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alarm.py
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"""
ERIC — Alarm / Alert System
=============================
Multi-modal alerts triggered by specific mission events:
SIREN — search and rescue: injured person found
TTS urgent announcement + rapid LED flash + rising tone
HAZARD — hazard patrol: dangerous object/substance found
TTS safety warning + slow LED pulse + warning tone
SUSPICIOUS — anti-terror: suspicious object found
TTS alert + LED strobe + urgent tone sequence
NATURE — nature explore: wildlife / scenic photo opportunity
TTS excited comment + gentle LED pulse (non-alarming)
CLEAR — all-clear after alarm
TTS confirmation + steady green LED
Audio strategy:
Primary: pygame.mixer.Sound with generated sine/square tones (no external files needed)
Fallback: TTS only if pygame unavailable
LED strategy:
motors.lights() rapid flash patterns
All patterns run in a background daemon thread — never blocks mission loop
Usage:
from alarm import sound_alarm, AlarmType
sound_alarm(AlarmType.SIREN, "Injured person found near staircase")
sound_alarm(AlarmType.HAZARD, "Gas canister detected — possible leak")
sound_alarm(AlarmType.SUSPICIOUS, "Unidentified package under desk")
sound_alarm(AlarmType.NATURE, "Red fox spotted near stream")
"""
import threading
import time
import logging
import struct
import math
log = logging.getLogger("eric.alarm")
# ── Alarm types ───────────────────────────────────────────────────────────────
class AlarmType:
SIREN = "siren" # search and rescue — found injured person
HAZARD = "hazard" # environment hazard found
SUSPICIOUS = "suspicious" # suspicious / terror object found
NATURE = "nature" # wildlife / scenic discovery
CLEAR = "clear" # all-clear / situation resolved
NONE = "none" # no alarm — silent find (e.g. narrative missions)
# ── Alarm config ──────────────────────────────────────────────────────────────
_ALARM_CONFIG = {
AlarmType.SIREN: {
"voice_prefix": "EMERGENCY! EMERGENCY! ",
"led_pattern": "strobe_fast", # rapid on/off
"tone": "siren", # rising oscillating tone
"led_r": 255, "led_g": 0, # red flash
"repeat": 3,
},
AlarmType.HAZARD: {
"voice_prefix": "WARNING! HAZARD DETECTED! ",
"led_pattern": "pulse_slow", # slow pulse
"tone": "warning", # triple beep
"led_r": 255, "led_g": 128, # amber
"repeat": 2,
},
AlarmType.SUSPICIOUS: {
"voice_prefix": "ALERT! SUSPICIOUS OBJECT! ",
"led_pattern": "strobe_medium", # medium strobe
"tone": "alert", # urgent staccato
"led_r": 255, "led_g": 0, # red
"repeat": 3,
},
AlarmType.NATURE: {
"voice_prefix": "", # no alarm prefix for nature — just excited
"led_pattern": "pulse_gentle", # calm pulse
"tone": None, # no alarm tone for nature
"led_r": 0, "led_g": 200, # gentle green
"repeat": 1,
},
AlarmType.CLEAR: {
"voice_prefix": "All clear. ",
"led_pattern": "steady",
"tone": "clear", # double ascending beep
"led_r": 0, "led_g": 255,
"repeat": 1,
},
AlarmType.NONE: {
"voice_prefix": "", # silent — no alarm for narrative missions
"led_pattern": None,
"tone": None,
"led_r": 0, "led_g": 0,
"repeat": 0,
},
}
_alarm_thread: threading.Thread | None = None
_alarm_stop = threading.Event()
_alarm_lock = threading.Lock()
# ── Public API ────────────────────────────────────────────────────────────────
def sound_alarm(alarm_type: str, detail: str = "", blocking: bool = False):
"""
Trigger a multi-modal alarm.
alarm_type: AlarmType constant
detail: situation description (spoken after prefix)
blocking: if True, wait for alarm to finish before returning
Always non-blocking by default — mission loop keeps running.
"""
cfg = _ALARM_CONFIG.get(alarm_type, _ALARM_CONFIG[AlarmType.HAZARD])
# Silent mode — NONE alarm type means no audio/LED, just log
if alarm_type == AlarmType.NONE:
log.info(f"ALARM [NONE — silent]: {detail}")
return
def _run():
try:
_alarm_stop.clear()
# Run LED + tone in parallel with TTS
led_thread = threading.Thread(target=_led_pattern,
args=(cfg["led_pattern"], cfg["repeat"]),
daemon=True)
tone_thread = threading.Thread(target=_play_tone,
args=(cfg["tone"], cfg["repeat"]),
daemon=True)
led_thread.start()
tone_thread.start()
# TTS announcement
if detail or cfg["voice_prefix"]:
from tts import speak
msg = cfg["voice_prefix"] + (detail or "")
speak(msg)
log.info(f"ALARM [{alarm_type.upper()}]: {msg}")
led_thread.join(timeout=15)
tone_thread.join(timeout=15)
except Exception as e:
log.error(f"Alarm error: {e}")
with _alarm_lock:
global _alarm_thread
if _alarm_thread and _alarm_thread.is_alive():
_alarm_stop.set() # stop previous alarm
_alarm_thread.join(timeout=3)
_alarm_thread = threading.Thread(target=_run, daemon=True)
_alarm_thread.start()
if blocking:
_alarm_thread.join(timeout=20)
def stop_alarm():
"""Immediately stop any running alarm pattern."""
_alarm_stop.set()
try:
from motors import motors
motors.lights(0, 0)
except Exception:
pass
# ── LED patterns ──────────────────────────────────────────────────────────────
def _led_pattern(pattern: str, repeat: int = 2):
if pattern is None or repeat == 0:
return
try:
from motors import motors
except Exception:
return
if pattern == "strobe_fast":
for _ in range(repeat * 8):
if _alarm_stop.is_set(): break
motors.lights(255, 255); time.sleep(0.1)
motors.lights(0, 0); time.sleep(0.1)
elif pattern == "strobe_medium":
for _ in range(repeat * 5):
if _alarm_stop.is_set(): break
motors.lights(255, 255); time.sleep(0.2)
motors.lights(0, 0); time.sleep(0.15)
elif pattern == "pulse_slow":
for _ in range(repeat * 3):
if _alarm_stop.is_set(): break
motors.lights(255, 255); time.sleep(0.5)
motors.lights(0, 0); time.sleep(0.5)
elif pattern == "pulse_gentle":
for _ in range(repeat * 2):
if _alarm_stop.is_set(): break
motors.lights(128, 128); time.sleep(0.8)
motors.lights(0, 0); time.sleep(0.4)
elif pattern == "steady":
motors.lights(128, 255)
time.sleep(2.0)
motors.lights(0, 0)
try:
motors.lights(0, 0)
except Exception:
pass
# ── Audio tones via pygame (no external sound files needed) ──────────────────
def _play_tone(tone_type: str | None, repeat: int = 1):
"""Generate and play tones using pygame. Silently skips if pygame unavailable."""
if tone_type is None:
return
try:
import pygame
if not pygame.mixer.get_init():
pygame.mixer.init(frequency=22050, size=-16, channels=1, buffer=512)
def _gen_wave(freq: float, duration_ms: int,
shape: str = "sine", volume: float = 0.6) -> "pygame.mixer.Sound":
sample_rate = 22050
n_samples = int(sample_rate * duration_ms / 1000)
buf = []
for i in range(n_samples):
t = i / sample_rate
if shape == "sine":
val = math.sin(2 * math.pi * freq * t)
elif shape == "square":
val = 1.0 if math.sin(2 * math.pi * freq * t) >= 0 else -1.0
else:
val = math.sin(2 * math.pi * freq * t)
buf.append(int(val * 32767 * volume))
raw = struct.pack(f"<{n_samples}h", *buf)
return pygame.mixer.Sound(buffer=raw)
patterns = {
"siren": [
(440, 300, "sine"), (520, 300, "sine"), (620, 300, "sine"),
(720, 300, "sine"), (620, 200, "sine"), (520, 200, "sine"),
],
"warning": [
(880, 200, "square"), (0, 80, "sine"),
(880, 200, "square"), (0, 80, "sine"),
(880, 400, "square"),
],
"alert": [
(1000, 100, "square"), (0, 50, "sine"),
(1000, 100, "square"), (0, 50, "sine"),
(1200, 150, "square"), (0, 80, "sine"),
(1200, 150, "square"),
],
"clear": [
(523, 200, "sine"), (0, 60, "sine"),
(659, 200, "sine"), (0, 60, "sine"),
(784, 400, "sine"),
],
}
seq = patterns.get(tone_type, patterns["warning"])
for _ in range(repeat):
if _alarm_stop.is_set():
break
for entry in seq:
if _alarm_stop.is_set():
break
freq, dur_ms, shape = entry
if freq > 0:
sound = _gen_wave(freq, dur_ms, shape)
sound.play()
time.sleep(dur_ms / 1000.0)
else:
time.sleep(dur_ms / 1000.0)
except ImportError:
log.debug("pygame not available — tone skipped")
except Exception as e:
log.warning(f"Tone playback error: {e}")
# ─── ROS2 AlarmNode ───────────────────────────────────────────────────────────
# Thin wrapper that adds ROS2 topic interfaces to alarm.py.
# sound_alarm() Python API remains UNCHANGED.
#
# Topics added:
# Subscribe /alarm/trigger std_msgs/String — JSON {"type":"siren","detail":"..."}
# Subscribe /alarm/stop std_msgs/Empty — stop active alarm
# Publish /alarm/state std_msgs/String — "active" | "idle"
#
# Usage (from main.py):
# from alarm import AlarmNode, start_alarm_node
# start_alarm_node()
# sound_alarm(AlarmType.SIREN, "...") # still works identically
import threading as _alarm_threading
import json as _alarm_json
_alarm_node = None
_alarm_node_thread = None
_alarm_node_lock = _alarm_threading.Lock()
class AlarmNode:
"""ROS2 node wrapper for Alarm. Adds topic interfaces, keeps sound_alarm() intact."""
def __init__(self):
import rclpy
from rclpy.node import Node
from std_msgs.msg import String, Empty
if not rclpy.ok(): rclpy.init(args=None)
self._node = Node("eric_alarm_node")
self._trigger_sub = self._node.create_subscription(
String, "/alarm/trigger", self._on_trigger, 10
)
self._stop_sub = self._node.create_subscription(
Empty, "/alarm/stop", self._on_stop, 10
)
self._state_pub = self._node.create_publisher(String, "/alarm/state", 10)
self._state_timer = self._node.create_timer(1.0, self._publish_state)
log.info("AlarmNode: ROS2 node ready")
def _on_trigger(self, msg):
"""
Trigger alarm from ROS2 topic.
Message format: JSON string {"type": "siren", "detail": "Person found"}
Or plain string alarm type: "siren" | "hazard" | "suspicious" | "nature" | "clear"
"""
try:
data = _alarm_json.loads(msg.data)
atype = data.get("type", AlarmType.HAZARD)
detail = data.get("detail", "")
except Exception:
atype = msg.data.strip().lower()
detail = ""
sound_alarm(atype, detail)
def _on_stop(self, msg):
stop_alarm()
def _publish_state(self):
from std_msgs.msg import String
active = _alarm_thread is not None and _alarm_thread.is_alive()
self._state_pub.publish(String(data="active" if active else "idle"))
def spin(self):
import rclpy
try:
rclpy.spin(self._node)
except Exception as e:
log.debug(f"AlarmNode spin ended: {e}")
finally:
self._node.destroy_node()
try:
rclpy.shutdown()
except Exception:
pass
def destroy(self):
try:
self._node.destroy_node()
except Exception:
pass
def start_alarm_node() -> bool:
"""Launch AlarmNode in a background daemon thread."""
global _alarm_node, _alarm_node_thread
with _alarm_node_lock:
if _alarm_node is not None:
return True
try:
_alarm_node = AlarmNode()
_alarm_node_thread = _alarm_threading.Thread(
target=_alarm_node.spin,
daemon=True,
name="alarm-node-spin"
)
_alarm_node_thread.start()
log.info("AlarmNode: spinning in background thread")
return True
except Exception as e:
log.error(f"AlarmNode: failed to start — {e}")
_alarm_node = None
return False
def stop_alarm_node():
global _alarm_node
with _alarm_node_lock:
if _alarm_node:
_alarm_node.destroy()
_alarm_node = None