main.py

import os
import time
from spot_controller import SpotController
import cv2

ROBOT_IP = "10.0.0.3"#os.environ['ROBOT_IP']
SPOT_USERNAME = "admin"#os.environ['SPOT_USERNAME']
SPOT_PASSWORD = "2zqa8dgw7lor"#os.environ['SPOT_PASSWORD']


def capture_image():
    camera_capture = cv2.VideoCapture(0)
    rv, image = camera_capture.read()
    print(f"Image Dimensions: {image.shape}")
    camera_capture.release()
    cv2.imwrite(f'/merklebot/job_data/camera_{time.time()}.jpg', image)


def main():
    #example of using micro and speakers
    print("Start recording audio")
    sample_name = "aaaa.wav"
    cmd = f'arecord -vv --format=cd --device={os.environ["AUDIO_INPUT_DEVICE"]} -r 48000 --duration=10 -c 1 {sample_name}'
    print(cmd)
    os.system(cmd)
    print("Playing sound")
    os.system(f"ffplay -nodisp -autoexit -loglevel quiet {sample_name}")
    
    # # Capture image

    # Use wrapper in context manager to lease control, turn on E-Stop, power on the robot and stand up at start
    # and to return lease + sit down at the end
    with SpotController(username=SPOT_USERNAME, password=SPOT_PASSWORD, robot_ip=ROBOT_IP) as spot:

        time.sleep(2)
        capture_image()
        # Move head to specified positions with intermediate time.sleep
        spot.move_head_in_points(yaws=[0.2, 0],
                                 pitches=[0.3, 0],
                                 rolls=[0.4, 0],
                                 sleep_after_point_reached=1)
        capture_image()
        time.sleep(3)

        # Make Spot to move by goal_x meters forward and goal_y meters left
        spot.move_to_goal(goal_x=0.5, goal_y=0)
        time.sleep(3)
        capture_image()

        # Control Spot by velocity in m/s (or in rad/s for rotation)
        spot.move_by_velocity_control(v_x=-0.3, v_y=0, v_rot=0, cmd_duration=2)
        capture_image()
        time.sleep(3)


if __name__ == '__main__':
    main()