Internal Modules

• opsoro.apps
• opsoro.dof
• opsoro.dof.servo
• opsoro.hardware
• opsoro.hardware.analog
• opsoro.hardware.capacitive
• opsoro.hardware.dummy_spidev
• opsoro.hardware.i2c
• opsoro.hardware.neopixel
• opsoro.hardware.servo
• opsoro.hardware.spi
• opsoro.hardware.usb_serial
• opsoro.module
• opsoro.module.eye
• opsoro.module.eyebrow
• opsoro.module.mouth
• opsoro.module.turn
• opsoro.preferences
• opsoro.server
• opsoro.server.request_handlers
• opsoro.server.request_handlers.opsoro_data_requests
• opsoro.sound
• opsoro.sound.tts

opsoro.animate

This module defines the interface for animating an expression.

class opsoro.animate.Animate(times, values)

Bases: object

__init__(times, values)

Class to facilitate the tweening of values in time. The animation starts when the object is created. Once ended, the call method will return the last item in values.

Parameters:

• times (list) – A list of timestamps in seconds, in increasing order. Timestamp 0 is the moment the Animate object was created.
• values (list) – A list of numerical values associated with timestamps. First element should be 0.

has_ended()

Returns true if the animation has ended.

class opsoro.animate.Animate(times, values)

Bases: object

__init__(times, values)

Class to facilitate the tweening of values in time. The animation starts when the object is created. Once ended, the call method will return the last item in values.

Parameters:

• times (list) – A list of timestamps in seconds, in increasing order. Timestamp 0 is the moment the Animate object was created.
• values (list) – A list of numerical values associated with timestamps. First element should be 0.

has_ended()

Returns true if the animation has ended.

class opsoro.animate.AnimatePeriodic(times, values)

Bases: object

__init__(times, values)

Class to facilitate the tweening of values in time. The animation starts when the object is created. This class is a variant of the Animate class that does not end, but instead repeats its pattern indefinitely.

Parameters:

• times (list) – A list of timestamps in seconds, in increasing order. Timestamp 0 is the moment the Animate object was created.
• values (list) – A list of numerical values associated with timestamps. First element should be 0.

opsoro.console_msg

opsoro.console_msg.print_apploaded(appname)

opsoro.console_msg.print_appstarted(appname)

opsoro.console_msg.print_appstopped(appname)

opsoro.console_msg.print_error(msg)

opsoro.console_msg.print_info(msg)

opsoro.console_msg.print_spi(msg)

opsoro.console_msg.print_warning(msg)

opsoro.expression

This module defines the interface for communicating with the expression.

class opsoro.expression._Expression

Bases: object

__init__()

get_emotion_complex()

Returns current emotion as a complex number

Returns:current emotion Return type:complex

load_config(file_name='robot_expressions.conf')

Load expressions from a expressions configurations file

Parameters:file_name (string) – name of the config file Returns:True if file is successfully loaded Return type:bool

save_config(file_name='robot_expressions.conf')

Save the current expressions configurations

Parameters:file_name (string) – name of the config file Returns:True if file is successfully saved Return type:bool

set_config(config=None)

set_emotion_e(e=0j, anim_time=-1)

Set an emotion with complex number e, within a certain time.

Parameters:

• e (complex) – complex number e
• anim_time (float) – time to set the emotion

set_emotion_icon(icon, anim_time=-1)

Set an emotion with icon if defined in expression list, within a certain time.

Parameters:

• icon (string) – name of the icon to set
• anim_time (float) – time to set the emotion

set_emotion_index(index, anim_time=-1)

Set an emotion with index in defined expression list, within a certain time.

Parameters:

• index (integer) – index of the emotion in the list of emotions
• anim_time (float) – time to set the emotion

set_emotion_name(name, anim_time=-1)

Set an emotion with name if defined in expression list, within a certain time.

Parameters:

• name (string) – name of the emotion to set
• anim_time (float) – time to set the emotion

set_emotion_r_phi(r, phi, degrees=False, anim_time=-1)

Set an emotion with r and phi, within a certain time.

Parameters:

• r (float) – radius of the circumplex
• phi (float) – angle of the circumplex
• degrees (bool) – is convertion to radians needed?
• anim_time (float) – time to set the emotion

set_emotion_random(all_random=True, anim_time=-1)

Set an emotion with random index in defined expression list, within a certain time. Or set all dofs to a random position between -1 and 1.

Parameters:

• all_random (bool) – all dofs random or not
• anim_time (float) – time to set the emotion

set_emotion_val_ar(valence, arousal, anim_time=-1)

Set an emotion with valence and arousal, within a certain time.

Parameters:

• valence (float) – valence
• arousal (float) – arousal
• anim_time (float) – time to set the emotion

update()

Old function, not used in new system

Returns:nothing Return type:None

opsoro.expression.constrain(n, minn, maxn)

opsoro.robot

This module defines the interface for communicating with the robot.

class opsoro.robot._Robot

Bases: object

__init__()

alive_loop()

apply_poly(r, phi, anim_time=-1)

blink(speed)

dof_update_loop()

get_dof_values(current=True)

load_config(file_name='robot_config.conf')

save_config(file_name='robot_config.conf')

set_config(config=None)

set_dof(tags=[], value=0, anim_time=-1)

set_dof_list(dof_values, anim_time=-1)

set_dof_value(module_name, dof_name, dof_value, anim_time=-1)

set_dof_values(dof_values, anim_time=-1)

sleep()

start(alive=True)

start_alive_loop()

start_update_loop()

stop()

stop_alive_loop()

stop_update_loop()

update()

wake()

opsoro.stoppable_thread

class opsoro.stoppable_thread.StoppableThread(*args, **kwargs)

Bases: threading.Thread

Thread class with a stop() method. The thread itself has to check regularly for the stopped() condition.

__init__(*args, **kwargs)

sleep(secs)

stop()

stopped()