#!/usr/bin/env python3
import enum
from ..apis.base_api import BaseApi, DEFAULT_TIMEOUT
from ..apis.cmdid import _PCProgramCmdId
from ..pb2.codemao_controlmouthlamp_pb2 import ControlMouthRequest, ControlMouthResponse
from ..pb2.codemao_playexpression_pb2 import PlayExpressionRequest, PlayExpressionResponse
from ..pb2.codemao_setmouthlamp_pb2 import SetMouthLampRequest, SetMouthLampResponse
from ..pb2.pccodemao_message_pb2 import Message
[文档]@enum.unique
class RobotExpressionType(enum.Enum):
"""
机器人表情类型
INNER(内置) : 机器人内置的不可修改的表情文件
"""
# CUSTOM(自定义) : 放置在sdcard/customize/expresss目录下可被开发者修改的表情文件
INNER = 0 # 内置表情
# CUSTOM = 1 # 自定义表情
[文档]class PlayExpression(BaseApi):
"""播放内置表情api
让机器人眼睛演示个表情
Args:
is_serial (bool): 是否等待回复，默认True
express_name (str): 表情名称，不可为空或者None
#PlayExpressionResponse.isSuccess : 是否成功
#PlayExpressionResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True, express_name: str = None):
assert express_name is not None and len(express_name), 'PlayExpression: expressName should be available'
self.__is_serial = is_serial
self.__express_name = express_name
self.__dir_type = RobotExpressionType.INNER.value
[文档] async def execute(self):
"""
执行播放表情指令
Returns:
PlayExpressionResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = PlayExpressionRequest()
request.expressName = self.__express_name
request.dirType = self.__dir_type
cmd_id: int = _PCProgramCmdId.PLAY_EXPRESSION_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
PlayExpressionResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = PlayExpressionResponse()
response.ParseFromString(data)
return response
else:
return None
[文档]@enum.unique
class MouthLampColor(enum.Enum):
"""
嘴巴灯颜色
RED : 红色
GREEN : 绿色
WHITE : 白色
"""
RED = 1 # 红色
GREEN = 2 # 绿色
WHITE = 4 # 白色
[文档]@enum.unique
class MouthLampMode(enum.Enum):
"""
嘴巴灯模式
NORMAL(普通模式) : 常亮模式
BREATH(呼吸模式) : 呼吸模式
"""
NORMAL = 0 # 普通模式
BREATH = 1 # 呼吸模式
[文档]class SetMouthLamp(BaseApi):
"""设置嘴巴灯api
设置嘴巴灯的模式、颜色等参数
当mode=NORMAL时，duration参数起作用，表示常亮多久时间
当mode=BREATH，breath_duration参数表示多久呼吸一次
设置生效后，机器人会立即返回设置结果(与设置的duration参数无关)
Args:
is_serial (bool): 是否等待回复，默认True
mode (MouthLampMode): 嘴巴灯模式，默认NORMAL，普通(常亮)模式
color (MouthLampColor): 嘴巴灯颜色，默认RED，红色
duration (int): 持续时间，单位为毫秒，-1表示无限时间，当时长设置超过10s，会在10s内返回结果
breath_duration (int):闪烁一次时长，单位为毫秒
#SetMouthLampResponse.isSuccess : 是否成功
#SetMouthLampResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True, mode: MouthLampMode = MouthLampMode.NORMAL,
color: MouthLampColor = MouthLampColor.RED, duration: int = 1000, breath_duration: int = 1000):
assert isinstance(mode, MouthLampMode), 'SetMouthLamp: mode should be MouthLampMode instance'
assert isinstance(color, MouthLampColor), 'SetMouthLamp: color should be MouthLampColor instance'
self.serial = is_serial
self.__is_serial = self.serial
self.__mode = mode.value
self.__color = color.value
self.__duration = duration
self.__breath_duration = breath_duration
[文档] async def execute(self):
"""
执行设置设置嘴巴灯指令
Returns:
SetMouthLampResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = SetMouthLampRequest()
request.model = self.__mode
request.color = self.__color
if request.color == 4:
request.redValue = 0xff
request.greenValue = 0xff
request.blueValue = 0xff
request.duration = self.__duration
request.breathDuration = self.__breath_duration
cmd_id = _PCProgramCmdId.SET_MOUTH_LAMP_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
SetMouthLampResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = SetMouthLampResponse()
response.ParseFromString(data)
return response
else:
return None
[文档]class ControlMouthLamp(BaseApi):
"""控制嘴巴灯开关api
打开/关闭嘴巴灯
Args:
is_serial (bool): 是否等待回复，默认True
is_open (bool): 是否开启嘴巴灯 默认true，开启嘴巴灯
#ControlMouthResponse.isSuccess : 是否成功
#ControlMouthResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True, is_open: bool = True):
self.__is_serial = is_serial
self.__is_open = is_open
[文档] async def execute(self):
"""
执行控制嘴巴灯指令
Returns:
ControlMouthResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = ControlMouthRequest()
request.isOpen = self.__is_open
cmd_id = _PCProgramCmdId.SWITCH_MOUTH_LAMP_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
ControlMouthResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = ControlMouthResponse()
response.ParseFromString(data)
return response
else:
return None