# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("tty starting...")
sys.stdout.flush()
# Activate the service endpoint
ttyOutPort = ManifoldPython.addE2EService(ttyOutTopic)
if (ttyOutPort == -1):
print("Failed to activate E2E service endpoint")
ManifoldPython.stop()
sys.exit()
# Activate the multicast endpoint
ttyInPort = ManifoldPython.addMulticastSource(ttyInTopic)
if (ttyInPort == -1):
print("Failed to activate multicast source endpoint")
ManifoldPython.stop()
sys.exit()
serialPort = serial.Serial(ttyPort, ttyRate, timeout=0)
try:
while True:
processReceivedText()
readBytes = serialPort.read(256)
if len(readBytes) > 0:
timestamp = time.time()
inMessage = rdf.newPublishMessage('tty', ttyInTopic, 'tty',
if opt == '-p':
audioTopic = arg
if opt == '-n':
audioChannels = int(arg)
if opt == '-r':
audioRate = int(arg)
# start ManifoldPython running
ManifoldPython.start("audio", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the source stream
sourcePort = ManifoldPython.addMulticastSource(audioTopic)
if (sourcePort == -1):
print("Failed to activate stream service")
ManifoldPython.stop()
sys.exit()
# wake up the console
print("audio starting...")
sys.stdout.flush()
# start up the audio device
audioDevice = pyaudio.PyAudio()
audioBlockSize = audioRate / 20
audioStream = audioDevice.open(stream_callback=callback,
format=pyaudio.paInt16,
# This controls the minimum contour area that will be accepted
minContourArea = 300
# This controls the thresholding applied before contour detection
maskThreshold = 8
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
try:
# Create the background subtractor
fgbg = cv2.createBackgroundSubtractorMOG2(bgHistory, bgThreshold, False)
while True:
processReceivedMessage()
if (processing):
try:
image = imageToProcess
def forwardThread():
global processingForward, forwardMessage, forwardImage, forwardTS, forwardThreadExit, inPort
# start ManifoldPython running
ManifoldPython.start("facerec", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
while not forwardThreadExit:
time.sleep(0.01)
processReceivedMessage()
if not processingForward:
continue
try:
image = forwardImage
inJpeg = np.frombuffer(image, dtype=np.uint8)
cv2Image = cv2.imdecode(inJpeg, cv2.IMREAD_COLOR)
except:
print ("Forward jpeg error", sys.exc_info()[0],sys.exc_info()[1])
try:
dataLock.acquire()
for detectedData in globalDetectedData:
name = detectedData['name']
namepos = detectedData['namepos']
cv2.putText(cv2Image, name, namepos,
cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.75,
color=(152, 255, 204), thickness=2)
landMarks = detectedData['landmarks']
for landMark in landMarks:
cv2.circle(cv2Image, center=landMark, radius=3,
color=(102, 204, 255), thickness=-1)
except:
pass
dataLock.release()
# generate the output jpeg
retVal, outJpeg = cv2.imencode('.jpeg', cv2Image)
forwardMessage[rtndefs.TOPIC] = outTopic
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(forwardMessage), outJpeg, forwardTS)
processingForward = False
ManifoldPython.removeService(inPort)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()