robot.py

import sleekxmpp
from CameraClient import CameraClient
import logging
import subprocess
import re
import EventBus
from EventBus import ChatEvent, ImageEvent
import threading
import requests
import StringIO
from PIL import Image

from bot import Bot

# logging.basicConfig(level=logging.DEBUG)


class ChatClient(sleekxmpp.ClientXMPP):
    def __init__(self, jid, password, server):
        super(ChatClient, self).__init__(jid, password)
        self.add_event_handler('session_start', self.start)
        self.add_event_handler('message', self.message)
        self.auto_reconnect = True
        self.connect(server)
        self.process(block=False)

    def start(self, event):
        self.send_presence()
        print('Session started: ', self.server)
        self.get_roster()

    def message(self, msg):
        if msg['type'] in ('chat','normal'):
            ev = ChatEvent()
            ev.message = msg['body']
            ev.sender = msg['from']
            ev.reply = lambda body: self.send_message(mto=ev.sender, mbody=body)
            EventBus.trigger(ev)

    def end(self):
        self.disconnect(wait=True)

def sewersend(foo):
    logurl = 'https://robot.uscki.nl/log/log.php'
    requests.post(logurl, post={'foo': str(foo) }, allow_redirects=True, verify=False)

class EchoBot(Bot):
    def loop(self):
        chatevent = EventBus.await(ChatEvent)
        chatevent.reply(chatevent.message)

class SSHBot(Bot):
    """ Reverse SSH connection (do `ssh-copy-id` first) """
    def __init__(self):
        self.procs = []

    def loop(self):
        chatevent = EventBus.await(ChatEvent)
        cmd = chatevent.message.split()
        print cmd
        if cmd[0] == 'ssh' and re.match(r'\w+@(\w+\.\w+)+',cmd[1]):
            sewersend('ssh %s' % cmd[1])
            command = ["ssh","-TR", "%i:localhost:22" % int(cmd[2]), cmd[1]]
            self.procs.append(subprocess.Popen(command))

    def kill(self):
        for p in self.procs:
            p.kill()

class TurnBot(Bot):
    def loop(self):
        chatevent = EventBus.await(ChatEvent)
        cmd = chatevent.message.split()
        print cmd
        if cmd[0] == 'turn' and re.match(r'\d+',cmd[1]):
            EventBus.client('servo').set(float('.'+cmd[1]))

class Servo():
    def __init__(self):
        try:
            self.blaster = open('/dev/servoblaster', 'w')
        except:
            print 'Could not open servo connection'

    def set(self, amount):
        if amount >= 0 and amount <= 1:
            self.blaster.write('0=' + str(int(50 + amount*200)) + '\n')
            self.blaster.flush()

    def end(self):
        self.blaster.close()

class ImageUploader(Bot):
    def loop(self):
        imgevent = EventBus.await(ImageEvent)
        im = imgevent.image
        ima = Image.fromarray(im)
        b, g, r = ima.split()
        ima = Image.merge("RGB", (r, g, b))
        output = StringIO.StringIO()
        ima.save(output, 'jpeg')
        url = 'https://robot.uscki.nl/webcam.php'
        resp = requests.post(url, files={'uploadedfile': output.getvalue() }, allow_redirects=True, verify=False)
        output.close()
        print resp, resp.text

settings = {l.split('=')[0].strip(): l.split('=')[1].strip() for l in list(open('../settings.txt', 'r')) if l[0] != '#' }

if 'jabber-login' in settings:
    EventBus.addClient('gtalk', ChatClient(
        jid = settings['jabber-login'] + '@gmail.com',
        password = settings['jabber-password'],
        server = ('talk.google.com', 5222)
    ))

if 'fb-login' in settings:
    EventBus.addClient('fbchat', ChatClient(
        jid = settings['fb-login'] + '@chat.facebook.com',
        password = settings['fb-password'],
        server = ('chat.facebook.com', 5222),
    ))

EventBus.addClient('servo', Servo())


EventBus.add(CameraClient())
EventBus.add(ImageUploader())

EventBus.add(SSHBot())
EventBus.add(TurnBot())

# Games
EventBus.add(GameStarter(HogerLager, lambda m: (m == 'hogerlager') ))
EventBus.add(GameStarter(WieIsHet, lambda m: (m == 'wie is het') ))

raw_input('Press enter to disconnect')
EventBus.kill()