def main():
if not os.path.isfile(fname):
print("Please train the data first")
exit(0)
videoGetter = Capturer(vSource).start()
faceDetector = Detector(dname, cname, fname, videoGetter.frame, relayPin).start()
#videoShower = Show(videoGetter.frame).start()
# Setup GPIO for door lock
GPIO.setmode(GPIO.BCM)
GPIO.setup(relayPin, GPIO.OUT)
GPIO.output(relayPin, 0)
while True:
# Stop the thread when its other worker stopped
if videoGetter.stopped or faceDetector.stopped: #videoShower.stopped:
if not videoGetter.stopped: videoGetter.stop()
if not faceDetector.stopped: faceDetector.stop()
#if not videoShower.stopped: videoShower.stop()
break
frame = videoGetter.frame # Capture a video frame
faceDetector.frame = frame # Submit the video frame to detector for process
#videoShower.frame = frame
GPIO.cleanup()
print("END")
def run(self):
self.root.title("Screen Recorder")
self.root.deiconify()
self.root.resizable(0, 0)
self.root.geometry("900x600")
while True:
Capturer.show_video(self.root, self.view.canvas)
Capturer.record(self.recording, self.output)
self.root.mainloop()
def __init__(self, trainedModelThrottle = "../training/case1/trained mlp/throttle.joblib", trainedModelSteering = "../training/case1/trained mlp/steering.joblib", runMode = "NeuralNet", windowTitle = "Cannonball", fps = -1): self.trainedModelThrottle = trainedModelThrottle self.trainedModelSteering = trainedModelSteering self.runMode = runMode self.capturer = Capturer(windowTitle) self.fps = fps if (self.runMode == "DecisionTree"): self.modelThrottle = DecisionTree() self.modelSteering = DecisionTree() else: self.modelThrottle = MultilayerPerception(False) self.modelSteering = MultilayerPerception(False) self.modelThrottle.loadModel(self.trainedModelThrottle) self.modelSteering.loadModel(self.trainedModelSteering)
def __init__(self):
MainWindow.__init__(self)
self.pktList = PktList()
self.capturer = Capturer(self.pktList)
self.cap_thread = None
self.analyzer = Analyer(self.pktList, self.pktTableWidget, self)
self.ana_thread = None
MainWindow.set_devlist(self, self.capturer.devlist, WIN32)
# self.testWidget()
self.show()
class Display:
#Constructor
def __init__(self, trainedModelThrottle = "../training/case1/trained mlp/throttle.joblib",
trainedModelSteering = "../training/case1/trained mlp/steering.joblib",
runMode = "NeuralNet",
windowTitle = "Cannonball", fps = -1):
self.trainedModelThrottle = trainedModelThrottle
self.trainedModelSteering = trainedModelSteering
self.runMode = runMode
self.capturer = Capturer(windowTitle)
self.fps = fps
if (self.runMode == "DecisionTree"):
self.modelThrottle = DecisionTree()
self.modelSteering = DecisionTree()
else:
self.modelThrottle = MultilayerPerception(False)
self.modelSteering = MultilayerPerception(False)
self.modelThrottle.loadModel(self.trainedModelThrottle)
self.modelSteering.loadModel(self.trainedModelSteering)
#Main program
def run(self):
#Start the capture loop
while(True):
startTime = time.time()
rawFrame = self.capturer.getFrame()
roadFrame = self.filterLines(rawFrame)
roadCurvature, carPosition, outputFrame = self.calculateCurvature(roadFrame)
speed = self.calculateSpeed(rawFrame)
#Predict how to change throttle based on loaded model
if self.modelThrottle.predict([[roadCurvature, int(speed), carPosition]])[0] == "Accelerate":
Controller.accelerate()
print("Accelerate ", end = '')
elif self.modelThrottle.predict([[roadCurvature, int(speed), carPosition]])[0] == "Brake":
Controller.brake()
print("Brake ", end = '')
elif self.modelThrottle.predict([[roadCurvature, int(speed), carPosition]])[0] == "Coast":
Controller.coast()
print("Coast ", end = '')
else:
print("Error ", self.modelThrottle.predict([[roadCurvature, int(speed), carPosition]])[0], " ", end = '')
#Predict how to steer based on the loaded model
if self.modelSteering.predict([[roadCurvature, int(speed), carPosition]])[0] == "Left":
Controller.left()
print("Left")
elif self.modelSteering.predict([[roadCurvature, int(speed), carPosition]])[0] == "Right":
Controller.right()
print("Right")
elif self.modelSteering.predict([[roadCurvature, int(speed), carPosition]])[0] == "Straight":
Controller.straight()
print("Straight")
else:
print("Error ", self.modelSteering.predict([[roadCurvature, int(speed), carPosition]])[0])
# cv.imshow("Road Frame", outputFrame)
#Should ALWAYS be called last (to ensure accurate synchronization and avoid undetectable delays)
self.syncClock(startTime, time.time(), False)
#Check the current fps and synchronize it to what was specified
def syncClock(self, startTime, endTime, verbose = False):
maxFps = 1/(endTime - startTime) #Fastest possible framerate based on executed code
#Ensure there is always at least 1ms of waiting time
sleepTime = max(int((1/self.fps - 1/maxFps) * 1000), 1)
if cv.waitKey(sleepTime) & 0xFF == ord("q"):
cv.destroyAllWindows()
sys.exit(0)
displayFps = 1/(time.time() - startTime)
if (verbose == True):
print("FPS: ", displayFps, " Slept: ", sleepTime, "ms")
return displayFps
#Takes the raw image capture and isolates the road lines
def filterLines(self, inputFrame):
if (inputFrame.all() != None):
outputFrame = cv.cvtColor(inputFrame, cv.COLOR_RGB2GRAY) #Convert to grayscale
ret, outputFrame = cv.threshold(outputFrame, 245, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
return outputFrame
else:
print("No frame supplied!")
return None
#Calculates road curvature and car position
def calculateCurvature(self, inputFrame):
height, width = inputFrame.shape[:2]
outputFrame, contours, hierarchy = cv.findContours(inputFrame, 0, 2)
vxAvg = 0
vyAvg = 0
xAvg = 0
yAvg = 0
numberPoints = 0
for cnt in contours:
#Check that the contour actually represents a line
if (cv.contourArea(cnt) > 30):
moment = cv.moments(cnt) #Calculate the moment of each blob
[vx,vy,x,y] = cv.fitLine(cnt, cv.DIST_L2, 0, 0.01, 0.01) #Fit a straight line to each moment
if (x > int(width/2)):
vx *= -1;
vy *= -1;
if (y > height//3 and abs(vx) > 0.05 and abs(vx) < 0.99):
cv.arrowedLine(outputFrame, (x, y), (x + (20 * vx), y + (20 * vy)), (255, 255, 255), 2, tipLength=0.5) #Display the direction of each moment
#cv.line(outputFrame, (x, y), (x + (20 * vx), y + (20 * vy)), (255, 255, 255), 3)
cv.putText(outputFrame, str(vx[0])[:5], (x, y), cv.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255))
vxAvg += vx
vyAvg += vy
xAvg += x
yAvg += y
numberPoints += 1
if (numberPoints > 0):
vxAvg /= -numberPoints
vyAvg /= numberPoints
xAvg /= numberPoints
yAvg /= numberPoints
return vxAvg[0], xAvg[0], outputFrame
return -99, -99, outputFrame #Default return (no lines found)
#Gets the speed displayed on the screen, using a modular method that works with different screen resolutions
def calculateSpeed(self, inputFrame):
if (inputFrame.all() != None):
height, width = inputFrame.shape[:2]
numberSize = (int(round(0.0969 * width)) - int(round(0.0781 * width))) * (int(round(0.9598 * height)) - int(round(0.9107 * height)))
#Digit one
digitOne = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.0781 * width)):int(round(0.0969 * width))][:,:,2]
ret, digitOne = cv.threshold(digitOne, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
digitOneLeft = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.0781 * width)):int(round(0.0875 * width))][:,:,2]
ret, digitOneLeft = cv.threshold(digitOneLeft, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
hundreds = cv.countNonZero(digitOne) + cv.countNonZero(digitOneLeft)
hundreds = self.convertSpeed(hundreds, numberSize)
#Digit two
digitTwo = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.1031 * width)):int(round(0.1219 * width))][:,:,2]
ret, digitTwo = cv.threshold(digitTwo, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
digitTwoLeft = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.1031 * width)):int(round(0.1125 * width))][:,:,2]
ret, digitTwoLeft = cv.threshold(digitTwoLeft, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
tens = cv.countNonZero(digitTwo) + cv.countNonZero(digitTwoLeft)
tens = self.convertSpeed(tens, numberSize)
#Digit three
digitThree = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.1281 * width)):int(round(0.1469 * width))][:,:,2]
ret, digitThree = cv.threshold(digitThree, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
digitThreeLeft = inputFrame[int(round(0.9107 * height)):int(round(0.9598 * height)), int(round(0.1281 * width)):int(round(0.1375 * width))][:,:,2]
ret, digitThreeLeft = cv.threshold(digitThreeLeft, 254, 255, cv.THRESH_BINARY) #Threshold the image to find the lines
ones = cv.countNonZero(digitThree) + cv.countNonZero(digitThreeLeft)
ones = self.convertSpeed(ones, numberSize)
return str(hundreds) + str(tens) + str(ones)
else:
print("No frame supplied!")
return -1
#Helper method to decode the digits into their real values based on the below table (640x448), numberSize = 264:
# 0: 96 + 48 = 144
# 1: 40 + 0 = 40
# 2: 88 + 44 = 132
# 3: 92 + 36 = 128
# 4: 76 + 28 = 104
# 5: 80 + 40 = 120
# 6: 96 + 56 = 152
# 7: 68 + 24 = 92
# 8: 112 + 56 = 168
# 9: 96 + 40 = 136
def convertSpeed(self, num, numberSize):
pixelRatio = num / numberSize
if (pixelRatio == 0 or pixelRatio == 144 / 264):
return 0
elif (pixelRatio == 40 / 264):
return 1
elif (pixelRatio == 132 / 264):
return 2
elif (pixelRatio == 128 / 264):
return 3
elif (pixelRatio == 104 / 264):
return 4
elif (pixelRatio == 120 / 264):
return 5
elif (pixelRatio == 152 / 264):
return 6
elif (pixelRatio == 92 / 264):
return 7
elif (pixelRatio == 168 / 264):
return 8
elif (pixelRatio == 136 / 264):
return 9
class QSniffer(MainWindow):
def __init__(self):
MainWindow.__init__(self)
self.pktList = PktList()
self.capturer = Capturer(self.pktList)
self.cap_thread = None
self.analyzer = Analyer(self.pktList, self.pktTableWidget, self)
self.ana_thread = None
MainWindow.set_devlist(self, self.capturer.devlist, WIN32)
# self.testWidget()
self.show()
@pyqtSignature("int")
def on_promisCheckBox_stateChanged(self, p0):
MainWindow.on_promisCheckBox_stateChanged(self, p0)
# print "check int:%d"%p0
if(self.promisCheckBox.isChecked()):
self.capturer.set_promisc(True)
else:
self.capturer.set_promisc(False)
@pyqtSignature("")
def on_startButton_clicked(self):
MainWindow.on_startButton_clicked(self)
if self.capturer.adhandle == None:
curindex = self.devComboBox.currentIndex()
if not self.capturer.open_dev(curindex):
# TODO: handle open error
return
self.cap_thread = threading.Thread(target=self.capturer.start_capture)
self.cap_thread.start()
self.ana_thread = threading.Thread(target=self.analyzer.start_analize)
self.ana_thread.start()
@pyqtSignature("")
def on_stopButton_clicked(self):
MainWindow.on_stopButton_clicked(self)
if self.cap_thread != None and self.cap_thread.is_alive():
self.capturer.stop_capture()
self.cap_thread.join()
if self.ana_thread != None and self.ana_thread.is_alive():
self.analyzer.stop_analize()
self.ana_thread.join()
@pyqtSignature("")
def on_clearButton_clicked(self):
MainWindow.on_clearButton_clicked(self)
if self.cap_thread == None or self.ana_thread == None:
pass
elif self.cap_thread.is_alive() or self.ana_thread.is_alive():
if self.capturer.pktSrcType == 'dev':
QtGui.QMessageBox.information(self, "Information",
self.tr("You must stop capture first."))
return False
elif self.capturer.pktSrcType == 'dump':
self.on_stopButton_clicked()
self.capturer.clear()
self.analyzer.clear()
self.pktList.clear()
count = self.pktTableWidget.rowCount()
for i in range(count):
self.pktTableWidget.removeRow(0)
self.pktTreeWidget.clear()
self.pktAsciiBrowser.clear()
self.pkt0xBrowser.clear()
return True
@pyqtSignature("")
def on_exportButton_clicked(self):
MainWindow.on_exportButton_clicked(self)
if self.cap_thread == None or self.ana_thread == None:
pass
elif self.cap_thread.is_alive() or self.ana_thread.is_alive():
if self.capturer.pktSrcType == 'dev':
QtGui.QMessageBox.information(self, "Information",
self.tr("You must stop capture first."))
return False
elif self.capturer.pktSrcType == 'dump':
self.on_stopButton_clicked()
fdialog = QtGui.QFileDialog()
fdialog.setWindowTitle('Save pcap file')
fname = fdialog.getSaveFileName(filter='pcap file(*.pcap)', directory='/')
fname = unicode(fname)
if str(fname) == '':
return False
if os.path.exists('~tmp'):
shutil.move('~tmp', fname)
return True
@pyqtSignature("")
def on_importButton_clicked(self):
MainWindow.on_importButton_clicked(self)
if not self.on_clearButton_clicked():
return False
fdialog = QtGui.QFileDialog()
fdialog.setWindowTitle('Select pcap file')
fname = fdialog.getOpenFileName(directory='/')
fname = unicode(fname)
# print "file name:%r" % fname
if fname == '':
return
if not self.capturer.open_dump(fname):
return
self.cap_thread = threading.Thread(target=self.capturer.start_capture)
self.cap_thread.start()
self.ana_thread = threading.Thread(target=self.analyzer.start_analize)
self.ana_thread.start()
@pyqtSignature("")
def on_filterApplyButton_clicked(self):
MainWindow.on_filterApplyButton_clicked(self)
if self.capturer.adhandle == None:
curindex = self.devComboBox.currentIndex()
if not self.capturer.open_dev(curindex):
return
filterstr = str(self.filterLineEdit.text())
# print "%r" % filterstr
if filterstr == "":
return
msg = self.filterMsgLable
if self.capturer.compile_filter(filterstr):
if self.capturer.set_filter():
msg.setText(QtCore.QString("<font style='color: green;'>Success</font>"))
else:
msg.setText(QtCore.QString("<font style='color: red;'>Error occur</font>"))
else:
msg.setText(QtCore.QString("<font style='color: red;'>Wrong syntax</font>"))
@pyqtSignature("")
def on_filterClearButton_clicked(self):
MainWindow.on_filterClearButton_clicked(self)
self.filterLineEdit.clear()
@pyqtSignature("QString")
def on_filterLineEdit_textChanged(self, p0):
MainWindow.on_filterLineEdit_textChanged(self, p0)
self.filterMsgLable.clear()
@pyqtSignature("int")
def on_devComboBox_currentIndexChanged(self, index):
MainWindow.on_devComboBox_currentIndexChanged(self, index)
self.analyzer.statistics.updateStatistics(self)
# print "combobox index:%d" % index
@pyqtSignature("int, int")
def on_pktTableWidget_cellClicked(self, row, column):
MainWindow.on_pktTableWidget_cellClicked(self, row, column)
tree = self.pktTreeWidget
tree.clear()
pktItem = self.analyzer.itemlist[row]
pktdata = pktItem.rawpkt[1]
pTree = ProtocolTree(tree, pktdata)
tree.insertTopLevelItems(0, pTree.parseProtocol())
p0xb = self.pkt0xBrowser
p0xb.setText(QtCore.QString(PktContent.pkt0xContent(pktdata)))
pasciib = self.pktAsciiBrowser
pasciib.setText(QtCore.QString(PktContent.pktAsciiContent(pktdata)))
def closeEvent(self, *args, **kwargs):
if os.path.exists('./~tmp'):
os.remove('./~tmp')
self.on_stopButton_clicked()
return MainWindow.closeEvent(self, *args, **kwargs)
def screenshot(self):
timer = self.toInt()
Capturer.take_screenshot(timer, self.root)
