codex/pi_bot.py at main · ubcaerodesign/codex · GitHub

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import discord
from discord.ext import commands
from datetime import datetime
import sys
import os
import cv2
from queue import Queue
import subprocess
from pathlib import Path
from plane.peripherals.camera import load_calibration_data
from plane.peripherals.sensors import Sensors
import json

intents = discord.Intents.all()
client = commands.Bot(command_prefix=".", intents=intents)


class Buttons(discord.ui.View):
    def __init__(self, *, timeout=None):
        super().__init__(timeout=timeout)
        self.process = None
        self.confirm_stop = True

    @discord.ui.button(label="Start plane.py", style=discord.ButtonStyle.green)
    async def start_plane_button(
        self, interaction: discord.Interaction, button: discord.ui.Button
    ):
        # on click:
        button.style = discord.ButtonStyle.grey
        button.label = "Plane.py started"
        button.disabled = True
        self.reset_stop_button()
        self.test_camera_button.disabled = (
            True  # don't allow taking pictures while plane is running
        )
        plane_py_path = Path(__file__).resolve().parent / "plane" / "plane.py"
        plane_path = Path(__file__).resolve().parent / "plane"
        command = ["python", str(plane_py_path)]
        self.process = subprocess.Popen(command, cwd=plane_path)
        await interaction.response.edit_message(view=self)

    def reset_start_button(self):
        self.start_plane_button.disabled = False
        self.start_plane_button.style = discord.ButtonStyle.green
        self.start_plane_button.label = "Start plane.py"

    @discord.ui.button(
        label="End plane.py", style=discord.ButtonStyle.grey, disabled=True
    )  # initially grey and disabled
    async def stop_plane_button(
        self, interaction: discord.Interaction, button: discord.ui.Button
    ):
        button.label = "Plane.py ended"
        button.style = discord.ButtonStyle.grey
        button.disabled = True
        # re-enable start button in case we want to run plane.py again
        self.reset_start_button()
        self.test_camera_button.disabled = False  # allow taking pictures again
        if self.process is not None:
            self.process.terminate()
        self.process = None
        await interaction.response.edit_message(view=self)

    def reset_stop_button(self):
        self.stop_plane_button.disabled = False
        self.stop_plane_button.style = discord.ButtonStyle.red
        self.stop_plane_button.label = "End plane.py"

    @discord.ui.button(
        label="Test camera", style=discord.ButtonStyle.green, disabled=False
    )  # initially enabled, don't want it running while plane is running
    async def test_camera_button(
        self, interaction: discord.Interaction, button: discord.ui.Button
    ):
        await interaction.response.defer()
        camera = cv2.VideoCapture(0)
        ret, frame = camera.read()
        camera.release()

        cv2.imwrite("frame.jpg", frame)
        file = discord.File("frame.jpg")
        embed = discord.Embed(title="Picture taken")
        embed.set_image(url="attachment://frame.jpg")
        # Edit the message to add the picture
        await interaction.channel.send(file=file, embed=embed, view=self)

    @discord.ui.button(
        label="Test sensors", style=discord.ButtonStyle.green, disabled=False
    )  # initially enabled, don't want it running while plane is running
    async def test_sensors_button(
        self, interaction: discord.Interaction, button: discord.ui.Button
    ):
        await interaction.response.defer()
        # try opening picam, otherwise open opencv cam
        data = test_sensors()
        await interaction.channel.send(f"Sensor data: {data}")

    @discord.ui.button(
        label="Shut down bot script", style=discord.ButtonStyle.red, disabled=False
    )
    async def kill_bot_script_button(
        self, interaction: discord.Interaction, button: discord.ui.Button
    ):
        if self.confirm_stop:
            button.label = "Confirm shut down?"
            self.confirm_stop = False
            await interaction.response.edit_message(view=self)
        else:
            button.label = "Shut down."
            button.style = discord.ButtonStyle.grey
            await interaction.response.edit_message(view=self)
            sys.exit(0)


def get_wifi_name():
    subprocess_result = subprocess.Popen("iwgetid", shell=True, stdout=subprocess.PIPE)
    subprocess_output = subprocess_result.communicate()[0], subprocess_result.returncode
    network_name = subprocess_output[0].decode("utf-8")
    return network_name


def test_sensors():
    sensor_queue = Queue()
    sensors = Sensors(sensor_queue)
    data = sensors.read_data()
    return json.dumps(data)


@client.event
async def on_connect():
    print("Printout from Python: starting Discord Python Bot")
    channel = client.get_channel(1226017894417043498) or await client.fetch_channel(
        1226017894417043498
    )
    current_time = datetime.now()

    # Format the time
    formatted_time = current_time.strftime("%Y-%m-%d, %I,%M %p")
    await channel.send(
        f"Raspberry Pi is online at {formatted_time}.\n Network status: {get_wifi_name()}",
        view=Buttons(),
    )


token = os.environ["DISCORD_TOKEN"]
client.run(token)