def __init__(self, camera, settings_file = None):
# Gettings settings from settings file
if not settings_file:
try:
self.settings = json.load (open (proto_base_path + "/src/communication/Video_Settings.json", "r"))
except:
self.debug.print_d ("Video_settings.json is not in json format!")
sys.exit ()
else:
try:
self.settings = json.load (open (settings_file, "r"))
except:
self.debug.print_d ("Specified file [{sfile}] doesn't exist or is not in json format!".format (sfile = settings_file))
sys.exit ()
context = zmq.Context ()
self.debug = debugging ()
# ZMQ Settings
self.confirmer = context.socket (zmq.PUB)
#self.confirmer.setsockopt (zmq.SNDTIMEO, 5000)
self.confirmer.bind ("tcp://" + self.settings["Reciever_IP"] + ":" + self.settings["Reciever_Port"])
self.reciever = context.socket (zmq.SUB)
self.reciever.setsockopt (zmq.SUBSCRIBE, "")
#self.reciever.setsockopt (zmq.RCVTIMEO, 5000)
self.reciever.connect ("tcp://" + self.settings["Server_IP"] + ":" + self.settings["Server_Port"])
com = communicator ("Pinger_Base")
self.pinger = passive_pinger (communicator=com)
self.pinger.daemon = True
self.pinger.start ()
def main ():
com = communicator ("Motors", settings_file="canned_communication_settings.json", debug=True)
i = 0
while True:
msg = com.get_message ("Direction")
raw_msg = com.get_message ("Direction", raw=True)
com.send_message ("Oh no we forgot the motors!!")
print msg
print raw_msg
sleep (0.5)
def main ():
com = communicator ("Logger", settings_file="canned_communication_settings.json", debug=True)
#logger = open ("proto2.log", 'w')
while True:
for module in com.get_listening_to ():
msg = com.get_message (module)
raw_msg = com.get_message (module)
print msg
print raw_msg
#logger.write (str (msg) + '\n')
sleep (1)
def main():
com = communicator("Direction", settings_file="canned_communication_settings.json", debug=True)
print com.get_listening_to()
i = 0
while True:
msg = "Hi " + str(i)
com.send_message(msg)
com.send_message_raw(str(time()))
print msg
sleep(0.2)
i += 1
def __init__(self, camera, settings_file = None):
# Gettings settings from settings file
if not settings_file:
try:
self.settings = json.load (open (proto_base_path + "/src/communication/Video_Settings.json", "r"))
except:
self.debug.print_d ("Video_Settings.json is not in json format!")
sys.exit ()
else:
try:
self.settings = json.load (open (settings_file, "r"))
except:
self.debug.print_d ("Specified file [{sfile}] doesn't exist or is not in json format!".format (sfile = settings_file))
sys.exit ()
context = zmq.Context ()
self.debug = debugging ()
# Camera Settings
self.cap = cv2.VideoCapture (self.settings[camera]["Index"])
self.cap.set (cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, self.settings[camera]["Height"])
self.cap.set (cv2.cv.CV_CAP_PROP_FRAME_WIDTH, self.settings[camera]["Width"])
self.cap.set (cv2.cv.CV_CAP_PROP_FPS, self.settings[camera]["FPS"])
self.cap.set (cv2.cv.CV_CAP_PROP_FOURCC, cv2.cv.CV_FOURCC (str (self.settings[camera]["Codec"][0]), str (self.settings[camera]["Codec"][1]), str (self.settings[camera]["Codec"][2]), str (self.settings[camera]["Codec"][3])))
# ZMQ Settings
self.server = context.socket (zmq.PUB)
self.server.setsockopt (zmq.HWM, self.settings[camera]["HWM"])
#self.server.setsockopt (zmq.SNDTIMEO, 5000)
self.server.bind ("tcp://" + self.settings["Server_IP"] + ":" + self.settings["Server_Port"])
self.confirmer = context.socket (zmq.SUB)
self.confirmer.setsockopt (zmq.SUBSCRIBE, "")
#self.confirmer.setsockopt (zmq.RCVTIMEO, 5000)
self.confirmer.connect ("tcp://" + self.settings["Reciever_IP"] + ":" + self.settings["Reciever_Port"])
com = communicator ("Pinger_Copter")
self.pinger = passive_pinger (communicator=com)
self.pinger.daemon = True
self.pinger.start ()
self.msg = "Ready!"
