def start_cameras_and_mjpeg_servers():
"""
Starts the cameras and mjpeg servers
"""
if not DEVELOP:
# Stop camera triggers
camera_trigger.stop()
# Start cameras
camera_master.set_camera_launch_param(
frame_rate='camera_driver',
trigger=True
)
camera_master.start_cameras()
# Wait until the camera nodes are ready and then start the mjpeg servers
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
# Delay until all camera nodes are ready and start triggers
time.sleep(10)
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['camera_calibration'])
# Start mjpeg servers
mjpeg_servers.set_topics(['image_raw'])
mjpeg_servers.start_servers()
target_info = file_tools.read_target_info(config.camera_calib_target_type)
calibrator_master.start(target_info['size'], target_info['square'])
def start_nodes():
if not DEVELOP:
# Stop camera triggers
camera_trigger.stop()
# Start camera nodes and wait until they are ready
camera_master.set_camera_launch_param(
frame_rate='camera_driver',
trigger=True
)
camera_master.start_cameras()
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
# Delay until all camera nodes are ready and start triggers
time.sleep(10)
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['zoom_calibration'])
# Start zoom tool nodes and wait until they are ready
zoom_tool_master.start()
while not mct_introspection.zoom_tool_image_ready():
time.sleep(0.2)
# Start mjpeg servers and throttleing
mjpeg_servers.set_topics(['image_zoom_tool'])
mjpeg_servers.start_servers()
# Turn on active target two led patter
mct_active_target.led_pair()
def start_nodes():
if not DEVELOP:
# Stop camera triggers
camera_trigger.stop()
file_tools.rsync_camera_calibrations()
# Start camera nodes and wait until they are ready
camera_master.set_camera_launch_param(
frame_rate='camera_driver',
trigger=True
)
camera_master.start_cameras()
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
# Delay until all camera nodes are ready and start triggers
time.sleep(10)
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['transform_2d_calibration'])
# Start image_proc nodes and wait until they are ready
image_proc_master.start_image_proc()
while not mct_introspection.image_proc_nodes_ready():
time.sleep(0.2)
# Wait for rectified images to be ready - required for launching transform
# calibrators.
while not mct_introspection.image_rect_ready():
time.sleep(0.2)
# Start transform 2d calibrator nodes and wait until ready
transform_2d_calibrator_master.start()
while not mct_introspection.transform_2d_calibrator_nodes_ready():
time.sleep(0.2)
# Start mjpeg servers and throttleing
topic_list = [ 'image_transform_calibration_0', 'image_transform_calibration_1']
mjpeg_servers.set_topics(topic_list)
mjpeg_servers.start_servers()
def start_cameras_and_mjpeg_servers():
"""
Starts the cameras and mjpeg servers
"""
if not DEVELOP:
# Stop camera triggers
camera_trigger.stop()
# Wait until camera inspectors are running and then start cameras
while not mct_introspection.camera_inspectors_ready():
time.sleep(0.2)
camera_inspector_master.start_cameras()
# Delay until all camera nodes are ready and start triggers
time.sleep(10)
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['assignment'])
# Wait until the camera nodes are ready and then start the mjpeg servers
while not mct_introspection.camera_nodes_ready(mode='inspector'):
time.sleep(0.2)
mjpeg_servers.set_topics(['image_raw'])
mjpeg_servers.start_servers()
camera_master.start_cameras()
# Wait until the camera nodes are ready and then start the mjpeg servers
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
print('done')
# Delay until all camera nodes are ready and start triggers
print(' * camera nodes sync delay ... ', end='')
sys.stdout.flush()
time.sleep(10)
print('done')
print(' * starting camera triggers ... ', end='')
sys.stdout.flush()
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['camera_calibration'])
print('done')
print(' * starting mjpeg servers... ',end='')
sys.stdout.flush()
mjpeg_servers.set_topics(['image_raw'])
mjpeg_servers.start_servers()
print('done')
print(' * starting camera calibrators ... ',end='')
sys.stdout.flush()
target_info = file_tools.read_target_info(config.camera_calib_target_type)
calibrator_master.start(target_info['size'], target_info['square'])
print('done')
def tracking_2d_node_startup(debug=False):
# Stop camera triggers
debug_print(' * stopping camera triggers ... ', end='', debug=debug)
sys.stdout.flush()
camera_trigger.stop()
debug_print('done', debug=debug)
file_tools.rsync_camera_calibrations(verbose=True)
# Start camera nodes and wait until they are ready
debug_print(' * starting camera nodes ... ', end='', debug=debug)
sys.stdout.flush()
camera_master.set_camera_launch_param(frame_rate='camera_driver',
trigger=True)
camera_master.start_cameras()
while not mct_introspection.camera_nodes_ready(mode='tracking'):
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Delay until all camera nodes are ready
debug_print(' * camera nodes sync delay ... ', end='', debug=debug)
sys.stdout.flush()
time.sleep(camera_startup_t)
debug_print('done', debug=debug)
# Reset rand sync
debug_print(' * resetting rand sync ... ', end='', debug=debug)
sys.stdout.flush()
status = reset_rand_sync()
if not status:
raise RuntimeError, 'unable to reset rand_sync device'
debug_print('done', debug=debug)
# Restart camera triggers
debug_print(' * starting camera triggers ... ', end='', debug=debug)
sys.stdout.flush()
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['tracking_2d'])
debug_print('done', debug=debug)
# Start image_proc nodes and wait until they are ready
debug_print(' * starting image proc nodes ... ', end='', debug=debug)
sys.stdout.flush()
image_proc_master.start_image_proc()
while not mct_introspection.image_proc_nodes_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Wait for image rect topics
debug_print(' * waiting for image_rect topics ... ', end='', debug=debug)
sys.stdout.flush()
while not mct_introspection.image_rect_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Start frame drop corrector nodes and wait until they are ready
debug_print(' * starting frame drop correctors ... ', end='', debug=debug)
sys.stdout.flush()
frame_drop_corrector_master.start()
while not mct_introspection.frame_drop_correctors_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Stop camera triggers again to sync frame drop correctors. Note, It
# appears we do need to stop the camera triggers twice during startup.
# Sync'ing the frame drop correctors requires stopping the camera triggers
# resetting the frame drop correctors and then re-starting the triggers.
debug_print(' * stopping camera triggers ... ', end='', debug=debug)
sys.stdout.flush()
camera_trigger.stop()
debug_print('done', debug=debug)
# Reset frame drop correctors
debug_print(' * frame drop corrector sync delay ... ', end='', debug=debug)
time.sleep(buffer_flush_t)
frame_drop_corrector.reset_all()
debug_print('done', debug=debug)
# --------------------------------------------------------------------
# Need to reset time stamp watchdog ... or change how it functions
#
# Delay working on this until we know what modifcations we are making
# to the watchdog.
# --------------------------------------------------------------------
# Restart camera triggers
debug_print(' * starting camera triggers ... ', end='', debug=debug)
sys.stdout.flush()
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['tracking_2d'])
debug_print('done', debug=debug)
# Start frame skipper nodes and wait unti they are ready
debug_print(' * starting frame skippers ... ', end='', debug=debug)
sys.stdout.flush()
frame_skipper_master.start_frame_skippers()
while not mct_introspection.frame_skippers_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Start image stitcher nodes and wait until stitched image topics ready
debug_print(' * starting image stitchers ... ', end='', debug=debug)
sys.stdout.flush()
image_stitcher_master.start_image_stitchers()
while not mct_introspection.stitched_images_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Start three point tracker nodes and wait until they are ready.
debug_print(' * starting three point trackers ... ', end='', debug=debug)
sys.stdout.flush()
three_point_tracker_master.start_three_point_trackers()
while not mct_introspection.three_point_trackers_ready():
time.sleep(ready_poll_dt)
while not mct_introspection.three_point_tracker_synchronizers_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Start stitched image labeler and wait until stitched images are published.
debug_print(' * starting stitched image lablers ... ', end='', debug=debug)
sys.stdout.flush()
stitched_image_labeler_master.start_stitched_image_labelers()
while not mct_introspection.stitched_image_labelers_ready():
time.sleep(ready_poll_dt)
debug_print('done', debug=debug)
# Start avi writer nodes
debug_print(' * starting avi writers ... ', end='', debug=debug)
sys.stdout.flush()
avi_writer_master.start_avi_writers()
debug_print('done', debug=debug)
# Start tracking pts loggers
debug_print(' * starting tracking pts loggers ... ', end='', debug=debug)
sys.stdout.flush()
tracking_pts_logger_master.start_tracking_pts_loggers()
debug_print('done', debug=debug)
# Start mjpeg servers
debug_print(' * starting mjpeg servers ... ', end='', debug=debug)
sys.stdout.flush()
# Set topics for mjpeg servers
mjpeg_topics = []
# Add time stamp watchdog image
mjpeg_topics.append('/image_frame_drop_watchdog')
# Add the stitched and tracking pts images for all regions
for region in regions_dict:
mjpeg_topics.append('/{0}/image_stitched_labeled'.format(region))
mjpeg_topics.append('/{0}/image_tracking_pts'.format(region))
mjpeg_topics.append('/{0}/image_tracking_info'.format(region))
# Add any extra video images
for v in extra_video_dict.values():
mjpeg_topics.append(v)
mjpeg_servers.set_topics(mjpeg_topics)
mjpeg_servers.start_servers()
debug_print('done', debug=debug)
camera_master.set_camera_launch_param(frame_rate='camera_driver', trigger=True)
camera_master.start_cameras()
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
print('done')
# Delay until all camera nodes are ready
print(' * camera nodes sync delay ... ', end='')
sys.stdout.flush()
time.sleep(10)
print('done')
print(' * starting camera triggers ... ', end='')
sys.stdout.flush()
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['transform_2d_calibration'])
print('done')
# Start image_proc nodes and wait until they are ready
print(' * starting image proc nodes ... ', end='')
sys.stdout.flush()
image_proc_master.start_image_proc()
while not mct_introspection.image_proc_nodes_ready():
time.sleep(0.2)
print('done')
# Wait for rectified images to be ready - required for launching transform
# calibrators.
print(' * waiting for image rect topics ...', end='')
sys.stdout.flush()
while not mct_introspection.image_rect_ready():
def mode_change_handler(obj_response, new_mode):
old_mode = redis_tools.get_str(db, 'current_mode')
new_mode = str(new_mode)
if old_mode == new_mode:
return
redis_tools.set_str(db, 'current_mode', new_mode)
frame_rate = redis_tools.get_dict(db, 'frame_rate_dict')['tracking_2d']
regions_dict = redis_tools.get_dict(db, 'regions_dict')
# Stop camera triggers
camera_trigger.stop()
time.sleep(0.5) # wait for all frames to pass throught the system
reset_rand_sync()
if old_mode == 'recording' or new_mode == 'recording':
# Find logging and avi recording commands
service_list = mct_introspection.get_services()
logging_nodes = get_logging_nodes(service_list)
recording_nodes = get_recording_nodes(service_list)
if (old_mode == 'recording') and (new_mode != 'recording'):
# Stop logging and recording
for node in logging_nodes:
tracking_pts_logger.stop_logging(node)
for node in recording_nodes:
avi_writer.stop_recording(node, 'dummy.avi', frame_rate)
if new_mode == 'recording':
# Create sub-directory for log files.
log_dir_base = redis_tools.get_dict(
db, 'logging_params_dict')['directory']
log_dir = os.path.join(log_dir_base,
datetime.datetime.now().isoformat())
os.mkdir(log_dir)
# Start loggers
for node in logging_nodes:
filename = '_'.join(node.split('/')[1:3])
filename = os.path.join(log_dir, '{0}.json'.format(filename))
tracking_pts_logger.start_logging(node, filename)
# Start avi recordings
for node in recording_nodes:
filename = '_'.join(node.split('/')[1:3])
filename = os.path.join(log_dir, '{0}.avi'.format(filename))
avi_writer.start_recording(node, filename, frame_rate)
if new_mode in ('preview', 'recording'):
regions_dict = redis_tools.get_dict(db, 'regions_dict')
# Reset frame drop correctors and restart camera triggers
frame_drop_corrector.reset_all()
frame_drop_watchdog.reset()
# Reset image_stitcher and three_point_tracker synchronizer for all tracking regions
for region in regions_dict:
image_stitcher.reset(region)
three_point_tracker_synchronizer.reset(region)
camera_trigger.start(frame_rate)
camera_master.set_camera_launch_param(frame_rate='camera_driver', trigger=True)
camera_master.start_cameras()
while not mct_introspection.camera_nodes_ready(mode='calibration'):
time.sleep(0.2)
print('done')
# Delay until all camera nodes are ready
print(' * camera nodes sync delay ... ', end='')
sys.stdout.flush()
time.sleep(10)
print('done')
print(' * starting camera triggers ... ', end='')
sys.stdout.flush()
frame_rates = file_tools.read_frame_rates()
camera_trigger.start(frame_rates['homography_calibration'])
print('done')
# Start image_proc nodes and wait until they are ready
print(' * starting image proc nodes ... ', end='')
sys.stdout.flush()
image_proc_master.start_image_proc()
while not mct_introspection.image_proc_nodes_ready():
time.sleep(0.2)
print('done')
# Wait for rectified images to be ready - required for launching homography
# calibrators.
print(' * waiting for image rect topics ...', end='')
sys.stdout.flush()
while not mct_introspection.image_rect_ready():
