye LEDs"
+            args:
+              - color: string
+        - led:off:
+            description: "Turn off all LEDs"
+        - led:flashlight:
+            description: "Turn on all eye LEDs full white"
+            args:
+              - on: boolean
+        - led:party:
+            description: "Turn on all LEDs in random colors"
+        - exit:
+            description: "Exit module."
+        - speech:
+            description: "Attempt to process commands from speech (light on | off)"
+            args:
+              - msg: string
+      pub:
+        - log:
+            description: "Send messages to logger."

config/rfid.yml

@@ -0,0 +1,6 @@
+rfid:
+  pin: None
+  cards:
+    "1234567890": "John Doe"
+    "0987654321": "Jane Doe"
+    "1234567891": "John Doe"

config/servos.yml

@@ -0,0 +1,38 @@
+servos:
+  conf:
+    leg_l_hip: { id: 0, pin: 9, range: [20, 160], start: 19 }
+    leg_l_knee: { id: 1, pin: 10, range: [5, 175], start: 12 }
+    leg_l_ankle: { id: 2, pin: 11, range: [40, 180], start: 52 }
+    leg_r_hip: { id: 3, pin: 6, range: [20, 160], start: 93 }
+    leg_r_knee: { id: 4, pin: 7, range: [5, 175], start: 190 }
+    leg_r_ankle: { id: 5, pin: 8, range: [40, 180], start: 88 }
+    tilt: { id: 6, pin: 2, range: [60, 120], start: 75 }
+    pan: { id: 7, pin: 3, range: [20, 160], start: 50 }
+  docs:
+    description: "The servos module is used to control servos. These are handled by the arduino but positions can be requested by this framework via serial"
+    events:
+      sub:
+        - servo:[identifier]:mvabs:
+            description: "Move servo to absolute position."
+            args:
+              - percentage: integer
+        - servo:[identifier]:mv:
+            description: "Move servo to relative position."
+            args:
+              - percentage: integer
+              - safe: boolean
+      pub:
+        - log:
+            description: "Send messages to logger."
+        - log:error:
+            description: "Send error messages to logger."
+        - power:use:
+            description: "Request power usage."
+        - power:release:
+            description: "Release power usage."
+        - serial:
+            description: "Send serial data to arduino."
+            args:
+              - type: string
+              - identifier: integer
+              - message: string

config/translator.yml

@@ -0,0 +1,18 @@
+translator:
+  default:
+    src: "en"
+    dest: "es"
+  docs:
+    description: "The translator module is used to translate any text from one language to another"
+    methods:
+      - init:
+          description: "Initialize the translator module"
+          args:
+            - src: string
+            - dest: string
+      - request:
+          description: "Translate text from one language to another. Languages can be specified or use defaults"
+          args:
+            - text: string
+            - src: string
+            - dest: string

config/vision.yml

@@ -0,0 +1,29 @@
+vision:
+  tech: "coral"
+  initial_mode: "object"
+  modes: ["object", "face"]
+  debug: false
+  docs:
+    description: "The vision module is used to detect objects and faces."
+    events:
+      sub:
+        - exit:
+            description: "Exit module."
+      pub:
+        - log:
+            description: "Send messages to logger."
+        - vision:detect:object:
+            description: "The vision module has detected an object."
+            args:
+              - name: string
+        - vision:detect:face:
+            description: "The vision module has detected a face."
+            args:
+              - name: string
+        - vision:matches:
+            description: "List of vision matches."
+            args:
+              - matches: array
+              - labels: array
+        - vision:nomatch:
+            description: "No matches."

main.py

@@ -41,13 +41,15 @@
 from modules.buzzer import Buzzer
 from modules.pitemperature import PiTemperature
 
-if Config.VISION_TECH is 'opencv':
+from modules.translator import Translator
+
+if Config.get('vision', 'tech') is 'opencv':
     from modules.opencv.vision import Vision
     from modules.opencv.tracking import Tracking
     from modules.opencv.train_model import TrainModel
     from modules.opencv.video_stream import VideoStream
     from modules.opencv.timelapse import Timelapse
-elif Config.VISION_TECH is 'coral':
+elif Config.get('vision', 'tech') is 'coral':
     from modules.coral.vision import Vision
     from modules.coral.tracking import Tracking
 
@@ -62,7 +64,9 @@ def main():
     print('Starting...')
 
     path = os.path.dirname(__file__)
-    log = LogWrapper(path=os.path.dirname(__file__))
+    translator = Translator(src=Config.get('translator', 'default')['src'], dest=Config.get('translator', 'default')['dest'])
+    log = LogWrapper(path=os.path.dirname(__file__), translator=translator)
+
 
     # Throw exception to safely exit script when terminated
     signal.signal(signal.SIGTERM, Config.exit)
@@ -74,8 +78,9 @@ def main():
     serial = ArduinoSerial()
 
     servos = dict()
-    for key in Config.servos:
-        s = Config.servos[key]
+    servo_conf = Config.get('servos','conf')
+    for key in servo_conf:
+        s = servo_conf[key]
         servos[key] = Servo(s['pin'], key, s['range'], s['id'], start_pos=s['start'])
 
     # pub.sendMessage('log', msg="[Main] Starting pan test")
@@ -98,11 +103,11 @@ def main():
     #return
     # power = Power(Config.POWER_ENABLE_PIN)
 
-    led = LED(Config.LED_COUNT)
-    tts = TTS()
+    led = LED(Config.get('neopixel','count'))
+    tts = TTS(translator=translator)
 
-    if Config.MOTION_PIN is not None:
-        motion = Sensor(Config.MOTION_PIN, pi=gpio)
+    if Config.get('motion','pin') != '':
+        motion = Sensor(Config.get('motion','pin'), pi=gpio)
 
     pub.sendMessage('tts', msg='I am awake')
 
@@ -112,15 +117,15 @@ def main():
         if len(sys.argv) > 1 and sys.argv[1] == 'preview':
             preview = True
 
-        if Config.VISION_TECH is 'opencv':
+        if Config.get('vision','tech') is 'opencv':
             camera_resolution = (640, 480) #(1024, 768) #- this halves the speed of image recognition
             video_stream = VideoStream(resolution=camera_resolution).start()
             vision = Vision(video_stream, mode=Vision.MODE_FACES, path=path, preview=preview, resolution=camera_resolution)
             tracking = Tracking(vision)
             training = TrainModel(dataset=path + '/matches/trained', output='encodings.pickle')
             # timelapse = Timelapse(video_stream, path=path, original_resolution=camera_resolution)
-        elif Config.VISION_TECH is 'coral':
-            if Config.DEBUG_VISION:
+        elif Config.get('vision','tech') is 'coral':
+            if Config.get('vision', 'debug'):
                 # Testing - for fine-tuning tracking without the other stuff
                 pub.sendMessage('wake')
                 pub.sendMessage('power:use')
@@ -129,10 +134,10 @@ def main():
                 pub.sendMessage("servo:pan:mvabs", percentage=60)
                 sleep(1)
 
-            vision = Vision(preview=preview, mode=Config.VISION_MODE)
+            vision = Vision(preview=preview, mode=Config.get('vision','initial_mode'))
             tracking = Tracking()
 
-            if Config.DEBUG_VISION:
+            if Config.get('vision', 'debug'):
                 while True:
                     pass
 
@@ -144,19 +149,19 @@ def main():
     temp = PiTemperature()
 
     # Voice
-    if Config.HOTWORD_MODEL is not None:
-        hotword = HotWord(Config.HOTWORD_MODEL)
+    if Config.get('hotword', 'model') is not '':
+        hotword = HotWord(Config.get('hotword', 'model'))
         hotword.start()  # @todo this starts the thread. can it be moved into hotword?
-        hotword.start_recog(sleep_time=Config.HOTWORD_SLEEP_TIME)
+        hotword.start_recog(sleep_time=Config.get('hotword', 'sleep_time'))
         sleep(1)  # @todo is this needed?
         # @todo this is throwing errors: ALSA lib confmisc.c:1281:(snd_func_refer) Unable to find definition 'defaults.bluealsa.device'
 
     speech = SpeechInput()
     # Output
-    if Config.BUZZER_PIN is not None:
-        speak = Braillespeak(Config.BUZZER_PIN, duration=80/1000)
+    if Config.get('buzzer', 'pin') != '':
+        speak = Braillespeak(Config.get('buzzer', 'pin'), duration=80/1000)
 
-    buzzer = Buzzer(Config.BUZZER_PIN)
+    buzzer = Buzzer(Config.get('buzzer', 'pin'))
     animate = Animate()
 
     # @todo 2k resistor needs switching to > 3k for 20v+ support.