def _init_video_streaming_service(self):
self._tcp_stream_writer = TcpStreamWriter(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, self.MAX_TCP_STREAM_IMAGE_SIZE)
self._local_world_map_stream_writer = LocalWorldMapStreamWriter(self._local_world_map_service)
self._local_world_map_stream_writer.add_output_stream_writer(self._tcp_stream_writer)
self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME))
self._video_stream_dispatcher.add_stream_writer( self._local_world_map_stream_writer)
self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, None, self._tcp_stream_writer)
self._video_streaming_service.set_camera_source(self.DEFAULT_EMBEDDED_CAMERA_ID, self.EMBEDDED_CAMERA_FRAME_ROTATION_ANGLE)
def setup(self, stream_reader_mock, stream_writer_mock):
self._stream_reader_mock = stream_reader_mock
self._stream_writer_mock = stream_writer_mock
self._stream_reader_mock.read_next.side_effect = self._read_next_mock
self._video_stream_dispatcher = VideoStreamDispatcher(self.SAMPLE_DEFAULT_IMAGE)
self._video_stream_dispatcher.stream_reader = stream_reader_mock
self._video_stream_dispatcher.add_stream_writer(stream_writer_mock)
def _init_video_streaming_service(self):
self._original_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE)
self._processed_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE)
self._world_map_stream_writer = WorldMapStreamWriter(self._world_map_service, self._pathfinding_service)
self._world_map_stream_writer.add_output_stream_writer(self._processed_stream_buffer)
self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME))
self._video_stream_dispatcher.add_stream_writer(self._original_stream_buffer)
self._video_stream_dispatcher.add_stream_writer(self._world_map_stream_writer)
self._tcp_stream_reader = TcpStreamReader(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, False)
self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, self._original_stream_buffer, self._processed_stream_buffer, self._tcp_stream_reader)
class TestVideoStreamDispatcher(object):
SAMPLE_DEFAULT_IMAGE = object()
SAMPLE_IMAGE = object()
SAMPLE_FPS = 5
@mock.patch('services.video_streaming.stream_writers.InMemoryBufferedStreamWriter.InMemoryBufferedStreamWriter', autospec = False)
@mock.patch('services.video_streaming.stream_readers.CameraStreamReader.CameraStreamReader', autospec = False)
def setup(self, stream_reader_mock, stream_writer_mock):
self._stream_reader_mock = stream_reader_mock
self._stream_writer_mock = stream_writer_mock
self._stream_reader_mock.read_next.side_effect = self._read_next_mock
self._video_stream_dispatcher = VideoStreamDispatcher(self.SAMPLE_DEFAULT_IMAGE)
self._video_stream_dispatcher.stream_reader = stream_reader_mock
self._video_stream_dispatcher.add_stream_writer(stream_writer_mock)
def _read_next_mock(self):
time.sleep(1 / self.SAMPLE_FPS)
return self.SAMPLE_IMAGE
def test_when_dispatching_then_image_is_dispatched_to_stream_writer(self):
self._dispatch()
self._stream_writer_mock.write.assert_called_with(self.SAMPLE_IMAGE)
def test_given_read_error_when_dispatching_then_last_image_is_dispatched_to_stream_writer(self):
self._stream_reader_mock.read_next.side_effect = [self.SAMPLE_IMAGE, IOError]
self._dispatch()
self._stream_writer_mock.write.assert_called_with(self.SAMPLE_IMAGE)
def test_given_read_error_and_no_last_image_when_dispatching_then_default_image_is_dispatched_to_stream_writer(self):
self._stream_reader_mock.read_next.side_effect = IOError
self._dispatch()
self._stream_writer_mock.write.assert_called_with(self.SAMPLE_DEFAULT_IMAGE)
def _dispatch(self):
self._video_stream_dispatcher.start_dispatching_async()
time.sleep(0.25)
self._video_stream_dispatcher.stop_dispatching()
class BaseStationApplication(object):
LOGGING_DIRECTORY = "../data/logs"
IMAGE_LOGGING_DIRECTORY = "../data/logs/images"
SERVER_PORT = 8080
REMOTE_SERVER_PORT = 8081
STREAMING_SERVER_PORT = 5000
STREAMING_SERVER_IP_ADDRESS = "192.168.0.60"
REMOTE_SERVER_IP_ADDRESS = "192.168.0.60"
DEFAULT_STREAM_IMAGE_FILE_NAME = "../resources/default-stream-image.png"
VIDEO_STREAM_BUFFER_SIZE = 1
def initialize(self):
#ptvsd.enable_attach(secret = 'd3sign3')
self._init_logging()
self._init_services()
self._embedded_application = RemotableOf(EmbeddedApplication, self._remoting_client)
self._init_web_app()
self._logger.close()
def _init_logging(self):
self._logger = Logger()
self._logger.similar_log_entry_skip_interval = 0
self._csv_log_subscriber = CsvLogSubscriber(self.LOGGING_DIRECTORY)
self._image_log_subscriber = ImageLogSubscriber(self.IMAGE_LOGGING_DIRECTORY)
self._console_log_subscriber = ConsoleLogSubscriber()
self._logger.subscribe(self._csv_log_subscriber)
self._logger.subscribe(self._image_log_subscriber)
self._logger.subscribe(self._console_log_subscriber)
def _init_services(self):
self._init_remoting_services()
self._coordinate_factory = CoordinateFactory()
self._world_map_service = WorldMapService(self._coordinate_factory)
self._local_world_map_service = RemotableOf(LocalWorldMapService, self._remoting_client)
self._pathfinding_service = PathfindingService(Pathfinder(PathSimplifier()), self._world_map_service, self._coordinate_factory)
self._embedded_video_streaming_service = RemotableOf(VideoStreamingService, self._remoting_client)
self._movement_executor = RemotableOf(MovementExecutor, self._remoting_client)
self._path_navigator = PathNavigator(self._movement_executor, self._world_map_service, self._coordinate_factory)
self._motion_service = MotionService(self._movement_executor, self._path_navigator)
self._hardware_status_collector_service = RemotableOf(HardwareStatusCollectorService, self._remoting_client)
self._secret_code_decoding_service = RemotableOf(SecretCodeDecodingService, self._remoting_client)
self._treasure_handling_service = RemotableOf(TreasureHandlingService, self._remoting_client)
self._camera_arm_control_service = RemotableOf(CameraArmControlService, self._remoting_client)
self._game_cycle_control_service = GameCycleControlService(StateFactory(), self._world_map_service, self._pathfinding_service, self._motion_service, self._secret_code_decoding_service, self._treasure_handling_service, self._hardware_status_collector_service, self._local_world_map_service)
self._init_video_streaming_service()
def _init_video_streaming_service(self):
self._original_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE)
self._processed_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE)
self._world_map_stream_writer = WorldMapStreamWriter(self._world_map_service, self._pathfinding_service)
self._world_map_stream_writer.add_output_stream_writer(self._processed_stream_buffer)
self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME))
self._video_stream_dispatcher.add_stream_writer(self._original_stream_buffer)
self._video_stream_dispatcher.add_stream_writer(self._world_map_stream_writer)
self._tcp_stream_reader = TcpStreamReader(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, False)
self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, self._original_stream_buffer, self._processed_stream_buffer, self._tcp_stream_reader)
def _init_remoting_services(self):
self._remote_method_invoker = RemoteMethodInvoker(JsonSerializer())
self._remoting_client = RemotingClient(self._remote_method_invoker, self.REMOTE_SERVER_IP_ADDRESS, self.REMOTE_SERVER_PORT)
def _init_web_app(self):
self._web_server = WebServer(self.SERVER_PORT, self._logger, self._embedded_application, self._remoting_client, self._world_map_service,
self._local_world_map_service, self._pathfinding_service, self._video_streaming_service, self._embedded_video_streaming_service, self._game_cycle_control_service,
self._motion_service, self._hardware_status_collector_service, self._secret_code_decoding_service, self._treasure_handling_service, self._camera_arm_control_service)
self._web_server.run()
class EmbeddedApplication(object):
LOGGING_DIRECTORY = "../data/logs"
IMAGE_LOGGING_DIRECTORY = "../data/logs/images"
SERVER_PORT = 8081
REMOTE_SERVER_PORT = 8080
STREAMING_SERVER_PORT = 5000
STREAMING_SERVER_IP_ADDRESS = "0.0.0.0"
DEFAULT_STREAM_IMAGE_FILE_NAME = "../resources/default-stream-image.png"
DEFAULT_EMBEDDED_CAMERA_ID = 0
EMBEDDED_CAMERA_FRAME_ROTATION_ANGLE = 90
VIDEO_STREAM_BUFFER_SIZE = 1
MAX_TCP_STREAM_IMAGE_SIZE = Vector2(360, 480)
def initialize(self):
#ptvsd.enable_attach(secret = 'd3sign3')
#ptvsd.wait_for_attach()
self._init_logging()
self._init_drivers()
self._init_services()
self._publish_remoting_objects()
self._init_web_app()
self._logger.close()
def _init_logging(self):
self._logger = Logger()
self._logger.logging_level = LogEntryType.INFORMATIONAL
self._logger.save_blob_data = True
self._csv_log_subscriber = CsvLogSubscriber(self.LOGGING_DIRECTORY)
self._image_log_subscriber = ImageLogSubscriber(self.IMAGE_LOGGING_DIRECTORY)
self._console_log_subscriber = ConsoleLogSubscriber()
self._logger.subscribe(self._csv_log_subscriber)
self._logger.subscribe(self._image_log_subscriber)
self._logger.subscribe(self._console_log_subscriber)
def _init_drivers(self):
self._uart_driver = UartDriver()
self._pololu_driver = PololuDriver(self._uart_driver)
self._microcontroller_driver = MicrocontrollerDriver(self._uart_driver)
def _init_services(self):
self._init_remoting_services()
self._camera_arm_control_service = CameraArmControlService(self._pololu_driver)
self._hardware_status_collector_service = HardwareStatusCollectorService(self._microcontroller_driver)
self._local_world_map_service = LocalWorldMapService(self._camera_arm_control_service)
self._movement_executor = MovementExecutor(self._microcontroller_driver)
self._secret_code_decoding_service = SecretCodeDecodingService(self._microcontroller_driver)
self._treasure_handling_service = TreasureHandlingService(self._microcontroller_driver, self._local_world_map_service, self._movement_executor)
self._init_video_streaming_service()
def _init_video_streaming_service(self):
self._tcp_stream_writer = TcpStreamWriter(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, self.MAX_TCP_STREAM_IMAGE_SIZE)
self._local_world_map_stream_writer = LocalWorldMapStreamWriter(self._local_world_map_service)
self._local_world_map_stream_writer.add_output_stream_writer(self._tcp_stream_writer)
self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME))
self._video_stream_dispatcher.add_stream_writer( self._local_world_map_stream_writer)
self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, None, self._tcp_stream_writer)
self._video_streaming_service.set_camera_source(self.DEFAULT_EMBEDDED_CAMERA_ID, self.EMBEDDED_CAMERA_FRAME_ROTATION_ANGLE)
def _init_remoting_services(self):
self._remoting_server = RemotingServer(JsonSerializer())
def _publish_remoting_objects(self):
self._remoting_server.publish_object(self._movement_executor)
self._remoting_server.publish_object(self._hardware_status_collector_service)
self._remoting_server.publish_object(self._secret_code_decoding_service)
self._remoting_server.publish_object(self._treasure_handling_service)
self._remoting_server.publish_object(self._video_streaming_service)
self._remoting_server.publish_object(self._camera_arm_control_service)
self._remoting_server.publish_object(self._local_world_map_service)
self._remoting_server.publish_object(self)
def _init_web_app(self):
self._web_server = EmbeddedWebServer(self.SERVER_PORT, self._logger, self._remoting_server)
self._web_server.run()
def restart(self):
python = sys.executable
script = os.path.realpath(__file__)
subprocess.Popen([python, script])
self.stop()
def stop(self):
self._web_server.shutdown()
sys.exit(0)
