def create_subscriber(ctx: ContextWrapper):
face_names = Ros2SubProperty(
"face_names",
topic=ctx.conf(key=ROS2_FACE_TOPIC_CONFIG),
msg_type=RecognizedFaces,
always_signal_changed=False)
rec_faces = PropertyBase(name="rec_faces",
default_value={},
always_signal_changed=False,
allow_pop=True,
allow_push=True)
ctx.push(subscriber_parent.id(), face_names)
ctx.push(subscriber_parent.id(), rec_faces)
@state(read=(face_names.id(), rec_faces.id()), write=(rec_faces.id(), raw_out.id()))
def react_to_recognized_face(ctx: ContextWrapper):
nonlocal face_names
faces: RecognizedFaces = ctx[face_names.id()]
rec_faces_dict: Dict = ctx[rec_faces.id()]
phrases: List = ["Hey, aren't you, {}?!",
"How are you doing, {}?!",
"How are you, {}?!",
"Whats up, {}?!",
"Nice to see you, {}?!",
"Looking great today, {}!",
"Hello, {}!",
"Hi, {}!",
"Greetings, {}!",
"Howdy, {}!",
"Hey, {}!",
"Greetings to {} over here!",
"Hi there, {}!",
"Gruse gott, {}!"]
best_name_and_confidence = "", 0
for name_and_confidence in zip(faces.names, faces.confidence):
logger.info(str(name_and_confidence[0]))
if name_and_confidence[1] > best_name_and_confidence[1]:
best_name_and_confidence = name_and_confidence
if best_name_and_confidence[1] >= ctx.conf(key=FACE_CONFIDENCE_THRESHOLD):
if best_name_and_confidence[0] not in rec_faces_dict.keys() or \
datetime.timestamp(datetime.now()) - rec_faces_dict.get(best_name_and_confidence[0]) > 300:
rec_faces_dict.update({best_name_and_confidence[0]: datetime.timestamp(datetime.now())})
ctx[raw_out.id()] = phrases[randint(0, len(phrases) - 1)].format(best_name_and_confidence[0])
ctx[rec_faces.id()] = rec_faces_dict
mod.add(react_to_recognized_face)
ctx.add_state(react_to_recognized_face)
def add_prop(self, *, prop: PropertyBase) -> None:
"""
Add a property to this context. An error message will be generated, if a property with
the same name has already been added previously.
* `prop`: The property object that should be added.
"""
if prop.id() in self._properties:
logger.error(f"Attempt to add property {prop.id()} twice!")
return
with self._lock:
# register property
self._properties[prop.id()] = prop
# register all of the property's signals
for signal in prop.signals():
self._add_sig(signal)
def push(self, parentpath: str, child: PropertyBase):
"""
Add a child to a property.
Note: Child must not yet have a parent or children of itself.
Write-access to parent is needed.
* `parentpath`: Path of the parent that should receive the new child.
* `child`: Parent-less, child-less property object to add.
**Returns:** True if the push was successful, False otherwise
"""
if child.parent_path:
logger.error(
f"State {self.st.name} attempted to push child property {child.name} to parent {parentpath}, but it already has parent {child.parent_path}!"
)
return False
if parentpath in self.properties:
if self.properties[parentpath].push(child):
self.properties[child.id()] = PropertyWrapper(
prop=child,
ctx=self.ctx,
spike_parents=self.spike_parents,
allow_read=self.properties[parentpath].allow_read,
allow_write=self.properties[parentpath].allow_write)
self.ctx.add_prop(prop=child)
return True
else:
logger.error(
f'State {self.st.name} attempted to add child-property {child.name} to non-accessible parent {parentpath}!'
)
return False
def rm_prop(self, *, prop: PropertyBase) -> None:
"""
Remove a property from this context.
Generates error message, if the property was not added with add_prop() to the context previously
* `prop`: The property to remove.object
"""
if prop.id() not in self._properties:
logger.error(f"Attempt to remove unknown property {prop.id()}!")
return
# remove property from context
self._properties.pop(prop.id())
states_to_remove: Set[State] = set()
with self._lock:
# remove all of the property's signals
for signal in prop.signals():
self._rm_sig(signal)
# remove all states that depend upon property
for st in self._activations_per_state:
if prop.id() in st.read_props + st.write_props:
states_to_remove.add(st)
for st in states_to_remove:
self.rm_state(st=st)
def push(self, child: PropertyBase):
"""
Add a child to the property or to children of the property
* `child`: Parent-less, child-less property object to add.
Name of the child must be unique among existing children of this property.
**Returns:** True if the push was successful, False otherwise
"""
if not self.allow_write:
logger.error(
f"Unauthorized push access in property-wrapper {self.prop.id()}!"
)
return False
if self.prop.push(child):
self.ctx.emit(self.prop.pushed_signal(),
parents=self.spike_parents,
wipe=False,
payload=child.id())
return True
return False
ROS2_FACE_TOPIC_CONFIG = "ros2-node"
FACE_CONFIDENCE_THRESHOLD = "min-confidence"
CONFIG = {
ROS2_FACE_TOPIC_CONFIG: "/roboy/cognition/vision/visible_face_names",
FACE_CONFIDENCE_THRESHOLD: 0.85
}
with Module(name="stalker", config=CONFIG) as mod:
# Create a dummy parent, under which we can push the actual recognized faces topic,
# once a context with a configuration is available.
subscriber_parent = PropertyBase(name="face_names_parent")
@state(cond=startup(), write=subscriber_parent.id())
def create_subscriber(ctx: ContextWrapper):
face_names = Ros2SubProperty(
"face_names",
topic=ctx.conf(key=ROS2_FACE_TOPIC_CONFIG),
msg_type=RecognizedFaces,
always_signal_changed=False)
rec_faces = PropertyBase(name="rec_faces",
default_value={},
always_signal_changed=False,
allow_pop=True,
allow_push=True)
ctx.push(subscriber_parent.id(), face_names)
def test_property(under_test_read_only: PropertyWrapper,
default_property_base: PropertyBase):
assert (default_property_base.id() ==
f"{DEFAULT_MODULE_NAME}:{DEFAULT_PROPERTY_NAME}")
assert (not default_property_base._lock.locked())
assert (default_property_base.read() == DEFAULT_PROPERTY_VALUE)