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billybass.html
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billybass.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<html><head><title>Python: module billybass</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
</head><body bgcolor="#f0f0f8">
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="heading">
<tr bgcolor="#7799ee">
<td valign=bottom> <br>
<font color="#ffffff" face="helvetica, arial"> <br><big><big><strong>billybass</strong></big></big></font></td
><td align=right valign=bottom
><font color="#ffffff" face="helvetica, arial"><a href=".">index</a><br><a href="file:/opt/AlexaPi/src/billybass.py">/opt/AlexaPi/src/billybass.py</a></font></td></tr></table>
<p></p>
<p>
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="section">
<tr bgcolor="#aa55cc">
<td colspan=3 valign=bottom> <br>
<font color="#ffffff" face="helvetica, arial"><big><strong>Modules</strong></big></font></td></tr>
<tr><td bgcolor="#aa55cc"><tt> </tt></td><td> </td>
<td width="100%"><table width="100%" summary="list"><tr><td width="25%" valign=top><a href="coloredlogs.html">coloredlogs</a><br>
</td><td width="25%" valign=top><a href="logging.html">logging</a><br>
</td><td width="25%" valign=top><a href="threading.html">threading</a><br>
</td><td width="25%" valign=top><a href="time.html">time</a><br>
</td></tr></table></td></tr></table><p>
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="section">
<tr bgcolor="#ee77aa">
<td colspan=3 valign=bottom> <br>
<font color="#ffffff" face="helvetica, arial"><big><strong>Classes</strong></big></font></td></tr>
<tr><td bgcolor="#ee77aa"><tt> </tt></td><td> </td>
<td width="100%"><dl>
<dt><font face="helvetica, arial"><a href="threading.html#Thread">threading.Thread</a>(<a href="builtins.html#object">builtins.object</a>)
</font></dt><dd>
<dl>
<dt><font face="helvetica, arial"><a href="billybass.html#BillyBass">BillyBass</a>
</font></dt></dl>
</dd>
</dl>
<p>
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="section">
<tr bgcolor="#ffc8d8">
<td colspan=3 valign=bottom> <br>
<font color="#000000" face="helvetica, arial"><a name="BillyBass">class <strong>BillyBass</strong></a>(<a href="threading.html#Thread">threading.Thread</a>)</font></td></tr>
<tr bgcolor="#ffc8d8"><td rowspan=2><tt> </tt></td>
<td colspan=2><tt>Purpose:<br>
Executes commands that move the motors of the billy bass animatronic.<br>
These commands represent different things the animatronic can do, such as move it's head, tail, or mouth.<br>
Commands are run by passing it through the constructor via its task parameter, which subsequently executes that command if it is valid. <br>
Once the function has executed, the object is destroyed because it inherits threading behaviors<br>
<br>
Behavior:<br>
Inherits multithreading. This allows the fish to respond to the voice commands by moving its motors<br>
while at the same time outputting the audio coming from alexapi. It also allows for it to listen for other voice commands while its executing. <br>
Usage:<br>
It is highly recommended to utilize this class using the with keyword as it will handle resource management without having to explicitly close the threads. This is because this class is a context manager.<br>
ex) with billybass(task="greet"):<br>
--enter code here if necessary--<br> </tt></td></tr>
<tr><td> </td>
<td width="100%"><dl><dt>Method resolution order:</dt>
<dd><a href="billybass.html#BillyBass">BillyBass</a></dd>
<dd><a href="threading.html#Thread">threading.Thread</a></dd>
<dd><a href="builtins.html#object">builtins.object</a></dd>
</dl>
<hr>
Methods defined here:<br>
<dl><dt><a name="BillyBass-__enter__"><strong>__enter__</strong></a>(self)</dt><dd><tt>Magic method that is called when the class is being instantiated <br>
with the 'with' keyword (context manager protocol). This method allows us to define what function to execute based on the task given in the constructor variable.<br>
If the task is illegal or does not exist, we raise an exception.<br>
<br>
Using context managers gives us the security in knowing the thread<br>
that is spawned when this class is instantiated is being released without having to deal with releasing it explicitly in the code that calls it. (__exit__ frees the resource)</tt></dd></dl>
<dl><dt><a name="BillyBass-__exit__"><strong>__exit__</strong></a>(self, exc_type, exc_val, exc_tb)</dt><dd><tt>Called once were exiting from the with statement.</tt></dd></dl>
<dl><dt><a name="BillyBass-__init__"><strong>__init__</strong></a>(self, task)</dt><dd><tt>Constructor calls superclass(threading) to set up its appropriate variables<br>
It also initalizes the adafruit motorkit, which we need in order to manipulate the motors of the animatronic.<br>
:param task: string that represents a command to the alexa service is being executed ( ex) When querying alexa</tt></dd></dl>
<dl><dt><a name="BillyBass-dance"><strong>dance</strong></a>(self)</dt><dd><tt>The fish can dance! Moves it's head and tail with a time buffer<br>
in between so we don't overload the fish with too much current!<br>
BUG: Fish stops dancing after a couple seconds of usage. I have a feeling it has something to do with<br>
thread synchronization as when the dance function is called in main.py<br>
it is continiously called which spawns more threads to execute the same function.<br>
<br>
The fish dances in main.py when we play a playlist</tt></dd></dl>
<dl><dt><a name="BillyBass-greet"><strong>greet</strong></a>(self)</dt><dd><tt>Moves mouth in a specific way when the alexapi service starts.<br>
When its first initalized, the alexapi service notifies it is ready to run by saying "hello"</tt></dd></dl>
<dl><dt><a name="BillyBass-move_head"><strong>move_head</strong></a>(self)</dt><dd><tt>Moves the head of the billybass fish by controlling the motor that moves it's body (negative values move head)</tt></dd></dl>
<dl><dt><a name="BillyBass-move_mouth"><strong>move_mouth</strong></a>(self)</dt><dd><tt>Moves the mouth of the billybass fish by controlling the motor that moves it's mouth</tt></dd></dl>
<dl><dt><a name="BillyBass-move_tail"><strong>move_tail</strong></a>(self)</dt><dd><tt>Moves the tail of the billybass fish by controlling the motor that moves it's body (positive values move tail)</tt></dd></dl>
<dl><dt><a name="BillyBass-release_motor"><strong>release_motor</strong></a>(self, sensitivity)</dt><dd><tt>Releases motor by sleeping for a specified amount of time<br>
:param sensitivity: time in seconds to sleep for</tt></dd></dl>
<dl><dt><a name="BillyBass-reset_motors"><strong>reset_motors</strong></a>(self)</dt><dd><tt>Helper function that resets both of the positions of the <br>
motors to their default values</tt></dd></dl>
<dl><dt><a name="BillyBass-response"><strong>response</strong></a>(self)</dt><dd><tt>Moves mouth of billybass fish when alexa is responding<br>
to a query the user requested.<br>
NOTE: This function is redundant in a sense that it only calls one function and debug logs. However I implemented it this way<br>
because there may be multiple ways the billybass fish can respond to a query (it can move its head and tail as well)<br>
so its nice to know I don't have to mess around with the actual function that moves the motors and instead can mess around with it here.</tt></dd></dl>
<dl><dt><a name="BillyBass-run"><strong>run</strong></a>(self)</dt><dd><tt>When the thread is executed it runs this method<br>
It keeps executing until were told to stop. (self.<strong>done</strong>)<br>
If any errors occur we output to the user and raise the exception</tt></dd></dl>
<dl><dt><a name="BillyBass-run_motor"><strong>run_motor</strong></a>(self, motor, sensitivity, steps)</dt><dd><tt>:param motor: which motor to run this on (mouth or body)<br>
:param sensitivity: delays the time between steps. The higher the value, the longer it will wait (measured in seconds)<br>
:param steps: list of floats that represent a sequence of positions on where to move the motor to [value of motor can only -1 <= x <= 1.</tt></dd></dl>
<dl><dt><a name="BillyBass-stop"><strong>stop</strong></a>(self)</dt><dd><tt>Stops execution of the thread by setting this flag to<br>
true. Once execution of the thread has finished, it will<br>
free its resources</tt></dd></dl>
<dl><dt><a name="BillyBass-trigger"><strong>trigger</strong></a>(self)</dt><dd><tt>Moves head and mouth of the billybass fish. This should be called<br>
when the user triggers alexa for a query so that the fish mimics responsiveness</tt></dd></dl>
<hr>
Static methods defined here:<br>
<dl><dt><a name="BillyBass-set_debug"><strong>set_debug</strong></a>(DEBUG)</dt><dd><tt>Sets the debug level. Used primarily for debugging purposes<br>
:param DEBUG: boolean indicating whether to set log_level to debug or not</tt></dd></dl>
<hr>
Methods inherited from <a href="threading.html#Thread">threading.Thread</a>:<br>
<dl><dt><a name="BillyBass-__repr__"><strong>__repr__</strong></a>(self)</dt><dd><tt>Return repr(self).</tt></dd></dl>
<dl><dt><a name="BillyBass-getName"><strong>getName</strong></a>(self)</dt></dl>
<dl><dt><a name="BillyBass-isAlive"><strong>isAlive</strong></a> = is_alive(self)</dt><dd><tt>Return whether the thread is alive.<br>
<br>
This method returns True just before the <a href="#BillyBass-run">run</a>() method starts until just<br>
after the <a href="#BillyBass-run">run</a>() method terminates. The module function enumerate()<br>
returns a list of all alive threads.</tt></dd></dl>
<dl><dt><a name="BillyBass-isDaemon"><strong>isDaemon</strong></a>(self)</dt></dl>
<dl><dt><a name="BillyBass-is_alive"><strong>is_alive</strong></a>(self)</dt><dd><tt>Return whether the thread is alive.<br>
<br>
This method returns True just before the <a href="#BillyBass-run">run</a>() method starts until just<br>
after the <a href="#BillyBass-run">run</a>() method terminates. The module function enumerate()<br>
returns a list of all alive threads.</tt></dd></dl>
<dl><dt><a name="BillyBass-join"><strong>join</strong></a>(self, timeout=None)</dt><dd><tt>Wait until the thread terminates.<br>
<br>
This blocks the calling thread until the thread whose <a href="#BillyBass-join">join</a>() method is<br>
called terminates -- either normally or through an unhandled exception<br>
or until the optional timeout occurs.<br>
<br>
When the timeout argument is present and not None, it should be a<br>
floating point number specifying a timeout for the operation in seconds<br>
(or fractions thereof). As <a href="#BillyBass-join">join</a>() always returns None, you must call<br>
<a href="#BillyBass-isAlive">isAlive</a>() after <a href="#BillyBass-join">join</a>() to decide whether a timeout happened -- if the<br>
thread is still alive, the <a href="#BillyBass-join">join</a>() call timed out.<br>
<br>
When the timeout argument is not present or None, the operation will<br>
block until the thread terminates.<br>
<br>
A thread can be <a href="#BillyBass-join">join</a>()ed many times.<br>
<br>
<a href="#BillyBass-join">join</a>() raises a RuntimeError if an attempt is made to join the current<br>
thread as that would cause a deadlock. It is also an error to <a href="#BillyBass-join">join</a>() a<br>
thread before it has been started and attempts to do so raises the same<br>
exception.</tt></dd></dl>
<dl><dt><a name="BillyBass-setDaemon"><strong>setDaemon</strong></a>(self, daemonic)</dt></dl>
<dl><dt><a name="BillyBass-setName"><strong>setName</strong></a>(self, name)</dt></dl>
<dl><dt><a name="BillyBass-start"><strong>start</strong></a>(self)</dt><dd><tt>Start the thread's activity.<br>
<br>
It must be called at most once per thread object. It arranges for the<br>
object's <a href="#BillyBass-run">run</a>() method to be invoked in a separate thread of control.<br>
<br>
This method will raise a RuntimeError if called more than once on the<br>
same thread object.</tt></dd></dl>
<hr>
Data descriptors inherited from <a href="threading.html#Thread">threading.Thread</a>:<br>
<dl><dt><strong>__dict__</strong></dt>
<dd><tt>dictionary for instance variables (if defined)</tt></dd>
</dl>
<dl><dt><strong>__weakref__</strong></dt>
<dd><tt>list of weak references to the object (if defined)</tt></dd>
</dl>
<dl><dt><strong>daemon</strong></dt>
<dd><tt>A boolean value indicating whether this thread is a daemon thread.<br>
<br>
This must be set before start() is called, otherwise RuntimeError is<br>
raised. Its initial value is inherited from the creating thread; the<br>
main thread is not a daemon thread and therefore all threads created in<br>
the main thread default to daemon = False.<br>
<br>
The entire Python program exits when no alive non-daemon threads are<br>
left.</tt></dd>
</dl>
<dl><dt><strong>ident</strong></dt>
<dd><tt>Thread identifier of this thread or None if it has not been started.<br>
<br>
This is a nonzero integer. See the thread.get_ident() function. Thread<br>
identifiers may be recycled when a thread exits and another thread is<br>
created. The identifier is available even after the thread has exited.</tt></dd>
</dl>
<dl><dt><strong>name</strong></dt>
<dd><tt>A string used for identification purposes only.<br>
<br>
It has no semantics. Multiple threads may be given the same name. The<br>
initial name is set by the constructor.</tt></dd>
</dl>
</td></tr></table></td></tr></table><p>
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="section">
<tr bgcolor="#eeaa77">
<td colspan=3 valign=bottom> <br>
<font color="#ffffff" face="helvetica, arial"><big><strong>Functions</strong></big></font></td></tr>
<tr><td bgcolor="#eeaa77"><tt> </tt></td><td> </td>
<td width="100%"><dl><dt><a name="-main"><strong>main</strong></a>()</dt></dl>
</td></tr></table><p>
<table width="100%" cellspacing=0 cellpadding=2 border=0 summary="section">
<tr bgcolor="#55aa55">
<td colspan=3 valign=bottom> <br>
<font color="#ffffff" face="helvetica, arial"><big><strong>Data</strong></big></font></td></tr>
<tr><td bgcolor="#55aa55"><tt> </tt></td><td> </td>
<td width="100%"><strong>logger</strong> = <logging.Logger object></td></tr></table>
</body></html>