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Helva Roboter

We build a robot with raspberry and arduino.

Checkout Repo

cd /opt
git checkout https://git.dyn.mcf.at/Max/helva-robot.git

Raspberry Face

Install Packages

sudo apt update
sudo apt install -y nginx python3 python3-venv

sudo mkdir -p /opt/face
sudo chown -R $USER:$USER /opt/face

python3 -m venv /opt/face/venv
/opt/face/venv/bin/pip install --upgrade pip
/opt/face/venv/bin/pip install fastapi uvicorn

Exchange Nginx Web-Folder

sudo rm -r /var/www/html
sudo ln -s /opt/helva-robot/face/var/www/html/ /var/www/

Permissions of Webfolder

sudo chown -R www-data:www-data /var/www/html

Nginx Vhost

sudo ln -s /opt/helva-robot/face/etc/nginx/sites-available/face /etc/nginx/sites-enabled/

Restart nginx

sudo systemctl restart nginx

Test Face Server

In Browser

http://pi-ip/

From Somewhere

Neutral + wander

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"emotion":"neutral","intensity":0.6,"look":null}'

Angry + starring right

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"emotion":"angry","intensity":0.9,"look":{"x":0.9,"y":0.0}}'

start Talking

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"talk":{"enabled":true}}'

talk faster and stronger

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"talk":{"enabled":true,"rate_hz":5.5,"amount":1.0,"jitter":0.35}}'

stop talking

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"talk":{"enabled":false}}'

emotion + talk

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"emotion":"happy","intensity":0.85,"talk":{"enabled":true,"rate_hz":4.2,"amount":0.95}}'

blink + happy

curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
  -d '{"emotion":"happy","blink":true,"intensity":0.85}'

systemd Service

sudo ln -s /opt/helva-robot/face/etc/systemd/system/face.service /etc/systemd/system/

sudo chown -R www-data:www-data /opt/face
sudo chmod -R 755 /opt/face

Start: sudo systemctl daemon-reload sudo systemctl enable --now face.service sudo systemctl status face.service --no-pager

Debug Face

SSE-Stream going to browser?

curl -N http://127.0.0.1:8001/events | head

is nginx delivering /events through

curl -N http://localhost/events | head

check Endpoint /api/state

directly curl -s -X POST http://127.0.0.1:8001/api/state
-H "Content-Type: application/json"
-d '{"emotion":"happy","intensity":0.9,"blink":true}' | jq

throught nginx curl -s -X POST http://localhost/api/state
-H "Content-Type: application/json"
-d '{"emotion":"happy","intensity":0.9,"blink":true}'

check python face server

sudo systemctl status face.service --no-pager
sudo journalctl -u face.service -n 50 --no-pager

restart/reload face server service

sudo systemctl daemon-reload
sudo systemctl restart face.service

check listening Port

sudo ss -ltnp | grep :8001

restart/status of face service

sudo systemctl restart face.service
sudo systemctl status face.service --no-pager

3.3 KiB Raw Blame History