yuri's Face

Pipfile

@@ -20,6 +20,7 @@ tensorflow = {file = "https://github.com/bitsy-ai/tensorflow-arm-bin/releases/do
 pip = "*"
 adafruit-pca9685 = "*"
 adafruit-circuitpython-servokit = "*"
+pyttsx3 = "*"
 
 [dev-packages]
 ipython = "*"

README.md

@@ -9,7 +9,8 @@ sudo apt install swig libpulse-dev libasound2-dev git uidmap pipenv \
 	make build-essential libssl-dev zlib1g-dev \
 	libbz2-dev libreadline-dev libsqlite3-dev wget curl llvm \
 	libncursesw5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev \
-	libffi-dev liblzma-dev python3-pyaudio portaudio19-dev
+	libffi-dev liblzma-dev python3-pyaudio portaudio19-dev \
+	espeak ffmpeg libespeak1
 
 git clone https://github.com/pyenv/pyenv.git ~/.pyenv
 cd ~/.pyenv && src/configure && make -C src

yuri.yaml

@@ -1 +1 @@
-
+speaker_type: pyttsx3

yuri/servos.py

@@ -2,30 +2,148 @@
 import board
 import busio
 
+from typing import List
+from dataclasses import dataclass
+
 from loguru import logger
 from adafruit_motor import servo
 from adafruit_servokit import ServoKit
 from adafruit_pca9685 import PCA9685
 
 from yuri.config import Config
 
+
+@dataclass
+class Servo:
+    servo: servo.Servo
+    min_angle: int
+    max_angle: int
+
+    @property
+    def neutral_angle(self) -> int:
+        return (self.max_angle + self.min_angle) / 2
+
+    def max(self):
+        self.servo.angle = self.max_angle
+
+    def min(self):
+        self.servo.angle = self.min_angle
+
+    def neutral(self):
+        self.servo.angle = self.neutral_angle
+
+    @property
+    def angle(self):
+        return self.servo.angle
+
+
+@dataclass
+class Face:
+    left_eye: Servo
+    right_eye: Servo
+    nose: Servo
+    left_mouth: Servo
+    right_mouth: Servo
+
+    def smile(self):
+        self.left_eye.max()
+        self.right_eye.max()
+
+        self.left_mouth.max()
+        self.right_mouth.max()
+
+    def frown(self):
+        self.left_eye.min()
+        self.right_eye.min()
+
+        self.left_mouth.min()
+        self.right_mouth.min()
+
+    @property
+    def servos(self) -> List[Servo]:
+        return [
+            self.left_eye,
+            self.right_eye,
+            self.nose,
+            self.left_mouth,
+            self.right_mouth,
+        ]
+
+    def neutral(self):
+        for servo in self.servos:
+            servo.neutral()
+
+    def min(self):
+        for servo in self.servos:
+            servo.min()
+
+    def max(self):
+        for servo in self.servos:
+            servo.max()
+
+
+
+FAST = 0.3
+
+
 class Servos:
     def __init__(self, config: Config):
         self.config = config
         self.i2c = busio.I2C(board.SCL, board.SDA)
         self.pca = PCA9685(self.i2c)
         self.pca.frequency = 50
-        self.servos = [
-            servo.Servo(self.pca.channels[idx]) for idx in range(5)
-        ]
-        self.eye_l, self.eye_r, self.nose, self.mouth_l, self.mouth_r = self.servos
+        self.face = Face(
+            left_eye=Servo(
+                servo=servo.Servo(self.pca.channels[0]),
+                min_angle=100,
+                max_angle=30,
+            ),
+            right_eye=Servo(
+                servo=servo.Servo(self.pca.channels[1]),
+                min_angle=50,
+                max_angle=150,
+            ),
+            nose=Servo(
+                servo=servo.Servo(self.pca.channels[2]),
+                min_angle=100,
+                max_angle=0,
+            ),
+            left_mouth=Servo(
+                servo=servo.Servo(self.pca.channels[3]),
+                min_angle=60,
+                max_angle=120,
+            ),
+            right_mouth=Servo(
+                servo=servo.Servo(self.pca.channels[4]),
+                min_angle=120,
+                max_angle=60,
+            ),
+        )
+
+
+
+
+
 
     def rotate(self):
         logger.info("triggering servos")
-        for servo in self.servos:
-            servo.angle = 180
-            time.sleep(1)
-            servo.angle = 0
-            time.sleep(1)
+        breakpoint()
+        # for servo in self.servos:
+        #     servo.angle = 180
+        #     time.sleep(1)
+        #     servo.angle = 0
+        #     time.sleep(1)
         logger.info("done")
 
+    def pulse(self, servo: servo.ContinuousServo, seconds=0.001, speed=FAST):
+        servo.throttle = speed
+        time.sleep(seconds)
+        servo.throttle = 0
+
+
+    def smile(self):
+        self.eye_l.throttle = FAST
+        self.eye_r.throttle = FAST
+        time.sleep(.001)
+        self.eye_l.throttle = 0
+        self.eye_r.throttle = 0

yuri/speaker.py

@@ -1,6 +1,8 @@
 from abc import abstractmethod, ABCMeta
 from io import BytesIO
 
+import pyttsx3
+
 from gtts import gTTS
 from loguru import logger
 from pydub import AudioSegment
@@ -23,17 +25,34 @@ def say(self, message: str):
         logger.info("say.start", message=message)
 
         mp3_fp = BytesIO()
-        tts = gTTS(message, lang="en")
+        tts = gTTS(message, lang="en", tld="ru")
         tts.write_to_fp(mp3_fp)
         mp3_fp.seek(0)
 
         play(AudioSegment.from_mp3(mp3_fp))
         logger.info("say.done", message=message)
 
+class Ttsx3Speaker(Speaker):
+    def __init__(self, config: Config):
+        self.config = config
+        self.engine = pyttsx3.init()
+        # voices 2, 13, 14, 17
+        # 61 = Russian
+        # 62 = Slovak
+        self.engine.setProperty("voice", self.engine.getProperty("voices")[15].id)
+        self.engine.setProperty("rate", 160)
+
+    def say(self, message: str):
+        logger.info("say.start", message=message)
+        self.engine.say(message)
+        self.engine.runAndWait()
+        logger.info("say.done", message=message)
+
 
 class SpeakerFactory:
     SPEAKERS = {
         "google": GoogleSpeaker,
+        "pyttsx3": Ttsx3Speaker,
     }
 
     @classmethod