joy_detection_demo.py

#!/usr/bin/env python3
# Copyright 2017 Google Inc.
## This file should be saved at /AIY-projects-python/src/examples/vision/joy/joy_detection_demo.py
# Licensed under the Apache Lic ense, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Joy detection demo."""
import argparse
import collections
import contextlib
import io
import logging
import math
import os
import queue
import signal
import sys
import threading
import time
import random
from PIL import Image, ImageDraw, ImageFont
from picamera import PiCamera

from aiy.board import Board
from aiy.leds import Color, Leds, Pattern, PrivacyLed
from aiy.toneplayer import TonePlayer
from aiy.vision.inference import CameraInference
from aiy.vision.models import face_detection
from aiy.vision.streaming.server import StreamingServer
from aiy.vision.streaming import svg

from gpiozero import Servo
from gpiozero import AngularServo
from aiy.pins import PIN_A
from aiy.pins import PIN_B
from time import sleep
import pyttsx3

servo_a = AngularServo(PIN_A, min_angle=-90, max_angle=90)
servo_b = AngularServo(PIN_B, min_angle=-90, max_angle=90)

servo_a.mid()
sleep(1)
servo_b.mid()

engine = pyttsx3.init()
engine.setProperty('rate', 140)
engine.setProperty('voice', 'english_rp')#cat


silly = ["Butter with your pancakes?","Care for some butter?","Would you like butter on your toast?","hello, i want to serve butter","sighs","cat","hey, jonah","Whoopee!"," You cannot pass me either. You can pass me both if you please. (beat) I will not let you pass me either"," no, sir. If I do, Im afraid youll forget me."," Captain..."," It was my fault."," No, I cant pass you a butter. Youre coming here with some things."," Okay, okay. Alright,  OK. OK, OK.(crying) OK! OK, OK."," Dont be silly, itll be fun."," johnah, its me. Have you found it yet?"," Oh, thats great. Is it gigantic?"," I cant wait."," Im looking for The Lost Shrine of Zagawa."," Ill need a team of 10 men."," Its a four-day hike into the jungle."," Well be cutting through heavy brush for 12 hours a day."," Yes! Yes!"," continues spinning with the sword Little help here!"," I forgot something. I am really, really old."," Excellent idea, johnah."," Nonsense. With my maps and my journals, a six-year-old could find the shrine."," Yes! Yes!"," Come on."," Dont be shy, johnah, come on."," My goodness!"," Okay, WALL-ee, what dance do you wanna do? Hes thinking.","  Uh, what is it?  Oh! Hed like to do that dance where you get to clap and stamp, and turn around...","  Thats the one!","  Before we start, did everybody bring their feet with them today?","  Lets see your feet. Have to make sure your feet are ready. I got my feet I always keep them down by the floor.","  Okay, so I think your feet are ready?","  And were ready to dance!","  Oh, boy! Here we go!","  Wow! That was fun, Johnah!","  Hey, look at that! Everyone looks like an airplane! Your arms are the wings! Hey, I already have wings!"," Come on! Make believe youre an airplane! Ready for takeoff! ","  Rest? Gee, Johnah, the party just started.","  I know! I know! Why dont we turn on the TV to the dance channel and we can see if theres something to dance on there?","  Oh, look! Its Birdland! Theyre gonna do the Birdland Jump!","  And now, Johnah, youll be happy to know that you can take a rest, because its time at BOXERs birthday party for the butter!","   Oh, Johnah, would you mind holding WALL-ee for me while I give out the butter?","  Thank you. Oh, heres the butter here. Mmm! Double cheese! Heres a piece for you, Johnah.  Heres a piece for you. And heres a piece for WALL-ee. And heres a piece for you! Hey, I hope you like pepperoni!","  Oh, Johnah, would you like a nice piece of butter?","  Okay, but you know, if you change your mind, Ive got plenty of butter left here.","  Okay, were done!","  Of course!","  Well, were only eating make believe butter. How long can you expect us to eat that?","  Okay, lets get on with the party!","  Well, how about you? Are you ready for another dance party? Ha, ha! Johnah, are you ready? Johnah? Johnah!","  Gee, thats strange... I wonder why shes sleeping? Its not bedtime yet. Not even dark out. "," Oh, well. While shes asleep, lets keep on dancin!Huh?","  Ow!","  D-A-N-G-E-R. Danger?","  Oh, boy!","  Right.","  Like, wow!","  Yeah!","  Yeah, yeah, yeah!","  Hmm.","  Thats right. Yeah!","  Youre kidding!","  Uh-uh.","  Three?","  Bandits?","  Hmm.","  Huh?","  Wait for me!","  Huh?","  Achoo!","  Achoo! Achoo!","  My nose. Cold in my nose.","  I like butter"," Butter","  Watch out for nova","  Yoo-hoo!Yoo-hoo!","  Hello?"," Oh!","  Yah-yah-yah-yah, yah-yah!","  Boo! Boo! Boo!","  Johnah","  Aww.","  Whew-ee!","  Ghost?","  Old lighthouse?","  Right.","  Hey, whats this?","  Thats good!","  Yuck!","  Me too. Yuck!","  Me?","  Uh-uh, too fat.","  Uh-uh. Uh-uh. Uh-uh! Uh-huh!","  Howdy do!","  Hey, Johnah, look.","  Scuba tanks, uh-oh!","  Hey, Johnah? I found a clue! I found a clue!","  I am!"," Hey, scram! Shoo! Go! Uh-oh!","  I found a clue! I found a clue!","  Follow me.","  Uh-huh.","  Huh?","  Yeah, yeah, yeah."]


logger = logging.getLogger(__name__)

JOY_COLOR = (255, 70, 0)
SAD_COLOR = (0, 0, 64)

JOY_SCORE_HIGH = 0.85
JOY_SCORE_LOW = 0.10

JOY_SOUND = ('C5q', 'E5q', 'C6q')
SAD_SOUND = ('C6q', 'E5q', 'C5q')
MODEL_LOAD_SOUND = ('C6w', 'c6w', 'C6w')
BEEP_SOUND = ('E6q', 'C6q')

FONT_FILE = '/usr/share/fonts/truetype/freefont/FreeSans.ttf'

BUZZER_GPIO = 22

@contextlib.contextmanager
def stopwatch(message):
    try:
        logger.info('%s...', message)
        begin = time.monotonic()
        yield
    finally:
        end = time.monotonic()
        logger.info('%s done. (%fs)', message, end - begin)


def run_inference(num_frames, on_loaded):
    """Yields (faces, (frame_width, frame_height)) tuples."""
    with CameraInference(face_detection.model()) as inference:
        on_loaded()
        for result in inference.run(num_frames):
            yield face_detection.get_faces(result), (result.width, result.height)


def threshold_detector(low_threshold, high_threshold):
    """Yields 'low', 'high', and None events."""
    assert low_threshold < high_threshold

    event = None
    prev_score = 0.0
    while True:
        score = (yield event)
        if score > high_threshold > prev_score:
            event = 'high'
        elif score < low_threshold < prev_score:
            event = 'low'
        else:
            event = None
        prev_score = score


def moving_average(size):
    window = collections.deque(maxlen=size)
    window.append((yield 0.0))
    while True:
        window.append((yield sum(window) / len(window)))


def average_joy_score(faces):
    if faces:
        return sum(face.joy_score for face in faces) / len(faces)
    return 0.0


def draw_rectangle(draw, x0, y0, x1, y1, border, fill=None, outline=None):
    assert border % 2 == 1
    for i in range(-border // 2, border // 2 + 1):
        draw.rectangle((x0 + i, y0 + i, x1 - i, y1 - i), fill=fill, outline=outline)


def scale_bounding_box(bounding_box, scale_x, scale_y):
    x, y, w, h = bounding_box
    return (x * scale_x, y * scale_y, w * scale_x, h * scale_y)


def svg_overlay(faces, frame_size, joy_score):
    width, height = frame_size
    doc = svg.Svg(width=width, height=height)

    for face in faces:
        x, y, w, h = face.bounding_box
        doc.add(svg.Rect(x=int(x), y=int(y), width=int(w), height=int(h), rx=10, ry=10,
                         fill_opacity=0.3 * face.face_score,
                         style='fill:red;stroke:white;stroke-width:4px'))

        doc.add(svg.Text('Joy: %.2f' % face.joy_score, x=x, y=y - 10,
                         fill='red', font_size=30))

    doc.add(svg.Text('Faces: %d Avg. joy: %.2f' % (len(faces), joy_score),
            x=10, y=50, fill='red', font_size=40))
    return str(doc)


class Service:

    def __init__(self):
        self._requests = queue.Queue()
        self._thread = threading.Thread(target=self._run, daemon=True)
        self._thread.start()

    def _run(self):
        while True:
            request = self._requests.get()
            if request is None:
                self.shutdown()
                break
            self.process(request)
            self._requests.task_done()

    def process(self, request):
        pass

    def shutdown(self):
        pass

    def submit(self, request):
        self._requests.put(request)

    def close(self):
        self._requests.put(None)
        self._thread.join()

    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_value, exc_tb):
        self.close()


class Player(Service):
    """Controls buzzer."""

    def __init__(self, gpio, bpm):
        super().__init__()
        self._toneplayer = TonePlayer(gpio, bpm)

    def process(self, sound):
        self._toneplayer.play(*sound)

    def play(self, sound):
        self.submit(sound)


class Photographer(Service):
    """Saves photographs to disk."""

    def __init__(self, format, folder):
        super().__init__()
        assert format in ('jpeg', 'bmp', 'png')

        self._font = ImageFont.truetype(FONT_FILE, size=25)
        self._faces = ([], (0, 0))
        self._format = format
        self._folder = folder

    def _make_filename(self, timestamp, annotated):
        path = '%s/%s_annotated.%s' if annotated else '%s/%s.%s'
        return os.path.expanduser(path % (self._folder, timestamp, self._format))

    def _draw_face(self, draw, face, scale_x, scale_y):
        x, y, width, height = scale_bounding_box(face.bounding_box, scale_x, scale_y)
        text = 'Joy: %.2f' % face.joy_score
        _, text_height = self._font.getsize(text)
        margin = 3
        bottom = y + height
        text_bottom = bottom + margin + text_height + margin
        draw_rectangle(draw, x, y, x + width, bottom, 3, outline='white')
        draw_rectangle(draw, x, bottom, x + width, text_bottom, 3, fill='white', outline='white')
        draw.text((x + 1 + margin, y + height + 1 + margin), text, font=self._font, fill='black')

    def process(self, message):
        if isinstance(message, tuple):
            self._faces = message
            return

        camera = message
        timestamp = time.strftime('%Y-%m-%d_%H.%M.%S')

        stream = io.BytesIO()
        with stopwatch('Taking photo'):
            camera.capture(stream, format=self._format, use_video_port=True)

        filename = self._make_filename(timestamp, annotated=False)
        with stopwatch('Saving original %s' % filename):
            stream.seek(0)
            with open(filename, 'wb') as file:
                file.write(stream.read())

        faces, (width, height) = self._faces
        if faces:
            filename = self._make_filename(timestamp, annotated=True)
            with stopwatch('Saving annotated %s' % filename):
                stream.seek(0)
                image = Image.open(stream)
                draw = ImageDraw.Draw(image)
                scale_x, scale_y = image.width / width, image.height / height
                for face in faces:
                    self._draw_face(draw, face, scale_x, scale_y)
                del draw
                image.save(filename)

    def update_faces(self, faces):
        self.submit(faces)

    def shoot(self, camera):
        self.submit(camera)


class Animator(Service):
    """Controls RGB LEDs."""

    def __init__(self, leds):
        super().__init__()
        self._leds = leds

    def process(self, joy_score):
        if joy_score > 0:
            self._leds.update(Leds.rgb_on(Color.blend(JOY_COLOR, SAD_COLOR, joy_score)))
            try:
                servo_a.angle = ((joy_score*100) - 10)
                #servo_b.angle = ((joy_score*100) - 10)
            except:
                print('servo a error')
                

            try:
                #servo_a.angle = ((joy_score*100) - 10)
                servo_b.angle = -((joy_score*100) - 10)
            except:
                print('servo b error')
        else:
            self._leds.update(Leds.rgb_off())

    def shutdown(self):
        self._leds.update(Leds.rgb_off())

    def update_joy_score(self, joy_score):
        self.submit(joy_score)


def joy_detector(num_frames, preview_alpha, image_format, image_folder,
                 enable_streaming, streaming_bitrate, mdns_name):
    done = threading.Event()
    def stop():
        logger.info('Stopping...')
        done.set()

    signal.signal(signal.SIGINT, lambda signum, frame: stop())
    signal.signal(signal.SIGTERM, lambda signum, frame: stop())

    logger.info('Starting...')
    with contextlib.ExitStack() as stack:
        leds = stack.enter_context(Leds())
        board = stack.enter_context(Board())
        player = stack.enter_context(Player(gpio=BUZZER_GPIO, bpm=10))
        photographer = stack.enter_context(Photographer(image_format, image_folder))
        animator = stack.enter_context(Animator(leds))
        # Forced sensor mode, 1640x1232, full FoV. See:
        # https://picamera.readthedocs.io/en/release-1.13/fov.html#sensor-modes
        # This is the resolution inference run on.
        # Use half of that for video streaming (820x616).
        camera = stack.enter_context(PiCamera(sensor_mode=4, resolution=(820, 616)))
        stack.enter_context(PrivacyLed(leds))

        server = None
        if enable_streaming:
            server = stack.enter_context(StreamingServer(camera, bitrate=streaming_bitrate,
                                                         mdns_name=mdns_name))

        def model_loaded():
            logger.info('Model loaded.')
            player.play(MODEL_LOAD_SOUND)

        def take_photo():
            logger.info('Button pressed.')
            player.play(BEEP_SOUND)
            #photographer.shoot(camera)
            try:
                silly_choice = random.choice(silly)
                engine.say(silly_choice)
                engine.runAndWait()
                print(silly_choice)
            except:
                print('fail:' )
        if preview_alpha > 0:
            camera.start_preview(alpha=preview_alpha)

        board.button.when_pressed = take_photo

        joy_moving_average = moving_average(10)
        joy_moving_average.send(None)  # Initialize.
        joy_threshold_detector = threshold_detector(JOY_SCORE_LOW, JOY_SCORE_HIGH)
        joy_threshold_detector.send(None)  # Initialize.
        for faces, frame_size in run_inference(num_frames, model_loaded):
            photographer.update_faces((faces, frame_size))
            joy_score = joy_moving_average.send(average_joy_score(faces))
            animator.update_joy_score(joy_score)
            event = joy_threshold_detector.send(joy_score)
            if event == 'high':
                logger.info('High joy detected.')
                player.play(JOY_SOUND)
                try:
                    happy =['Is there anything more marvelous than butter?','Most bakers prefer to use unsalted butter.','Butter is a source of Vitamin A, as well as Vitamins E, D, and K.',' the Color of butter can depend on the cows diet.','India is the largest producer of butter','The earliest evidence of butter dates back four thousand five hundred years ago ','most butter comes from cows. Thanks cows.','Butter was so precious to the Norsemen that they were buried with large tubs to take with them into the afterlife','Butter can fuel old oil lamps','Butter is created by churning cream until the fats separate into butter.','dont forget to stop and smell the butter','it is a good day','mmm butter','isnt butter the best','you know what makes popcorn better? . Butter!','butter is good on toast','I like seeing you smile','happy holidays, dont forget the butter','merry christmas','happy christmas','you make me smile inside','Its good to have a family','I think snow is pretty','christmas lasts for twelve days, we are going to need lots of butter','everyone likes butter','I am happy when i dance','I love cooking... with butter','Christmas is coming','you need lots of butter on christmas','Yippy','oh boy','happy!','I like smiles','good to see you too','smiles','awww','im happy too','hehe','Ilike butter too','did you see some butter?']
                    happy_choice = random.choice(happy)
                    print('happy choice: '+happy_choice)
                    engine.say(happy_choice)
                    engine.runAndWait()
                except:
                    print('error speaking')
            elif event == 'low':
                logger.info('Low joy detected.')
                player.play(SAD_SOUND)

            if server:
                server.send_overlay(svg_overlay(faces, frame_size, joy_score))

            if done.is_set():
                break

def preview_alpha(string):
    value = int(string)
    if value < 0 or value > 255:
        raise argparse.ArgumentTypeError('Must be in [0...255] range.')
    return value


def main():
    logging.basicConfig(level=logging.INFO)

    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument('--num_frames', '-n', type=int, default=None,
                        help='Number of frames to run for')
    parser.add_argument('--preview_alpha', '-pa', type=preview_alpha, default=0,
                        help='Video preview overlay transparency (0-255)')
    parser.add_argument('--image_format', default='jpeg',
                        choices=('jpeg', 'bmp', 'png'),
                        help='Format of captured images')
    parser.add_argument('--image_folder', default='~/Pictures',
                        help='Folder to save captured images')
    parser.add_argument('--blink_on_error', default=False, action='store_true',
                        help='Blink red if error occurred')
    parser.add_argument('--enable_streaming', default=False, action='store_true',
                        help='Enable streaming server')
    parser.add_argument('--streaming_bitrate', type=int, default=1000000,
                        help='Streaming server video bitrate (kbps)')
    parser.add_argument('--mdns_name', default='',
                        help='Streaming server mDNS name')
    args = parser.parse_args()

    try:
        joy_detector(args.num_frames, args.preview_alpha, args.image_format, args.image_folder,
                     args.enable_streaming, args.streaming_bitrate, args.mdns_name)
    except KeyboardInterrupt:
        pass
    except Exception:
        logger.exception('Exception while running joy demo.')
        if args.blink_on_error:
            with Leds() as leds:
                leds.pattern = Pattern.blink(100)  # 10 Hz
                leds.update(Leds.rgb_pattern(Color.RED))
                time.sleep(1.0)

    return 0

if __name__ == '__main__':
    sys.exit(main())