PonBot

app.js

var express = require("express");
var app = express();
var path = require("path");
var server = require('http').Server(app);
var io = require('socket.io')(server);
var fs = require('fs');
var request = require('request');
var five = require('johnny-five');
var exec = require('child_process').exec;
var OpenJTalk = require('openjtalk');
var mei = new OpenJTalk({ htsvoice: '/home/pi/ponbot/node_modules/openjtalk/voice/mei/mei_happy.htsvoice' });
var MeCab = new require('mecab-async')
var mecab = new MeCab();
var array = [];
var reply = [];


server.listen(3000, function () {
  console.log('listening on *:3000');
});

app.use(express.static(__dirname + '/public'));

app.get('/', function(req, res) {
    res.sendFile(path.join(__dirname + '/index.html'));
});

io.sockets.on('connection', function(socket) {
  socket.on('chat_message', function(data) {
    MeCab.command = "mecab -d /usr/lib/mecab/dic/mecab-ipadic-neologd"
    MeCab.parseFormat(data, function(err, morphs) {
        if (err) throw err;
        morphs.map(function(morph) {
        if (morph.lexical === '感動詞') {
          array.push(morph.original);
          reply = '!'
          console.log(array);
        }
        if (morph.compound === '固有名詞') {
          array.push(morph.original);
          reply = 'っていいね。'
          console.log(array);
        }
        if (morph.lexical === '形容詞' | morph.compound === '自立') {
          array.push(morph.original);
          console.log(array);
          reply = 'よね。'
        }
    });
    if(array.length <= 0){
      bot_reply = 'そうなんだ。' ;
    }else{
      bot_reply = array[Math.floor(Math.random() * array.length)] + reply;
    }
    io.emit('msg','action');
    mei.talk(bot_reply);
    array = [];
    reply = [];
    });
  });
});

board = new five.Board();

board.on("ready", function() {
  var a = new five.Motor({
    controller: "GROVE_I2C_MOTOR_DRIVER",
    pin: "A",
  });

  var b = new five.Motor({
    controller: "GROVE_I2C_MOTOR_DRIVER",
    pin: "B",
  });

  var proximity = new five.Proximity({
    controller: "HCSR04",
    pin: 7
  });

io.sockets.on('connection', function (socket) {

  socket.on('click_servo_yes', function (degree_y) {
    console.log('サーボ1: ' + degree_y);
    var options_y = {
      uri: 'https://us.wio.seeed.io/v1/node/GroveServoD1/angle/' + degree_y,
      form: { access_token: 'アクセストークン' },
      json: true
    };
    request.post(options_y, function(error, response, body){
      if (!error && response.statusCode == 200) {
      } else {
        console.log('error: '+ response.statusCode);
      }
    });
  });

  socket.on('click_servo_no', function (degree_n) {
    console.log('サーボ0: ' + degree_n);
    var options_n = {
      uri: 'https://us.wio.seeed.io/v1/node/GroveServoD0/angle/' + degree_n,
      form: { access_token: 'アクセストークン' },
      json: true
    };
    request.post(options_n, function(error, response, body){
      if (!error && response.statusCode == 200) {
        console.log(body);
      } else {
        console.log('error: '+ response.statusCode);
      }
    });
  });

  proximity.on("data", function() {
    console.log("cm: ", this.cm);
    socket.emit('message', this.cm);
  });

  socket.on('click_motor_forward', function () {
    a.rev(252);
    b.fwd(252);
    setTimeout(function(){
      a.stop();
      b.stop();
    },500);
  });

  socket.on('click_sound_robot', function () {
    exec('aplay /home/pi/ponbot/public/robot.wav', function(error, stdout, stderr) {
    if (error != null) {
        console.log(error);
    }
  });
  });

  socket.on('click_motor_stop', function () {
    a.stop();
    b.stop();
  });

  socket.on('click_motor_right', function () {
    a.rev(381);
    b.rev(381);
    setTimeout(function(){
      a.stop();
      b.stop();
    },300);
  });

  socket.on('click_motor_right_turn', function () {
    a.rev(381);
    b.rev(381);
  });

  socket.on('click_motor_left', function () {
    a.fwd(381);
    b.fwd(381);
    setTimeout(function(){
      a.stop();
      b.stop();
    },300);
  });

  socket.on('click_motor_left_turn', function () {
    a.fwd(381);
    b.fwd(381);
  });

  socket.on('click_motor_backward', function () {
    a.fwd(252);
    b.rev(252);
    setTimeout(function(){
      a.stop();
      b.stop();
    },500);
  });

});

});

index.html

<!DOCTYPE html>
<html lang="ja">
<head>
    <meta charset="utf-8">
    <title>PonBot</title>
    <meta name="viewport" content="width=device-width, initial-scale=1">
    <link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.7/css/bootstrap.min.css" integrity="sha384-BVYiiSIFeK1dGmJRAkycuHAHRg32OmUcww7on3RYdg4Va+PmSTsz/K68vbdEjh4u" crossorigin="anonymous">
    <link href="https://fonts.googleapis.com/css?family=Orbitron" rel="stylesheet">
    <link rel="stylesheet" href="style.css">
</head>
<body>
  <article>
    <h1>PonBot</h1>
      <article>
      <div class="spinner">
        <div class="bounce1"></div>
        <div class="bounce2"></div>
        <div class="bounce3"></div>
      </div>
        <p id="caption"></p>
  </article>
  <script src="https://cdn.socket.io/socket.io-1.2.0.js"></script>
  <script src="http://code.jquery.com/jquery-1.11.1.js"></script>
  <script src="//cdnjs.cloudflare.com/ajax/libs/annyang/2.4.0/annyang.min.js"></script>
  <script>
    $(document).ready(function() {
      var socket = io.connect('http://192.168.x.xx');
      if (annyang) {
        var commands = {'*i': function() {console.log("実行")}};
        annyang.setLanguage('ja-JP')
        annyang.addCommands(commands);
        annyang.start();
        console.log('録音開始');
        annyang.addCallback('resultMatch', function(userSaid) {
          console.log('録音: ' + userSaid);
          socket.emit('chat_message', userSaid);
        });
      };
      socket.on('msg', function(msg) {
          console.log('アクション');
          if(msg === 'action'){
          setTimeout(function(){
                 socket.emit('click_sound_robot');
                 socket.emit('click_servo_yes',60);
                 socket.emit('click_motor_left');
                 setTimeout(function(){
                   socket.emit('click_servo_yes',120);
                   socket.emit('click_motor_right');
                   setTimeout(function(){
                     socket.emit('click_servo_yes',60);
                     socket.emit('click_motor_left');
                     setTimeout(function(){
                       socket.emit('click_servo_yes',120);
                       socket.emit('click_motor_right');
                       setTimeout(function(){
                         socket.emit('click_servo_yes',90);
                       },1500);
                     },1200);
                   },900);
                 },600);
               },300);
          };
        });
      });

  </script>
</body>
</html>

package.json

{
  "name": "ponbot",
  "version": "1.0.0",
  "main": "app.js",
  "scripts": {
    "test": "echo \"Error: no test specified\" && exit 1"
  },
  "author": "pon_dad",
  "license": "ISC",
  "dependencies": {
    "express": "^4.14.0",
    "johnny-five": "^0.10.3",
    "mecab-async": "^0.1.0",
    "openjtalk": "^0.1.6",
    "request": "^2.76.0",
    "socket.io": "^1.5.1"
  },
  "devDependencies": {},
  "description": ""
}