117 lines
3.3 KiB
Markdown
117 lines
3.3 KiB
Markdown
# Helva Roboter
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We build a robot with raspberry and arduino.
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## Checkout Repo
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cd /opt
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git checkout https://git.dyn.mcf.at/Max/helva-robot.git
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## Raspberry Face
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### Install Packages
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sudo apt update
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sudo apt install -y nginx python3 python3-venv
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sudo mkdir -p /opt/face
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sudo chown -R $USER:$USER /opt/face
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python3 -m venv /opt/face/venv
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/opt/face/venv/bin/pip install --upgrade pip
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/opt/face/venv/bin/pip install fastapi uvicorn
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### Exchange Nginx Web-Folder
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sudo rm -r /var/www/html
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sudo ln -s /opt/helva-robot/face/var/www/html/ /var/www/
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### Permissions of Webfolder
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sudo chown -R www-data:www-data /var/www/html
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### Nginx Vhost
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sudo ln -s /opt/helva-robot/face/etc/nginx/sites-available/face /etc/nginx/sites-enabled/
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### Restart nginx
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sudo systemctl restart nginx
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### Test Face Server
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#### In Browser
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http://pi-ip/
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#### From Somewhere
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`Neutral + wander`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"emotion":"neutral","intensity":0.6,"look":null}'
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`Angry + starring right`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"emotion":"angry","intensity":0.9,"look":{"x":0.9,"y":0.0}}'
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`start Talking`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"talk":{"enabled":true}}'
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`talk faster and stronger`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"talk":{"enabled":true,"rate_hz":5.5,"amount":1.0,"jitter":0.35}}'
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`stop talking`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"talk":{"enabled":false}}'
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`emotion + talk`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"emotion":"happy","intensity":0.85,"talk":{"enabled":true,"rate_hz":4.2,"amount":0.95}}'
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`blink + happy`
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curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
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-d '{"emotion":"happy","blink":true,"intensity":0.85}'
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### systemd Service
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sudo ln -s /opt/helva-robot/face/etc/systemd/system/face.service /etc/systemd/system/
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sudo chown -R www-data:www-data /opt/face
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sudo chmod -R 755 /opt/face
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Start:
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sudo systemctl daemon-reload
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sudo systemctl enable --now face.service
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sudo systemctl status face.service --no-pager
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### Debug Face
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#### SSE-Stream going to browser?
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curl -N http://127.0.0.1:8001/events | head
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#### is nginx delivering /events through
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curl -N http://localhost/events | head
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#### check Endpoint /api/state
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`directly`
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curl -s -X POST http://127.0.0.1:8001/api/state \
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-H "Content-Type: application/json" \
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-d '{"emotion":"happy","intensity":0.9,"blink":true}' | jq
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`throught nginx`
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curl -s -X POST http://localhost/api/state \
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-H "Content-Type: application/json" \
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-d '{"emotion":"happy","intensity":0.9,"blink":true}'
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#### check python face server
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sudo systemctl status face.service --no-pager
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sudo journalctl -u face.service -n 50 --no-pager
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#### restart/reload face server service
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sudo systemctl daemon-reload
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sudo systemctl restart face.service
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#### check listening Port
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sudo ss -ltnp | grep :8001
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#### restart/status of face service
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sudo systemctl restart face.service
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sudo systemctl status face.service --no-pager
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## Arduino Motor Steering
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