Josiah

.github/workflows/build.yml

@@ -2,7 +2,7 @@ name: Build image
 
 on:
   push:
-    branches: [ main ]
+    branches: [ master ]
     tags:
       - "*"
   workflow_dispatch:

.vscode/settings.json

@@ -0,0 +1,11 @@
+{
+    "files.exclude": {
+        "**/.git": true,
+        "**/.svn": true,
+        "**/.hg": true,
+        "**/CVS": true,
+        "**/.DS_Store": true,
+        "**/Thumbs.db": true
+    },
+    "hide-files.files": []
+}

backend.py

@@ -0,0 +1,13 @@
+from fastapi import FastAPI
+
+app = FastAPI()
+
+@app.post("/")
+async def handle_command(cmd: str):
+    cmd = input()
+    if cmd == "0":
+        return {cmd}
+    elif cmd == "1":
+        return {cmd}
+    else:
+        return {"Invalid input. Please enter a valid cmd."}

main.py

@@ -2,6 +2,7 @@
 import time
 from spot_controller import SpotController
 import cv2
+from req import fetch
 
 ROBOT_IP = "10.0.0.3"#os.environ['ROBOT_IP']
 SPOT_USERNAME = "admin"#os.environ['SPOT_USERNAME']
@@ -17,40 +18,23 @@ def capture_image():
 
 
 def main():
-    #example of using micro and speakers
-    print("Start recording audio")
-    sample_name = "aaaa.wav"
-    cmd = f'arecord -vv --format=cd --device={os.environ["AUDIO_INPUT_DEVICE"]} -r 48000 --duration=10 -c 1 {sample_name}'
-    print(cmd)
-    os.system(cmd)
-    print("Playing sound")
-    os.system(f"ffplay -nodisp -autoexit -loglevel quiet {sample_name}")
-
-    # # Capture image
-
-    # Use wrapper in context manager to lease control, turn on E-Stop, power on the robot and stand up at start
-    # and to return lease + sit down at the end
     with SpotController(username=SPOT_USERNAME, password=SPOT_PASSWORD, robot_ip=ROBOT_IP) as spot:
+        response = fetch("/", method='POST')
+        print(response)
 
-        time.sleep(2)
         capture_image()
-        # Move head to specified positions with intermediate time.sleep
         spot.move_head_in_points(yaws=[0.2, 0],
                                  pitches=[0.3, 0],
                                  rolls=[0.4, 0],
                                  sleep_after_point_reached=1)
         capture_image()
-        time.sleep(3)
+        spot.move_head_in_points(yaws=[0, 0.4],
+                                 pitches=[0, 0.5],
+                                 rolls=[0, 0.7],
+                                 sleep_after_point_reached=1)
 
-        # Make Spot to move by goal_x meters forward and goal_y meters left
-        spot.move_to_goal(goal_x=0.5, goal_y=0)
-        time.sleep(3)
-        capture_image()
 
-        # Control Spot by velocity in m/s (or in rad/s for rotation)
-        spot.move_by_velocity_control(v_x=-0.3, v_y=0, v_rot=0, cmd_duration=2)
-        capture_image()
-        time.sleep(3)
+
 
 
 if __name__ == '__main__':

req.py

@@ -0,0 +1,27 @@
+import http.client
+
+def fetch(path = "/", method='GET'):
+    # Url
+    url='http://192.168.2.189:8000'
+
+    # Define the URL and headers
+    headers = {}
+
+    # Create an HTTP connection
+    conn = http.client.HTTPConnection(url.split("/")[2])
+
+    # Send a GET request
+    conn.request("GET", path, headers=headers)
+
+    # Get the response
+    response = conn.getresponse()
+
+    # Print the response status and data
+    print("Status:", response.status, response.reason)
+    data = response.read()
+    print("Data:", data.decode())
+
+    # Close the connection
+    conn.close()
+
+print(fetch())