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)
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)