def __init__(self):
self.person = Person()
self.detector = dlib.get_frontal_face_detector()
self.font = cv2.FONT_HERSHEY_DUPLEX
self.camera = ''
self.name = ''
self.path = '/home/pi/prod/rec-facial/images/'
self.old = '/home/pi/prod/rec-facial/images/old/'
self.models = {
'rasp': [
'/home/pi/prod/rec-facial/models/codes.npy',
'/home/pi/prod/rec-facial/models/images.npy',
'/home/pi/prod/rec-facial/models/names.npy'
],
'pc': [
'./models/codes.npy', './models/images.npy',
'./models/names.npy'
]
}
self.color = (255, 255, 0)
self.white = (255, 255, 255)
self.resize = 480
self.board = BoardSerial()
self.timeout = 180
self.timestamp = strftime('%Y%m%d%H%M')
self.codes, self.images, self.names = [], [], []
def serial_protocol():
s = BoardSerial()
connection = s.open_connection(port='/dev/ttyUSB0')
s.send_message(connection, '$PNEUL,G,3')
connection.close()
def __init__(self, port):
self.board = BoardSerial()
self.port = port
self.connection = self.board.open_connection(port=self.port)
self.reboot = 60
self.PATTERN = '$PNEUL,G'
self.NOT_FOUND = '$PNEUD,G,0,,'
self.BOX_1 = '$PNEUL,G,1,1,*21\r\n'
self.BOX_2 = '$PNEUL,G,1,2,*22\r\n'
self.BOX_3 = '$PNEUL,G,1,3,*23\r\n'
self.preview_state = 0
def example():
s = BoardSerial()
connection = s.open_connection(port='/dev/ttyUSB0')
while True:
if connection is None:
connection = s.open_connection(port='/dev/ttyUSB0')
try:
if connection.inWaiting() > 0:
message = connection.readline().decode('utf-8', 'replace')
print(message)
except UnicodeError:
print('Invalid character')
def send_command():
s = BoardSerial()
connection = s.open_connection('/dev/ttyUSB0')
while True:
v = raw_input('Digit your command:')
v = str(v)
if v == 'a':
s.send_message(connection, '$PNEUD,G,1,123456782')
elif v == 'b':
s.send_message(connection, '$PNEUD,G,1,123456782,1')
elif v == 'c':
s.send_message(connection, '$PNEUD,G,1,123456782,')
elif v == 'd':
s.send_message(connection, '$PNEUDOK')
class Communication:
def __init__(self, port):
self.board = BoardSerial()
self.port = port
self.connection = self.board.open_connection(port=self.port)
self.reboot = 60
self.PATTERN = '$PNEUL,G'
self.NOT_FOUND = '$PNEUD,G,0,,'
self.BOX_1 = '$PNEUL,G,1,1,*21\r\n'
self.BOX_2 = '$PNEUL,G,1,2,*22\r\n'
self.BOX_3 = '$PNEUL,G,1,3,*23\r\n'
self.preview_state = 0
def close_connection(self):
self.connection = None
def run(self, actions, battery, lat_long_actual, box):
logger.success('Start communication')
init_hour = self.time_hour()
init_minute = self.time_minute(init_hour)
while True:
if self.connection is None:
self.connection = self.board.open_connection(port=self.port)
sleep(0.9)
try:
message_board = self.connection.readline().decode('utf-8', 'replace')
if str(message_board[:8]) == str(self.PATTERN):
if self.board.digit_verify(str(message_board)):
self.board.send_message(connection=self.connection, message=self.board.SEND_OK)
message_board = message_board.split(',')
# basculamento
if message_board[2] == '1':
logger.debug('{}'.format(message_board))
box[0] = int(message_board[3])
code = self.code_cart(box=box[0], battery=battery[:])
if code is None:
self.board.send_message(connection=self.connection, message=self.NOT_FOUND)
logger.info('Not identified :(')
else:
logger.success('Caixote {}, basculou na carreta: {} '.format(box[0], code))
attempts = 1
while attempts <= 5:
self.board.send_message(connection=self.connection,
message='$PNEUD,G,1,{}'.format(code))
logger.debug('Send: {}'.format(attempts))
sleep(0.5)
attempts += 1
if message_board[2] == '2':
# camera off and analise reboot
if message_board[3] == '0':
if self.preview_state == 1:
# actions[0] = 0
self.preview_state = int(message_board[3])
actual_hour = self.time_hour()
if actual_hour[0] < init_hour[0]:
actual_hour[0] = int(actual_hour[0]) + 24
actual_minute = self.time_minute(actual_hour)
reboot = actual_minute - init_minute
if reboot >= self.reboot:
logger.info('Reboot system')
sleep(0.8)
os.system('sudo reboot')
# camera start
elif message_board[3] == '1':
if self.preview_state == 0:
# actions[0] = 1
self.preview_state = int(message_board[3])
try:
lat_long_actual[0], lat_long_actual[1] = self.convert_coord(
array=[float(message_board[4]), float(message_board[5])])
except ValueError:
logger.error('Invalid GPS')
except UnicodeError:
logger.error('Unicode error')
except IOError:
self.close_connection()
logger.error('Serial error')
except AttributeError:
self.close_connection()
logger.error('Invalid argument')
@staticmethod
def code_cart(box, battery):
code = str(battery[-1])
if code != '0':
seq = code[-1]
if seq == '1' and box == 2:
if battery[-2] != 0:
code = str(battery[-2])
code = code[:-1]
return code[:]
else:
return None
@staticmethod
def convert_coord(array):
output = [0, 0]
for idx, n in enumerate(array):
temp = n * 0.01
ent = int(temp)
dec = (temp - ent) * 1.6667
output[idx] = (ent + dec)
return output[0], output[1]
@staticmethod
def time_hour():
hour = strftime('%H,%M', localtime())
hour = hour.split(',')
return hour
@staticmethod
def time_minute(hour):
minutes = (int(hour[0]) * 60) + int(hour[1])
return minutes
class Recognition:
def __init__(self):
self.person = Person()
self.detector = dlib.get_frontal_face_detector()
self.font = cv2.FONT_HERSHEY_DUPLEX
self.camera = ''
self.name = ''
self.path = '/home/pi/prod/rec-facial/images/'
self.old = '/home/pi/prod/rec-facial/images/old/'
self.models = {
'rasp': [
'/home/pi/prod/rec-facial/models/codes.npy',
'/home/pi/prod/rec-facial/models/images.npy',
'/home/pi/prod/rec-facial/models/names.npy'
],
'pc': [
'./models/codes.npy', './models/images.npy',
'./models/names.npy'
]
}
self.color = (255, 255, 0)
self.white = (255, 255, 255)
self.resize = 480
self.board = BoardSerial()
self.timeout = 180
self.timestamp = strftime('%Y%m%d%H%M')
self.codes, self.images, self.names = [], [], []
def find_face(self, mean, stop, camera, fps):
frame = np.array([])
face = ''
count = 0
while len(face) < 1:
count += 1
frame = camera.read()
face, confidence, idx = self.detector.run(frame, 0, mean)
if count == stop:
frame = np.array([])
logger.error('Time\'s up')
break
fps.update()
if frame.any():
logger.error('successful registration')
else:
logger.error('error registering')
return frame
def load_models(self):
try:
return np.load(self.models['pc'][0]), np.load(
self.models['pc'][1]), np.load(self.models['pc'][2])
except FileNotFoundError:
logger.error('Models not found')
return None, None, None
def recognition(self, serial, actions, data, device, show_image=False):
old_person = 0
alt_person = 0
not_identified = 0
not_detected = 0
try:
if None in self.load_models():
logger.error('Models not found')
exit()
else:
self.codes, self.images, self.names = self.load_models()
except ValueError:
self.codes, self.images, self.names = self.load_models()
self.camera = VideoStream(src=device).start()
fps = FPS().start()
sleep(0.9)
logger.info('Camera start')
while True:
if actions[3] and actions[4]:
# change turn
self.board.send_message(serial, self.board.SEND_OK)
alt_person = old_person
old_person = 0
sleep(self.timeout)
actions[4] = 1
actions[3] = 0
actions[4] = 0
actions[1] = 1
if actions[2]:
# create a new person
info = data.recv()
person = self.find_face(mean=1.5,
stop=30,
camera=self.camera,
fps=fps)
if person.any():
self.codes = list(np.load(self.models['codes']))
self.names = list(np.load(self.models['names']))
info = info.spit(',')
code = info[3]
face = imutils.resize(person, width=480)
if code in self.codes:
code = self.codes.index(code)
name = self.names[code]
path_image = '{}{}.{}.jpg'.format(
self.path, code, name)
path_move = '{}{}.{}.{}.jpg'.format(
self.old, code, name, self.timestamp)
if os.path.isfile(path_image):
shutil.move(path_image, path_move)
final_name = '{}{}.{}.jpg'.format(self.path, code, info[4])
cv2.imwrite(final_name, face)
hexadecimal = '$PNEUD,C,0,{},{}'.format(code, info[4])
self.board.send_message(serial, hexadecimal)
self.person.train(show_image=None)
self.codes, self.images, self.names = self.load_models()
else:
self.board.send_message(serial, 'PNEUD,C,0,-1')
actions[1] = 1
actions[2] = 0
while actions[1]:
# recognition a person
init = time()
codes_persons = []
names_persons = []
frame = self.camera.read()
frame = imutils.resize(frame, width=480)
frame_process = imutils.resize(frame, width=240)
frame_process = frame_process[:, :, ::-1]
face_locations = fr.face_locations(frame_process)
face_encodings = fr.face_encodings(frame_process,
face_locations)
if len(face_locations) != 0:
for face_encoding in face_encodings:
matches = fr.compare_faces(self.images, face_encoding)
self.name = "Not identified"
if True in matches:
person_index = matches.index(True)
self.name = self.names[person_index]
codes_persons.append(self.codes[person_index])
names_persons.append(self.name)
codes_persons = list(set(codes_persons))
names_persons = list(set(names_persons))
if old_person == 0 and actions[3]:
if old_person in codes_persons:
idx = codes_persons.index(alt_person)
del codes_persons[idx]
del names_persons[idx]
if old_person in codes_persons:
not_detected = 0
not_identified = 0
else:
if len(codes_persons) > 0:
not_detected = 0
not_identified = 0
hexadecimal = '$PNEUD,C,1,{},{}'.format(
str(codes_persons[0]), str(names_persons[0]))
self.board.send_message(serial, hexadecimal)
old_person = codes_persons[0]
else:
not_detected = 0
if not_identified == 20:
not_identified = 0
else:
not_identified += 1
else:
not_identified = 0
if not_detected == 20:
not_detected = 0
else:
not_detected += 1
if show_image:
cv2.imshow('Solinftec', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps.update()
def __init__(self):
self.s = BoardSerial()
self.pattern = '$PNEUL,C'
class App:
def __init__(self):
self.s = BoardSerial()
self.pattern = '$PNEUL,C'
def run(self):
board = self.s.open_connection('/dev/ttyUSB0')
if board is None:
logger.error('Serial port error')
receive, send = mp.Pipe()
actions = mp.Array('i', [1, 1, 0, 0, 1])
s_service = mp.Process(target=self.communication, args=(board, actions, send))
r = Recognition()
r_service = mp.Process(target=r.recognition,
args=(board, actions, receive, 0, True))
s_service.start()
r_service.start()
s_service.join()
r_service.join()
def communication(self, serial, actions, data):
logger.info('Serial start')
while True:
if serial is None:
serial = self.s.open_connection(port='/dev/ttyUSB0')
else:
while actions[0]:
try:
if serial.inWaiting() > 0:
message = serial.readline().decode('utf-8', 'replace')
if message[:8] == self.pattern:
self.s.send_message(serial, self.s.SEND_OK)
idx = message.find('*')
if idx != -1:
if self.s.digit_verify(message) is True:
if message[9] == '0':
actions[1] = 0
actions[2] = 1
data.send(message)
elif message[9] == '1':
actions[1] = 0
actions[3] = 1
else:
pass
except UnicodeError:
logger.error('Unicode error')
except IOError:
logger.error('Cable disconnected')