def select(self, read, write, have_expt, timeout):
while 1:
try:
self.flush_queues()
(s_read, s_write, s_expt) = select.select(read, write,
have_expt, timeout)
return s_read, s_write, s_expt
except select.error, e:
Debug.print_stacktrace()
Logger.log('Vision Server: Currpupted socket, ' +
'trying to recover ...')
for sock in self.descriptors_:
try:
# timeout 0 to remove delay
select.select([sock], [], [], 0)
except select.error, e:
Debug.print_stacktrace()
self.descriptors_.remove(sock)
Logger.log('Socket deleted ...')
if len(self.descriptors_) == 0:
Logger.log('Vision Server: It was server socket, ' +
' restarting ...')
self.srv_sock_ = socket.socket(socket.AF_INET,
socket.SOCK_STREAM)
self.descriptors_.append(slef.srv_sock_)
self.start_server()
break
def start_server(self):
# bind to port at ip
for i in range(V_SETT.STARTUP_ATTEMPTS)[1:]:
try:
print
Logger.log('Vision Server: Start attempt [%d] ...' % i)
self.srv_sock_.bind((self.ip_, self.port_))
# set maximum number of requests in the queue
self.srv_sock_.listen(self.max_req_)
self.alive_ = True
break
except:
Debug.print_stacktrace()
if i >= V_SETT.STARTUP_ATTEMPTS: break
Logger.log('Vision Server: Could not bind to [%s, %d]' % (
self.ip_, self.port_))
Logger.log('Vision Server: Retrying in %d seconds' % (
V_SETT.STARTUP_ATTEMPT_TIMEOUT))
time.sleep(V_SETT.STARTUP_ATTEMPT_TIMEOUT)
if not self.alive_:
Logger.log('Vision Server: Could not connect to ' +
'[%s, %d]' % (self.ip_, self.port_))
self.kill_processor()
Logger.log('Vision Server: Started on [%s, %d]' % (
self.ip_, self.port_))
print 'To kill server, press with CTRL+C.'
def select(self, read, write, have_expt, timeout):
while 1:
try:
self.flush_queues()
(s_read, s_write,
s_expt) = select.select(read, write, have_expt, timeout)
return s_read, s_write, s_expt
except select.error, e:
Debug.print_stacktrace()
Logger.log('Vision Server: Currpupted socket, ' +
'trying to recover ...')
for sock in self.descriptors_:
try:
# timeout 0 to remove delay
select.select([sock], [], [], 0)
except select.error, e:
Debug.print_stacktrace()
self.descriptors_.remove(sock)
Logger.log('Socket deleted ...')
if len(self.descriptors_) == 0:
Logger.log(
'Vision Server: It was server socket, ' +
' restarting ...')
self.srv_sock_ = socket.socket(
socket.AF_INET, socket.SOCK_STREAM)
self.descriptors_.append(slef.srv_sock_)
self.start_server()
break
def start_server(self):
# bind to port at ip
for i in range(V_SETT.STARTUP_ATTEMPTS)[1:]:
try:
print
Logger.log('Vision Server: Start attempt [%d] ...' % i)
self.srv_sock_.bind((self.ip_, self.port_))
# set maximum number of requests in the queue
self.srv_sock_.listen(self.max_req_)
self.alive_ = True
break
except:
Debug.print_stacktrace()
if i >= V_SETT.STARTUP_ATTEMPTS: break
Logger.log('Vision Server: Could not bind to [%s, %d]' %
(self.ip_, self.port_))
Logger.log('Vision Server: Retrying in %d seconds' %
(V_SETT.STARTUP_ATTEMPT_TIMEOUT))
time.sleep(V_SETT.STARTUP_ATTEMPT_TIMEOUT)
if not self.alive_:
Logger.log('Vision Server: Could not connect to ' + '[%s, %d]' %
(self.ip_, self.port_))
self.kill_processor()
Logger.log('Vision Server: Started on [%s, %d]' %
(self.ip_, self.port_))
print 'To kill server, press with CTRL+C.'
def decode(msg):
result = []
try:
msg_type = CommProto.decode_chunk(msg[0:4]) # extract message type
nr_args = CommProto.decode_chunk(msg[4:8]) # extract number of arugments
result.extend([msg_type, nr_args]) # put them into the result
offset = 8
for i in range(nr_args):
beg = offset + i * 4
end = beg + 4
result.append(struct.unpack('!i', msg[beg:end])[0])
return result
except:
Debug.print_stacktrace()
return None
def run(self):
self.server_.start() # start up communication server
self.perform_homography()
VisionGUI.create_gui(self.red_color_, self.blu_color_, self.ylw_color_)
# Initialise some value in the beginning
prev_bal_center = (0, 0)
prev_blu_center = (0, 0)
prev_ylw_center = (0, 0)
# should be safe, as during the first frame method should accurately
# determine direction, if no direction can be determined, than
# no object is present(or thresholding is broken), so doesn't matter
prev_blu_dir = (0, -20)
prev_ylw_dir = (0, -20)
prev_time = time.time()
frame_count = 0
one_sec = 0
while self.alive_:
try:
start = time.time()
(prev_bal_center, prev_blu_center, prev_ylw_center,
prev_blu_dir, prev_ylw_dir) = self.detect_objects(
prev_bal_center, prev_blu_center, prev_ylw_center,
prev_blu_dir, prev_ylw_dir)
# update frame rate
frame_count += 1
one_sec += time.time() - start
if one_sec >= 1.0:
self.fps_ = frame_count
frame_count = 0
one_sec = one_sec % 1.0
except:
Debug.print_stacktrace()
self.kill_self()
time.sleep(1) # wait for server to finish
print
Logger.log('Vision Processor: Exiting ...')
def run(self):
self.server_.start() # start up communication server
self.perform_homography()
VisionGUI.create_gui(self.red_color_, self.blu_color_, self.ylw_color_)
# Initialise some value in the beginning
prev_bal_center = (0, 0)
prev_blu_center = (0, 0)
prev_ylw_center = (0, 0)
# should be safe, as during the first frame method should accurately
# determine direction, if no direction can be determined, than
# no object is present(or thresholding is broken), so doesn't matter
prev_blu_dir = (0, -20)
prev_ylw_dir = (0, -20)
prev_time = time.time()
frame_count = 0
one_sec = 0
while self.alive_:
try:
start = time.time()
(prev_bal_center, prev_blu_center, prev_ylw_center,
prev_blu_dir, prev_ylw_dir) = self.detect_objects(
prev_bal_center, prev_blu_center, prev_ylw_center,
prev_blu_dir, prev_ylw_dir)
# update frame rate
frame_count += 1
one_sec += time.time() - start
if one_sec >= 1.0:
self.fps_ = frame_count
frame_count = 0
one_sec = one_sec % 1.0
except:
Debug.print_stacktrace()
self.kill_self()
time.sleep(1) # wait for server to finish
print
Logger.log('Vision Processor: Exiting ...')
def send_data(self, sock, msg, mode = CommProto.MODE_ONCE, peer = None):
with self.lock_:
try:
sock.send(CommProto.encode(msg))
return True
except: # connection died, enqueue message if mode = MODE_SAFE
Debug.print_stacktrace()
enqueued = ''
if mode == CommProto.MODE_SAFE:
if not peer: return False
print 'SEND FAILED, ENQUEUEING ...'
if peer[0] in self.outgoing_q_: # if in queue
# append to queue
self.outgoing_q_[peer[0]].append((msg, time.time()))
else:
# or create queue
self.outgoing_q_[peer[0]] = [(msg, time.time())]
enqueued = ', but saved in queue '
self.remove_sock(sock)
Logger.log('Socket died. Messag not sent%s...' % enqueued)
return False
def send_data(self, sock, msg, mode=CommProto.MODE_ONCE, peer=None):
with self.lock_:
try:
sock.send(CommProto.encode(msg))
return True
except: # connection died, enqueue message if mode = MODE_SAFE
Debug.print_stacktrace()
enqueued = ''
if mode == CommProto.MODE_SAFE:
if not peer: return False
print 'SEND FAILED, ENQUEUEING ...'
if peer[0] in self.outgoing_q_: # if in queue
# append to queue
self.outgoing_q_[peer[0]].append((msg, time.time()))
else:
# or create queue
self.outgoing_q_[peer[0]] = [(msg, time.time())]
enqueued = ', but saved in queue '
self.remove_sock(sock)
Logger.log('Socket died. Messag not sent%s...' % enqueued)
return False
def decode_chunk(msg):
try:
return struct.unpack('!i', msg)[0]
except:
Debug.print_stacktrace(sys.exc_info())
return None
def raise_exception(self, msg): Logger.log(msg) raise Exception(msg) Debug.print_stacktrace()
def raise_exception(self, msg):
Logger.log(msg)
raise Exception(msg)
Debug.print_stacktrace()
