From 6a4a4239b2c5be9c8b659bd180b97176bfaae978 Mon Sep 17 00:00:00 2001
From: Spoon <2459581+MrSpoon@users.noreply.github.com>
Date: Sat, 17 Apr 2021 19:39:05 -0500
Subject: [PATCH 1/4] Replace scripts with service file

---
 README.md            | 55 ++++++--------------------------------------
 scripts/kill_command |  1 -
 scripts/remo.service | 14 +++++++++++
 scripts/repeat_start |  6 -----
 scripts/start_robot  |  6 -----
 5 files changed, 21 insertions(+), 61 deletions(-)
 delete mode 100755 scripts/kill_command
 create mode 100644 scripts/remo.service
 delete mode 100755 scripts/repeat_start
 delete mode 100755 scripts/start_robot

diff --git a/README.md b/README.md
index df47cc3..bed8b6b 100644
--- a/README.md
+++ b/README.md
@@ -99,65 +99,24 @@ The RasPi will need the following things install so it can talk to your motors a
      - `cozmo_tts`
      - `google_cloud`
 
-## Setting up your start_robot file on the Raspberry Pi
+## Setting up the remotv service on the Raspberry Pi
 
-1. Copy the `start_robot` script to your home directory.
+1. Link the service file to systemctl
 
    ```sh
-   cp ~/remotv/scripts/start_robot ~
+   sudo systemctl link /home/pi/remotv/script/remotv.service
    ```
 
-2. Add the startup script to the `crontab`
+2. Enable the service to run at startup
 
    ```sh
-   crontab -e
+   sudo systemctl enable remotv.service
    ```
 
-   Note: If you accidently use the wrong editor try
+3. Start the service
 
    ```sh
-   EDITOR=nano crontab -e
-   ```
-
-3. Insert the following text at the bottom
-
-   ```sh
-   @reboot /bin/bash /home/pi/start_robot
-   ```
-
-   Example:
-
-   ```sh
-   # Edit this file to introduce tasks to be run by cron.
-   #
-   # Each task to run has to be defined through a single line
-   # indicating with different fields when the task will be run
-   # and what command to run for the task
-   #
-   # To define the time you can provide concrete values for
-   # minute (m), hour (h), day of month (dom), month (mon),
-   # and day of week (dow) or use '*' in these fields (for 'any').#
-   # Notice that tasks will be started based on the cron's system
-   # daemon's notion of time and timezones.
-   #
-   # Output of the crontab jobs (including errors) is sent through
-   # email to the user the crontab file belongs to (unless redirected).
-   #
-   # For example, you can run a backup of all your user accounts
-   # at 5 a.m every week with:
-   # 0 5 * * 1 tar -zcf /var/backups/home.tgz /home/
-   #
-   # For more information see the manual pages of crontab(5) and cron(8)
-   #
-   # m h  dom mon dow   command
-
-   @reboot /bin/bash /home/pi/start_robot
-   ```
-
-4. Now just plug in the Camera and USB Speaker and reboot
-
-   ```sh
-   sudo reboot
+   sudo systemctl start remotv.service
    ```
 
 # Hardware Compatibility
diff --git a/scripts/kill_command b/scripts/kill_command
deleted file mode 100755
index 7bce5ba..0000000
--- a/scripts/kill_command
+++ /dev/null
@@ -1 +0,0 @@
-sudo killall /bin/bash python ffmpeg
diff --git a/scripts/remo.service b/scripts/remo.service
new file mode 100644
index 0000000..5e7a5b8
--- /dev/null
+++ b/scripts/remo.service
@@ -0,0 +1,14 @@
+[Unit]
+After=network.target
+Description=Remo.Tv startup script
+Documentation=https://docs.remo.tv
+
+[Install]
+WantedBy=multi-user.target
+
+[Service]
+ExecStart=/usr/bin/python2 /home/pi/remotv/controller.py
+Restart=on-failure
+RestartSec=10
+Type=simple
+WorkingDirectory=/home/pi/remotv
diff --git a/scripts/repeat_start b/scripts/repeat_start
deleted file mode 100755
index 93c93a0..0000000
--- a/scripts/repeat_start
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-while :
-    do
-            $@
-	    sleep 1.0
-done
diff --git a/scripts/start_robot b/scripts/start_robot
deleted file mode 100755
index 3006cf6..0000000
--- a/scripts/start_robot
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-# suggested use for this:
-# (1) use "crontab -e" to create a crontab entry: @reboot /bin/bash /home/pi/start_robot
-
-cd /home/pi/remotv
-nohup scripts/repeat_start python controller.py &> /dev/null &

From 38c30a28bd43ef1c3d7c4edc2c98c99c41f6557c Mon Sep 17 00:00:00 2001
From: Spoon <2459581+MrSpoon@users.noreply.github.com>
Date: Mon, 19 Apr 2021 18:47:18 -0500
Subject: [PATCH 2/4] Move boot message

Delays TTS boot message until robot is full connected and ready for commands.
---
 controller.py        | 30 +++++++++++++++++++++++++++---
 networking.py        | 38 ++++++--------------------------------
 scripts/remo.service |  5 ++++-
 3 files changed, 37 insertions(+), 36 deletions(-)

diff --git a/controller.py b/controller.py
index aa66381..f534644 100755
--- a/controller.py
+++ b/controller.py
@@ -2,7 +2,8 @@
 
 # TODO move all defs to the top of the file, out of the way of the flow of execution.
 # TODO full python3 support will involve installing the adafruit drivers, not using the ones from the repo
-
+import random
+import re
 import traceback
 import argparse
 import robot_util
@@ -132,7 +133,7 @@ def write(self, config_file):
 log.setLevel(logging.DEBUG)
 console_handler=logging.StreamHandler()
 console_handler.setLevel(logging.getLevelName(robot_config.get('logging', 'console_level')))
-console_formatter=logging.Formatter('%(asctime)s - %(filename)s : %(message)s','%H:%M:%S')
+console_formatter=logging.Formatter('%(asctime)s - %(filename)s[%(lineno)d]: %(message)s','%H:%M:%S')
 console_handler.setFormatter(console_formatter)
 try:
     file_handler=logging.handlers.RotatingFileHandler(robot_config.get('logging', 'log_file'),
@@ -244,7 +245,30 @@ def handle_message(ws, message):
 
     elif event == "ROBOT_VALIDATED":
         networking.handleConnectChatChannel(data["host"])
-
+    elif event == "SEND_CHAT":
+        # At this point the bot is fully online and ready for commands. Therefore it's boot message time.
+        log.info("Robot online and ready for action")
+        bootMessages = robot_config.get('tts', 'boot_message')
+        bootMessageList = bootMessages.split(',')
+        bootMessage = random.choice(bootMessageList)
+        ipAddr = False
+        ood = False
+        if robot_config.has_option('tts', 'announce_ip'):
+            ipAddr = robot_config.getboolean('tts', 'announce_ip')
+        if ipAddr:
+            addr = os.popen("ip -4 addr show wlan0 | grep -oP \'(?<=inet\\s)\\d+(\\.\\d+){3}\'").read().rstrip()
+            log.info('IPv4 Addr : {}'.format(addr))
+            bootMessage = bootMessage + ". My IP address is {}".format(addr)
+
+        if robot_config.has_option('tts', 'announce_out_of_date'):
+            ood = robot_config.getboolean('tts', 'announce_out_of_date')
+        if ood:
+            isOod = os.popen('git fetch && git status').read().rstrip()
+            if "behind" in isOod:
+                commits = re.search(r'\d+(\scommits|\scommit)', isOod)
+                log.warning('Git repo is out of date. Run "git pull" to update.')
+                bootMessage = bootMessage + ". Git repo is behind by {}.".format(commits.group(0))
+        tts.say(bootMessage)
     else:
         log.error("Unknown event type")
 
diff --git a/networking.py b/networking.py
index 0959298..e2e3660 100644
--- a/networking.py
+++ b/networking.py
@@ -1,16 +1,13 @@
-import sys
-import robot_util
 import json
-import schedule
-import tts.tts as tts
-import watchdog
 import logging
-import random
+import sys
+
 import websocket
-import os
-import re
+
 import robot_util
 import schedule
+import tts.tts as tts
+import watchdog
 
 if (sys.version_info > (3, 0)):
 #    import _thread as thread
@@ -106,7 +103,6 @@ def checkWebSocket():
 def setupWebSocket(robot_config, onHandleMessage):
     global robot_key
 
-    global bootMessage
     global webSocket
     global server
     global version
@@ -126,26 +122,6 @@ def setupWebSocket(robot_config, onHandleMessage):
     if robot_config.has_option('robot', 'channel'):
         channel = robot_config.get('robot', 'channel')
 
-    bootMessages = robot_config.get('tts', 'boot_message')
-    bootMessageList = bootMessages.split(',')
-    bootMessage = random.choice(bootMessageList)
-
-    if robot_config.has_option('tts', 'announce_ip'):
-        ipAddr = robot_config.getboolean('tts', 'announce_ip')
-    if ipAddr:
-        addr = os.popen("ip -4 addr show wlan0 | grep -oP \'(?<=inet\\s)\\d+(\\.\\d+){3}\'").read().rstrip()
-        log.info('IPv4 Addr : {}'.format(addr))
-        bootMessage = bootMessage + ". My IP address is {}".format(addr)
-
-    if robot_config.has_option('tts', 'announce_out_of_date'):
-        ood = robot_config.getboolean('tts', 'announce_out_of_date')
-    if ood:
-        isOod = os.popen('git fetch && git status').read().rstrip()
-        if "behind" in isOod:
-            commits = re.search(r'\d+(\scommits|\scommit)', isOod)
-            log.warning('Git repo is out of date. Run "git pull" to update.')
-            bootMessage = bootMessage + ". Git repo is behind by {}.".format(commits.group(0))
-
 #    log.info("using socket io to connect to control %s", controlHostPort)
     log.info("configuring web socket wss://%s/" % server)
     webSocket = websocket.WebSocketApp("wss://%s/" % server,
@@ -156,7 +132,7 @@ def setupWebSocket(robot_config, onHandleMessage):
     log.info("staring websocket listen process")
     startListenForWebSocket()
 
-    schedule.single_task(5, checkWebSocket)
+    schedule.single_task(10, checkWebSocket)
     
     if robot_config.getboolean('misc', 'check_internet'):
         #schedule a task to check internet status
@@ -186,14 +162,12 @@ def isInternetConnected():
 lastInternetStatus = False
 
 def internetStatus_task():
-    global bootMessage
     global lastInternetStatus
     global internetStatus
 
     internetStatus = isInternetConnected()
     if internetStatus != lastInternetStatus:
         if internetStatus:
-            tts.say(bootMessage)
             log.info("internet connected")
         else:
             log.info("missing internet connection")
diff --git a/scripts/remo.service b/scripts/remo.service
index 5e7a5b8..9be3bac 100644
--- a/scripts/remo.service
+++ b/scripts/remo.service
@@ -9,6 +9,9 @@ WantedBy=multi-user.target
 [Service]
 ExecStart=/usr/bin/python2 /home/pi/remotv/controller.py
 Restart=on-failure
-RestartSec=10
+RestartSec=1
+StartLimitBurst=5
+StartLimitInterval=60
+SyslogIdentifier=remo-controller
 Type=simple
 WorkingDirectory=/home/pi/remotv

From 475acada2e44cef33e2862d55c0333741955e83a Mon Sep 17 00:00:00 2001
From: Spoon <2459581+MrSpoon@users.noreply.github.com>
Date: Mon, 19 Apr 2021 22:31:48 -0500
Subject: [PATCH 3/4] Restore deleted files

Restore deleted files to maintain backwards compatibility.
---
 scripts/kill_command | 1 +
 scripts/repeat_start | 6 ++++++
 scripts/start_robot  | 6 ++++++
 3 files changed, 13 insertions(+)
 create mode 100755 scripts/kill_command
 create mode 100755 scripts/repeat_start
 create mode 100755 scripts/start_robot

diff --git a/scripts/kill_command b/scripts/kill_command
new file mode 100755
index 0000000..7bce5ba
--- /dev/null
+++ b/scripts/kill_command
@@ -0,0 +1 @@
+sudo killall /bin/bash python ffmpeg
diff --git a/scripts/repeat_start b/scripts/repeat_start
new file mode 100755
index 0000000..93c93a0
--- /dev/null
+++ b/scripts/repeat_start
@@ -0,0 +1,6 @@
+#!/bin/bash
+while :
+    do
+            $@
+	    sleep 1.0
+done
diff --git a/scripts/start_robot b/scripts/start_robot
new file mode 100755
index 0000000..3006cf6
--- /dev/null
+++ b/scripts/start_robot
@@ -0,0 +1,6 @@
+#!/bin/bash
+# suggested use for this:
+# (1) use "crontab -e" to create a crontab entry: @reboot /bin/bash /home/pi/start_robot
+
+cd /home/pi/remotv
+nohup scripts/repeat_start python controller.py &> /dev/null &

From e7e852fd9e06ad91eec6518465fab3e2783f352a Mon Sep 17 00:00:00 2001
From: Spoon <2459581+MrSpoon@users.noreply.github.com>
Date: Tue, 20 Apr 2021 09:33:35 -0500
Subject: [PATCH 4/4] Restore TTS

Misread the problem on issue #20. It was not an issue with the tts but with a continuous restarting loop due to api authentication failure.
---
 controller.py          | 29 ++++-------------------------
 controller.sample.conf |  2 +-
 networking.py          | 36 +++++++++++++++++++++++++++++++-----
 3 files changed, 36 insertions(+), 31 deletions(-)

diff --git a/controller.py b/controller.py
index f534644..00ef34f 100755
--- a/controller.py
+++ b/controller.py
@@ -2,8 +2,7 @@
 
 # TODO move all defs to the top of the file, out of the way of the flow of execution.
 # TODO full python3 support will involve installing the adafruit drivers, not using the ones from the repo
-import random
-import re
+
 import traceback
 import argparse
 import robot_util
@@ -245,30 +244,10 @@ def handle_message(ws, message):
 
     elif event == "ROBOT_VALIDATED":
         networking.handleConnectChatChannel(data["host"])
+
     elif event == "SEND_CHAT":
-        # At this point the bot is fully online and ready for commands. Therefore it's boot message time.
-        log.info("Robot online and ready for action")
-        bootMessages = robot_config.get('tts', 'boot_message')
-        bootMessageList = bootMessages.split(',')
-        bootMessage = random.choice(bootMessageList)
-        ipAddr = False
-        ood = False
-        if robot_config.has_option('tts', 'announce_ip'):
-            ipAddr = robot_config.getboolean('tts', 'announce_ip')
-        if ipAddr:
-            addr = os.popen("ip -4 addr show wlan0 | grep -oP \'(?<=inet\\s)\\d+(\\.\\d+){3}\'").read().rstrip()
-            log.info('IPv4 Addr : {}'.format(addr))
-            bootMessage = bootMessage + ". My IP address is {}".format(addr)
-
-        if robot_config.has_option('tts', 'announce_out_of_date'):
-            ood = robot_config.getboolean('tts', 'announce_out_of_date')
-        if ood:
-            isOod = os.popen('git fetch && git status').read().rstrip()
-            if "behind" in isOod:
-                commits = re.search(r'\d+(\scommits|\scommit)', isOod)
-                log.warning('Git repo is out of date. Run "git pull" to update.')
-                bootMessage = bootMessage + ". Git repo is behind by {}.".format(commits.group(0))
-        tts.say(bootMessage)
+        pass
+
     else:
         log.error("Unknown event type")
 
diff --git a/controller.sample.conf b/controller.sample.conf
index 41aaeec..53b9c00 100644
--- a/controller.sample.conf
+++ b/controller.sample.conf
@@ -149,7 +149,7 @@ boot_message=ok
 announce_ip=False
 
 # Announces when the cloned repo is out of date and by how many commits.
-annouce_out_of_date=False
+announce_out_of_date=False
 
 # Enable delayed TTS, this allows a window for  moderators to remove messages
 # before they get passed to TTS. Messenger must be enabled for this to function.
diff --git a/networking.py b/networking.py
index e2e3660..4a77c29 100644
--- a/networking.py
+++ b/networking.py
@@ -1,13 +1,16 @@
-import json
-import logging
 import sys
-
-import websocket
-
 import robot_util
+import json
 import schedule
 import tts.tts as tts
 import watchdog
+import logging
+import random
+import websocket
+import os
+import re
+import robot_util
+import schedule
 
 if (sys.version_info > (3, 0)):
 #    import _thread as thread
@@ -103,6 +106,7 @@ def checkWebSocket():
 def setupWebSocket(robot_config, onHandleMessage):
     global robot_key
 
+    global bootMessage
     global webSocket
     global server
     global version
@@ -122,6 +126,26 @@ def setupWebSocket(robot_config, onHandleMessage):
     if robot_config.has_option('robot', 'channel'):
         channel = robot_config.get('robot', 'channel')
 
+    bootMessages = robot_config.get('tts', 'boot_message')
+    bootMessageList = bootMessages.split(',')
+    bootMessage = random.choice(bootMessageList)
+
+    if robot_config.has_option('tts', 'announce_ip'):
+        ipAddr = robot_config.getboolean('tts', 'announce_ip')
+    if ipAddr:
+        addr = os.popen("ip -4 addr show wlan0 | grep -oP \'(?<=inet\\s)\\d+(\\.\\d+){3}\'").read().rstrip()
+        log.info('IPv4 Addr : {}'.format(addr))
+        bootMessage = bootMessage + ". My IP address is {}".format(addr)
+
+    if robot_config.has_option('tts', 'announce_out_of_date'):
+        ood = robot_config.getboolean('tts', 'announce_out_of_date')
+    if ood:
+        isOod = os.popen('git fetch && git status').read().rstrip()
+        if "behind" in isOod:
+            commits = re.search(r'\d+(\scommits|\scommit)', isOod)
+            log.warning('Git repo is out of date. Run "git pull" to update.')
+            bootMessage = bootMessage + ". Git repo is behind by {}.".format(commits.group(0))
+
 #    log.info("using socket io to connect to control %s", controlHostPort)
     log.info("configuring web socket wss://%s/" % server)
     webSocket = websocket.WebSocketApp("wss://%s/" % server,
@@ -162,12 +186,14 @@ def isInternetConnected():
 lastInternetStatus = False
 
 def internetStatus_task():
+    global bootMessage
     global lastInternetStatus
     global internetStatus
 
     internetStatus = isInternetConnected()
     if internetStatus != lastInternetStatus:
         if internetStatus:
+            tts.say(bootMessage)
             log.info("internet connected")
         else:
             log.info("missing internet connection")