348 lines
13 KiB
Python
348 lines
13 KiB
Python
import asyncio
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import os
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import time
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import traceback
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import warnings
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from concurrent.futures import ThreadPoolExecutor
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from datetime import datetime
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from typing import cast, List
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import aiohttp
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import cv2
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import numpy as np
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import telegram
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from aiohttp import BasicAuth
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from cv2 import aruco
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from pytapo import Tapo
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from telegram import Update, Message
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from telegram.ext import Updater
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from urllib3.exceptions import InsecureRequestWarning
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warnings.filterwarnings("ignore", category=InsecureRequestWarning)
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class Bot:
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def __init__(self):
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self.token = os.environ["BOT_TOKEN"]
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self.camera_ip = os.environ["CAMERA_IP"]
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self.camera_user = os.environ["CAMERA_USER"]
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self.camera_password = os.environ["CAMERA_PASSWORD"]
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self.chat_id = int(os.environ["CHAT_ID"])
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self.profile_name = os.environ.get("CAMERA_PROFILE_NAME", "board")
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self.openhab_url = os.environ["OPENHAB_URL"]
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self.openhab_token = os.environ["OPENHAB_TOKEN"]
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self.openhab_item = os.environ["OPENHAB_ITEM"]
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self.bot = telegram.Bot(token=self.token)
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self.me = None
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self.tapo = Tapo(self.camera_ip, self.camera_user, self.camera_password)
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self.executor = ThreadPoolExecutor(max_workers=len(os.sched_getaffinity(0)))
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self.last_aruco_corners = {}
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def _get_presets(self):
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presets = self.tapo.getPresets()
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return {v: k for k, v in presets.items()}
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async def _get_item_state(self):
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url = f"{self.openhab_url}/rest/items/{self.openhab_item}/state"
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# use aiohttp instead of requests to avoid blocking
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async with aiohttp.ClientSession() as session:
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async with session.get(url, auth=BasicAuth(self.openhab_token, "")) as resp:
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return await resp.text()
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async def _send_item_command(self, command):
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print(f"Sending command {command}")
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url = f"{self.openhab_url}/rest/items/{self.openhab_item}"
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async with aiohttp.ClientSession() as session:
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async with session.post(
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url,
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auth=BasicAuth(self.openhab_token, ""),
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data=command,
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headers={"Content-Type": "text/plain", "Accept": "*/*"},
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) as resp:
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return await resp.text()
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def _take_photo_blocking(
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self,
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adjust_perspective=True,
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timeout: float = 5.0,
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) -> List[cv2.typing.MatLike]:
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privacy_mode = self.tapo.getPrivacyMode()
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# Prepare the camera
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print("Disabling privacy mode and setting auto day/night mode...")
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self.tapo.setPrivacyMode(False)
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self.tapo.setDayNightMode("auto")
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time.sleep(1)
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# Take the color image
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vcap = cv2.VideoCapture(
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f"rtsp://{self.camera_user}:{self.camera_password}@{self.camera_ip}:554/stream1"
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)
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print("Taking color image...")
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ret, pretty_image = vcap.read()
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while pretty_image is None:
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ret, pretty_image = vcap.read()
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if not adjust_perspective:
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self.tapo.setPrivacyMode(privacy_mode)
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return [pretty_image]
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self.tapo.setDayNightMode("on")
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# Iterate until we find all 4 aruco markers or timeout
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aruco_corners = {}
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annotated_image = None
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aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_6X6_250)
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aruco_params = aruco.DetectorParameters()
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t0 = time.time()
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print("Taking image with ArUco markers...")
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while len(aruco_corners) < 4:
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if time.time() - t0 > timeout:
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a = self.last_aruco_corners.copy()
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a.update(aruco_corners)
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aruco_corners = a
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if len(aruco_corners) == 4:
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print("Timeout waiting for ArUco markers, using cached corners")
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break
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print(
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"Timeout waiting for ArUco markers, returning only original image"
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)
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self.tapo.setPrivacyMode(privacy_mode)
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self.tapo.setDayNightMode("auto")
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return [pretty_image]
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ret, annotated_image = vcap.read()
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if not ret:
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continue
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# Detect the markers
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corners, ids, rejected = aruco.detectMarkers(
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annotated_image, aruco_dict, parameters=aruco_params
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)
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if corners is not None and ids is not None:
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for corner, i in zip(corners, ids):
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aruco_corners[i[0]] = corner
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assert annotated_image is not None
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del vcap
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print(
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"Found all ArUco markers, enabled privacy mode and set auto day/night mode..."
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)
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self.tapo.setDayNightMode("auto")
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self.tapo.setPrivacyMode(privacy_mode)
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corners = [aruco_corners[i] for i in range(1, 5)]
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ids = np.array([[i] for i in range(1, 5)])
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aruco.drawDetectedMarkers(annotated_image, corners, ids)
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# Annotate the image with the detected markers and apply the perspective transform to the pretty image
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# Get the outermost points of each marker
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bl_marker = corners[0].squeeze()[3] # bottom left marker
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tl_marker = corners[1].squeeze()[0] # top left marker
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tr_marker = corners[2].squeeze()[1] # top right marker
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bc_marker = corners[3].squeeze()[3] # bottom center marker
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# Calculate the fourth point by computing the line through the bottom markers and intersecting with the vertical
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# line through the top right marker
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slope = (bc_marker[1] - bl_marker[1]) / (bc_marker[0] - bl_marker[0])
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y_intersection = slope * (tr_marker[0] - bc_marker[0]) + bc_marker[1]
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fourth_point = [tr_marker[0], y_intersection]
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rectangle_points = np.array(
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[tl_marker, bl_marker, fourth_point, tr_marker], dtype="float32"
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)
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# Expand the rectangle slightly
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centroid = np.mean(rectangle_points, axis=0)
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expanded_rectangle_points = (
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rectangle_points + (rectangle_points - centroid) * 0.025
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)
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# Draw the expanded rectangle on the annotated image
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cv2.polylines(
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annotated_image,
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[np.int32(expanded_rectangle_points)],
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isClosed=True,
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color=(0, 255, 0),
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thickness=3,
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)
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# Define destination points for perspective transform, maintaining a 3:2 aspect ratio
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width, height = 300 * 5, 200 * 5
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dst_pts = np.array(
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[[0, 0], [0, height], [width, height], [width, 0]], dtype="float32"
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)
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matrix = cv2.getPerspectiveTransform(expanded_rectangle_points, dst_pts)
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warped = cv2.warpPerspective(pretty_image, matrix, (width, height))
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self.last_aruco_corners = aruco_corners
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return [warped, annotated_image]
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async def _photo_command(self, chat_id: int, adjust_perspective: bool = True):
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await self.bot.send_chat_action(chat_id=chat_id, action="upload_photo")
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photos = await self.take_photo(adjust_perspective=adjust_perspective)
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jpegs = [cv2.imencode(".jpg", photo)[1].tobytes() for photo in photos]
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media = [
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telegram.InputMediaPhoto(
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media=telegram.InputFile(jpeg, filename=f"photo{i}.jpg", attach=True),
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filename=f"photo{i}.jpg",
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)
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for i, jpeg in enumerate(jpegs)
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]
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await self.bot.send_media_group(
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chat_id=chat_id,
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media=media,
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caption=str(datetime.now().strftime("%A, %B %d, %Y %H:%M:%S")),
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)
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async def parse_message(self, msg: Message):
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match msg.text:
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case "/start":
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text="Hello, I'm a bot that can send you a photo from the camera.",
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)
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case "/reposition":
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privacy_mode = self.tapo.getPrivacyMode()
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self.tapo.setPrivacyMode(False)
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presets = self._get_presets()
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if self.profile_name not in presets:
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Profile '{self.profile_name}' not found",
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)
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return
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self.tapo.setPreset(presets[self.profile_name])
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message = await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Repositioning to profile '{self.profile_name}'...",
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)
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await asyncio.sleep(5)
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self.tapo.setPrivacyMode(privacy_mode)
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await self.bot.edit_message_text(
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chat_id=msg.chat_id,
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message_id=message.message_id,
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text=f"Repositioning complete",
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)
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case "/calibrate":
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privacy_mode = self.tapo.getPrivacyMode()
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self.tapo.setPrivacyMode(False)
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await asyncio.sleep(0.3)
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self.tapo.calibrateMotor()
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message = await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Calibrating, this will take ~25s...",
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)
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await asyncio.sleep(26)
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await self.bot.edit_message_text(
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chat_id=msg.chat_id,
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message_id=message.message_id,
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text=f"Calibration complete",
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)
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self.tapo.setPrivacyMode(privacy_mode)
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case "/light_on":
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await self._send_item_command("ON")
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Light turned on",
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)
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case "/light_off":
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await self._send_item_command("OFF")
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Light turned off",
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)
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case "/light_status":
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state = await self._get_item_state()
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Light is {state}",
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)
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case "/photo":
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await self._photo_command(msg.chat_id, adjust_perspective=True)
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case "/photo_unprocessed":
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await self._photo_command(msg.chat_id, adjust_perspective=False)
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case "/privacy_on":
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self.tapo.setPrivacyMode(True)
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Privacy mode turned on",
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)
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case "/privacy_off":
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self.tapo.setPrivacyMode(False)
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Privacy mode turned off",
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)
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case "/privacy_status":
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state = self.tapo.getPrivacyMode()
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await self.bot.send_message(
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chat_id=msg.chat_id,
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text=f"Privacy mode is {state and 'enabled' or 'disabled'}",
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)
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async def take_photo(
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self, adjust_perspective=True, timeout=5.0
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) -> List[cv2.typing.MatLike]:
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item_state = await self._get_item_state()
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if item_state == "OFF":
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print("Turning light on")
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await self._send_item_command("ON")
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try:
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return await asyncio.get_event_loop().run_in_executor(
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self.executor, self._take_photo_blocking, adjust_perspective, timeout
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)
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finally:
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if item_state == "OFF":
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print("Turning light back off")
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await self._send_item_command("OFF")
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async def run(self):
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async with self.bot:
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self.me = await self.bot.get_me()
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updater = Updater(bot=self.bot, update_queue=asyncio.Queue())
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async with updater:
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queue = await updater.start_polling(allowed_updates=[Update.MESSAGE])
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print("Bot is up and running")
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while True:
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# noinspection PyBroadException
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try:
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upd = cast(Update, await queue.get())
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print(upd)
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if not upd.message or upd.message.chat_id != self.chat_id:
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print("Ignoring message")
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continue
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# noinspection PyBroadException
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try:
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await self.parse_message(upd.message)
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except Exception:
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traceback.print_exc()
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exc = traceback.format_exc()
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await self.bot.send_message(
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chat_id=self.chat_id,
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text=f"Error: {exc}",
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)
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except Exception:
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traceback.print_exc()
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if __name__ == "__main__":
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bot = Bot()
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asyncio.run(bot.run())
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