implement emergency stop & better exception handling

brain/brain.py

@@ -6,7 +6,8 @@ brain = CloudChatBrain()
 while True:
     try:
         brain.listen()
-        brain.understand()
-        brain.command()
+        if not brain.is_emergency(brain.cmd_prompt):
+            brain.understand()
+            brain.command()
     except Exception as e:
         print(f"##### SOMETHING WENT WRONG ###### \n {e}")

brain/brain_base.py

@@ -0,0 +1,32 @@
+import os
+
+from commander.commands import CommandHandler
+
+
+
+class BaseBrain:
+    def __init__(self):
+        self.command_handler = CommandHandler()
+
+    @property
+    def sys_prompt(self):
+        return self._read_prompt()
+
+    def _read_prompt(self):
+        prompt_file_name = "prompt.txt"
+        for root, dirs, files in os.walk("./"):
+            if prompt_file_name in files:
+                prompt_filepath = os.path.join(root, prompt_file_name)
+                with open(prompt_filepath, "r") as f:
+                    return f.read()
+
+    def is_emergency(self, input):
+        if input == "q":
+            print("##### BASE BRAIN: EMERGENCY STOP DETECTED!!! #####")
+            self.command_handler.handle({"command": "emergency"})
+            return True
+        else: 
+            return False
+
+    def listen(self):
+        self.cmd_prompt = input("\n\nwhat should I do now?\n(enter q for emergency)\n\t")

brain/brain_openai.py

@@ -6,7 +6,7 @@ import ast
 
 import openai
 
-from commander.commands import CommandHandler
+from brain_base import BaseBrain
 from settings.config import settings
 
 
@@ -16,22 +16,11 @@ class CloudSTTBrain:
         print("not implemented")
 
 
-class CloudChatBrain:
+class CloudChatBrain(BaseBrain):
+
     def __init__(self):
+        super().__init__() 
         openai.api_key = settings.OPENAI_API_KEY
-        self.command_handler = CommandHandler()
-
-    @property
-    def sys_prompt(self):
-        return self._read_prompt()
-
-    def _read_prompt(self):
-        prompt_file_name = "prompt.txt"
-        for root, dirs, files in os.walk("./"):
-            if prompt_file_name in files:
-                prompt_filepath = os.path.join(root, prompt_file_name)
-                with open(prompt_filepath, "r") as f:
-                    return f.read()
 
     def _is_valid_json(self, answer):
         try:
@@ -45,9 +34,6 @@ class CloudChatBrain:
         self.cmd_prompt = None
         self.response = None
 
-    def listen(self):
-        self.cmd_prompt = input("\n\nwhat should I do now?\n\t")
-
     def understand(self):
         self.response = openai.ChatCompletion.create(
             model="gpt-3.5-turbo",

commander/commands.py

@@ -42,6 +42,10 @@ class CommandHandler:
     def _end_session(self):
         response = requests.get(f"{self.COMMANDER_COMMANDS_URL}/end")
         print(response.json())
+    
+    def _emergency(self):
+        response = requests.get(f"{self.COMMANDER_COMMANDS_URL}/emergency")
+        print(response.json())
 
     def handle(self, cmd: dict):
         #print(f"commanding for: {cmd}")
@@ -59,5 +63,7 @@ class CommandHandler:
             self._takeoff()
         elif cmd["command"] == "land":
             self._land()
+        elif cmd["command"] == "emergency":
+            self._emergency()
         else:
             raise ValueError(f"Uknown command object: {cmd}")

commander/routes/route_command.py

@@ -45,14 +45,17 @@ def takeoff():
     try:
         tello.connect()
     except Exception as e:
-        return {"msg": "failed to connect"}
+        return {"msg": "command failed", "reason": "failed to connect"}
     
     if tello.is_flying:
         return {"msg": "already flying"}
 
-    tello.takeoff()
-    stats_collector.start_collecting()
-    
+    try:
+        tello.takeoff()
+        stats_collector.start_collecting()
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
+
     if tello.is_flying:
         return {"msg": "ok"}
     else:
@@ -63,8 +66,11 @@ def land():
     if not tello.is_flying:
         return {"msg": "already on land"}
 
-    tello.land()
-    stats_collector.stop_collecting()
+    try:
+        tello.land()
+        stats_collector.stop_collecting()
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
     
     if not tello.is_flying:
         return {"msg": "ok"}
@@ -76,10 +82,13 @@ def turn(direction: str, degree: int):
     if degree < 1 or degree > 360:
         return {"degree must be between 1 and 360"}
 
-    if direction == "right":
-        tello.rotate_clockwise(degree)
-    elif direction == "left":
-        tello.rotate_counter_clockwise(degree)
+    try:
+        if direction == "right":
+            tello.rotate_clockwise(degree)
+        elif direction == "left":
+            tello.rotate_counter_clockwise(degree)
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
     
     return {"msg": "ok"}
 
@@ -93,14 +102,22 @@ def turn(direction: str, distance: int):
     try:
         tello.move(direction, distance)
     except Exception as e:
-        return {
-            "msg": "command failed", 
-            "reason": e
-            }
+        return { "msg": "command failed", "reason": e }
     
     return {"msg": "ok"}
 
+@router.get("/emergency")
+def emercengy_stop():
+    try:
+        tello.emergency()
+        return {"msg": "ok"}
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
+
 @router.get("/end")
 def end_flight_session():
-    tello.end()
-    return {"msg": "ok"}
+    try:
+        tello.end()
+        return {"msg": "ok"}
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }

manage.sh

@@ -9,7 +9,7 @@ DRONE_INTERFACE=$(yq '.commander.drone_interface' < settings/admin.yml)
 DRONE_WPA_SUPP_CONF=$(yq '.commander.drone_wpa_supp' < settings/admin.yml)
 NET_INTERFACE=$(yq '.commander.net_interface' < settings/admin.yml)
 NET_WPA_SUPP_CONF=$(yq '.commander.net_wpa_supp' < settings/admin.yml)
-ENV_FOR_DYNACONF=$(yq '.commander.env_for_dynaconf' < settings/admin.yml)
+#ENV_FOR_DYNACONF=$(yq '.commander.env_for_dynaconf' < settings/admin.yml)
 
 pids_dir='./pids'
 if [[ ! -d "$pids_dir" ]]; then
@@ -70,11 +70,11 @@ start_commander_service() {
 }
 
 talk_to_drone() {
-    ENV_FOR_DYNACONF=$ENV_FOR_DYNACONF python brain/brain.py
+    ENV_FOR_DYNACONF=$1 python brain/brain.py
 }
 
 kill_everything() {
-	for p in $pids_dir/*.txt; do echo "killing $p"; sudo pkill $(cat "$p"); done
+	for p in $pids_dir/*.txt; do echo "killing $p"; sudo pkill -15 $(cat "$p"); done
 }
 
 remote_shutdown() {
@@ -102,7 +102,7 @@ elif [ "$1" == "connect-drone" ]; then
 elif [ "$1" == "disconnect-drone" ]; then
     wpa_supp_pid_file="$pids_dir/wpa_supp_pid.txt"
     if [ -f "$wpa_supp_pid_file" ]; then
-        sudo pkill -P $(cat $wpa_supp_pid_file)
+        sudo pkill -15 -P $(cat $wpa_supp_pid_file)
         echo "stopped drone connection via wpa_supp"
 	fi
 
@@ -115,7 +115,7 @@ elif [ "$1" == "get-dhcp" ]; then
 elif [ "$1" == "kill-dhcp" ]; then
     dhcp_ip_pid_file="$pids_dir/dhcp_ip_pid.txt"
     if [ -f "$dhcp_ip_pid_file" ]; then
-        sudo pkill -P $(cat $dhcp_ip_pid_file)
+        sudo pkill -15 -P $(cat $dhcp_ip_pid_file)
         echo "killed dhcp client"
 	fi
 
@@ -132,7 +132,7 @@ elif [ "$1" == "start-jupyter" ]; then
 elif [ "$1" == "stop-jupyter" ]; then
     jupyter_pid_file="$pids_dir/jupyter_pid.txt"
     if [ -f "$jupyter_pid_file" ]; then
-        pkill -P $(cat $jupyter_pid_file)
+        pkill -15 -P $(cat $jupyter_pid_file)
         echo "stopped jupyter"
 	fi
 
@@ -146,7 +146,8 @@ elif [ "$1" == "start-cs" ]; then
 elif [ "$1" == "stop-cs" ]; then
     codeserver_pid_file="$pids_dir/codeserver_pid.txt"
     if [ -f "$codeserver_pid_file" ]; then
-        pkill -P $(cat $codeserver_pid_file)
+        sudo pkill -15 -P $(cat $codeserver_pid_file)
+        sudo killport 8888
         echo "stopped code server"
     fi
 
@@ -168,7 +169,7 @@ elif [ "$1" == "stop-commander" ]; then
     commander_pid_file="$pids_dir/commander_pid.txt"
     if [ -f "$commander_pid_file" ]; then
         sudo killport 8889
-        pkill -P $(cat $commander_pid_file)
+        sudo pkill -15 -P $(cat $commander_pid_file)
         echo "stopped commander"
 	fi
 
@@ -185,7 +186,7 @@ elif [ "$1" == "finish-flight" ]; then
     kill_everything
     echo "flight finished"
 elif [ "$1" == "start-talking" ]; then
-    talk_to_drone
+    talk_to_drone $2
 
 ######################
 ## INFO
@@ -199,7 +200,7 @@ else
   - start-/ stop-jupyter
   - start-/ stop-cs
   - start-/ stop-commander [port]
-  - start-talking
+  - start-talking tuncel / commander
   - turn-off
   - prepare-/ finish-flight"
 fi

settings/admin.yml

@@ -7,5 +7,3 @@ commander:
     wpa_supp_djituad0_plus.conf
   net_wpa_supp:
     wpa_supp_uadis.conf
-  env_for_dynaconf:
-    commander