def _load_tree(logger):
tree = None
cached_tree_path = cache_path('arm_movement_engine.kdtree')
try:
with open(cached_tree_path, 'rb') as f:
logger.info("Attemptimg to load kd-tree from cache...")
tree = pickle.load(f)
logger.info("Successfully loaded kd-tree from cache.")
except (OSError, IOError):
logger.info("Failed to load kd-tree from {}".format(cached_tree_path))
if tree is None:
try:
pts_path = opt_path('arm_movement_engine_pts.npy')
logger.info("Loading {}...".format(pts_path))
with open(pts_path, 'rb') as f:
pts = np.load(f)
logger.info("Building kd-tree...")
tree = KDTree(pts)
logger.info("Done building kd-tree.")
needs_to_write_cache = True
except IOError:
raise RaspberryTurkError("Arm movement engine can't find required file: {}".format(pts_path))
else:
try:
with open(cached_tree_path, 'wb') as f:
logger.info("Writing kd-tree to cache...")
pickle.dump(tree, f)
logger.info("Done writing kd-tree to cache.")
except (OSError, IOError) as e:
logger.warn("Failed to write kdtree to {}. Reason: {}.".format(cached_tree_path, e))
return tree
def get_chessboard_perspective_transform():
try:
M = np.load(_chessboard_perspective_transform_path())
return M
except IOError:
raise RaspberryTurkError(
"No chessboard perspective transform found. Camera position recalibration required."
)
def _load_svc(logger):
try:
svc_path = opt_path('square_color_detector.svc')
logger.info("Loading {}...".format(svc_path))
with open(svc_path, 'rb') as f:
svc = pickle.load(f)
pca_path = opt_path('square_color_detector.pca')
logger.info("Loading {}...".format(pca_path))
with open(pca_path, 'rb') as f:
pca = pickle.load(f)
_convert_to_32bit_pca(pca)
return svc, pca
except IOError as e:
raise RaspberryTurkError("Square color detector can't find required file: {}".format(e.filename))
def main():
setup_console_logging()
args = _get_args()
logger = logging.getLogger(__name__)
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
logger.info("connecting to {}".format(SERVER_ADDRESS))
try:
sock.connect(SERVER_ADDRESS)
except socket.error as msg:
logger.error(msg)
raise RaspberryTurkError(
"There was a problem connecting to {}".format(SERVER_ADDRESS))
try:
message = args.move
logger.info("sending {}".format(message))
sock.sendall(message)
data = sock.recv(19)
logger.info(data)
finally:
logger.info("closing socket")
sock.close()
from raspberryturk import is_running_on_raspberryturk, RaspberryTurkError
if not is_running_on_raspberryturk():
raise RaspberryTurkError(
"Must be running on Raspberry Turk to use {} module.".format(__name__))