def get_cmdline_actuators():
""" This function also ensures triggers are shut off on exit. """
import sys
from misc.utils import register_exit_signals
if len(sys.argv) < 2:
print("Please provide actuator numbers on the command line.")
sys.exit(1)
nums = []
for arg in sys.argv[1:]:
num = get_num_from_maybe_name(arg)
if num is None:
print("Unrecognized actuator \"%s\"." % arg)
sys.exit(1)
nums.append(num)
def sigh(sig, frame):
set_triggers_by_number(on=[], off=nums)
register_exit_signals(sigh)
return nums
if not has_caught_sigint and signal == _signal.SIGINT:
has_caught_sigint = True
logger(
'Caught Ctrl-C. Mission paused. Ctrl-C again to quit, enter to resume.',
copy_to_stdout=True)
while True:
ch = sys.stdin.readline()
has_caught_sigint = False
logger('Resuming mission!', copy_to_stdout=True)
return
else:
cleanup()
sys.exit(0)
register_exit_signals(exit_handler)
too_long_initial = True
# if initially_killed:
# logger('Sub is currently hard-killed. Waiting until unkilled.', copy_to_stdout=True)
while True:
begin_time = time.time()
is_unkilled = not shm.switches.hard_kill.get()
#is_soft_killed = shm.switches.soft_kill.get()
#print(is_unkilled)
# Note: Handled by the master mission
#if initially_killed and is_unkilled and is_soft_killed:
# # If un-hard killing for the first time, also un-soft kill to start mission
# time.sleep(3)
def __call__(self, reload_on_enable=True, reload_on_change=True):
m_logger = getattr(logger.module, self.module_name)
m_logger("Running: " + str(self.module_name), True)
# create the accessor for the capture source framework
self.update_CMFs()
quit = threading.Event()
watcher = shm.watchers.watcher()
watcher.watch(shm.vision_modules)
def unblock():
quit.set()
watcher.disable()
[csf.unblock() for csf in self.capture_source_frameworks]
# This is only to unblock update_CMFs for a second time...
self.running = False
camera_message_framework.running = False
def cleanup():
main_thread.join(2)
if main_thread.is_alive():
m_logger("Failed to kill module thread!", True)
# How to kill the thread nicely here?
self.module_framework.cleanup()
m_logger("All cleaned up.", True)
def sigh(sig, frame):
unblock()
cleanup()
sys.exit(0)
def reload_callback():
self.should_reload = True
unblock()
if reload_on_change:
aph.detect_changes_to_self(reload_callback)
if hasattr(shm.vision_modules, self.module_name):
m_logger(
"Module has shm variable! Now controlled by "
"shm.vision_modules.%s" % self.module_name, True)
module_shm = getattr(shm.vision_modules, self.module_name)
else:
module_shm = None
def func():
has_been_disabled = False
while not quit.is_set():
if module_shm is not None and not module_shm.get():
has_been_disabled = True
watcher.wait(new_update=False)
continue
if has_been_disabled and reload_on_enable:
self.should_reload = True
break
self.posted_images = []
# Grab images from all capture sources.
next_images = []
acq_times = []
reset = False
for f in self.capture_source_frameworks:
res = f.get_next_frame()
if res == camera_message_framework.FRAMEWORK_QUIT:
return
elif res == camera_message_framework.FRAMEWORK_DELETED:
self.update_CMFs()
reset = True
break
next_images.append(res[0])
acq_times.append(res[1])
if reset:
continue
# Feed images to the module.
with self.option_lock:
try:
original_options = {
option_name: self.options_dict[option_name].value
for option_name in self.options_dict
}
curr_time = time.time() * 1000
avg_latency = sum(
map(lambda t: curr_time - t,
acq_times)) / len(acq_times)
m_logger.log('{} image latency to {}: {}ms'.format(
self.directions, self.module_name, avg_latency))
self.acq_time = acq_times
self._next_images = self.preprocessor.process(
*next_images)
self.process(*self._next_images)
except Exception as e:
sys.stderr.write('{}\n'.format(e))
traceback.print_exc(file=sys.stderr)
break
if quit.is_set():
break
# if the option value has changed, notify the watchers
for option_name in original_options:
option = self.options_dict[option_name]
original_value = original_options[option_name]
if original_value != option.value:
self.module_framework.write_option(
option.name, option.get_pack_values())
# Deal with any posted images.
for (tag, image) in self.posted_images:
if tag not in self.posted_images_set:
self.module_framework.create_image(
tag, self.max_buffer_size)
img_ordering = {
tag: i
for (i, (tag, _)) in enumerate(self.posted_images)
}
self.module_framework.set_image_ordering(
lambda x: img_ordering[x])
self.posted_images_set.add(tag)
self.module_framework.write_image(tag, image,
min(acq_times))
self.should_reload = False
main_thread = threading.Thread(target=func)
register_exit_signals(sigh)
main_thread.start()
main_thread.join()
cleanup()
if self.should_reload:
aph.reload_self()
class ActuatorTest(object):
actuators = ["torpedo_top", "torpedo_bottom", "left_marker", "right_marker"]
@classmethod
def run_test(cls):
for act in cls.actuators:
print("Firing %s..." % act)
fire_actuators([act])
time.sleep(0.8)
cls.cleanup()
@classmethod
def cleanup(cls):
set_names_off(cls.actuators)
if __name__ == "__main__":
def interrupt(signal, frame):
ActuatorTest.cleanup()
sys.exit(0)
register_exit_signals(interrupt)
print("ATTENTION: This will fire both torpedos and markers!")
print("\tBe sure that grabbers have not been reassigned")
print("\tPress ENTER to continue or Control-C to quit")
input()
ActuatorTest.run_test()
has_caught_sigint = False
def exit_handler(signal, frame):
global has_caught_sigint
if not has_caught_sigint and signal == _signal.SIGINT:
has_caught_sigint = True
logger('Caught Ctrl-C. Mission paused. Ctrl-C again to quit, enter to resume.', copy_to_stdout = True)
while True:
ch = sys.stdin.readline()
has_caught_sigint = False
logger('Resuming mission!', copy_to_stdout = True)
return
else:
cleanup()
sys.exit(0)
register_exit_signals(exit_handler)
too_long_initial = True
while True:
begin_time = time.time()
try:
task()
except Exception as e:
if not args.ignore_exceptions:
cleanup()
raise
else:
import traceback
traceback.print_exc()
def __call__(self, reload_on_enable=True, reload_on_change=True):
m_logger = getattr(logger.module, self.module_name)
m_logger("Running: " + str(self.module_name), True)
# create the accessor for the capture source framework
self.update_CMFs()
quit = threading.Event()
watcher = shm.watchers.watcher()
watcher.watch(shm.vision_modules)
def unblock():
quit.set()
watcher.disable()
[csf.unblock() for csf in self.capture_source_frameworks]
# This is only to unblock update_CMFs for a second time...
self.running = False
camera_message_framework.running = False
def cleanup():
main_thread.join(2)
if main_thread.is_alive():
m_logger("Failed to kill module thread!", True)
# How to kill the thread nicely here?
self.module_framework.cleanup()
m_logger("All cleaned up.", True)
def sigh(sig, frame):
unblock()
cleanup()
sys.exit(0)
def reload_callback():
self.should_reload = True
unblock()
if reload_on_change:
aph.detect_changes_to_self(reload_callback)
if hasattr(shm.vision_modules, self.module_name):
m_logger("Module has shm variable! Now controlled by "
"shm.vision_modules.%s" % self.module_name, True)
module_shm = getattr(shm.vision_modules, self.module_name)
else:
module_shm = None
def func():
has_been_disabled = False
while not quit.is_set():
if module_shm is not None and not module_shm.get():
has_been_disabled = True
watcher.wait(new_update=False)
continue
if has_been_disabled and reload_on_enable:
self.should_reload = True
break
self.posted_images = []
# Grab images from all capture sources.
next_images = []
acq_times = []
reset = False
for f in self.capture_source_frameworks:
res = f.get_next_frame()
if res == camera_message_framework.FRAMEWORK_QUIT:
return
elif res == camera_message_framework.FRAMEWORK_DELETED:
self.update_CMFs()
reset = True
break
next_images.append(res[0])
acq_times.append(res[1])
if reset:
continue
# Feed images to the module.
with self.option_lock:
try:
original_options = {option_name: self.options_dict[option_name].value for option_name in self.options_dict}
curr_time = time.time()*1000
avg_latency = sum(map(lambda t: curr_time - t, acq_times)) / len(acq_times)
m_logger.log('{} image latency to {}: {}ms'.format(self.directions, self.module_name, avg_latency))
self.acq_time = acq_times
self.process(*next_images)
except Exception as e:
sys.stderr.write('{}\n'.format(e))
traceback.print_exc(file=sys.stderr)
if quit.is_set():
break
# if the option value has changed, notify the watchers
for option_name in original_options:
option = self.options_dict[option_name]
original_value = original_options[option_name]
if original_value != option.value:
self.module_framework.write_option(option.name,
option.get_pack_values())
# Deal with any posted images.
for (tag, image) in self.posted_images:
if tag not in self.posted_images_set:
self.module_framework.create_image(tag, max(self.buffer_size))
img_ordering = {tag: i for (i, (tag, _)) in enumerate(self.posted_images)}
self.module_framework.set_image_ordering(lambda x: img_ordering[x])
self.posted_images_set.add(tag)
self.module_framework.write_image(tag, image, min(acq_times))
self.should_reload = False
main_thread = threading.Thread(target=func)
register_exit_signals(sigh)
main_thread.start()
main_thread.join()
cleanup()
if self.should_reload:
aph.reload_self()
def __init__(self):
self.init = False
self.gladefile = os.path.join(__location__, "gui/cave.glade")
self.builder = Gtk.Builder()
self.builder.add_from_file(self.gladefile)
# Automatically connect signals to functions defined above
self.builder.connect_signals(self)
#Set up the video tree
self.video_tree = self.builder.get_object("videoTreeView")
self.video_tree_manager = VideoTreeManager(self.video_tree, self)
#Set up the filter box
self.filter_box = self.builder.get_object("filterEntry")
#Create & link video display widget
self.video_box_container = self.builder.get_object("videoBox")
self.video_box = VideoBox(self)
self.video_box.show()
self.video_box_container.pack_start(self.video_box, True, True, 0)
#Create & Link timeline widget
self.timeline_box = self.builder.get_object("timelineBox")
self.timeline = Timeline(self)
self.timeline.show()
self.timeline_box.pack_start(self.timeline, True, True, 0)
self.timeline.cursor_change = self._change_frame #Register listener
self.video_box.length_listener = self.timeline.set_length #Register listener
#Log playback
filter_file = os.path.expanduser(args.filter) if args.filter else ''
self.logplayer = LogPlayer(filter=filter_file)
# Get the main window
self.window = self.builder.get_object("caveWindow")
self.window.show()
#Initialize gtk's thread engine; add any threads after these lines
Gdk.threads_init()
GLib.threads_init()
#Start video player thread
self.video_player = VideoPlayer(self)
self.play_button = self.builder.get_object("playButton")
# Used to ignore program play button toggling.
self.manual_play_reset = False
self.enable_button = self.builder.get_object("enableButton")
self.toggle_all_button = self.builder.get_object("toggleAllButton")
#Start video rendering thread
self.video_box.start_thread()
#Start video preview manager
self.video_preview_manager = VideoPreviewManager(
self.video_box.vmt) #link w/ video manager thread
self.video_preview_manager.register_callback(
self.timeline.preview_callback)
self.timeline.set_preview_manager(self.video_preview_manager)
#Create statusbar display thread
self.statusbar = StatusBarManager(self.builder.get_object("statusBar"))
self.statusbar.display("Welcome to CAVE!", 2)
self.db = None
self.loop_button = self.builder.get_object("loopButton")
#Load database file from arguments if present
if args.database:
self.load_db(args.database)
elif os.path.exists(os.path.expanduser(self.config_file)):
#Config File
f = open(os.path.expanduser(self.config_file), "r")
self.load_db(f.read())
else:
vision_test_path = 'VISION_TEST_PATH'
if vision_test_path in os.environ:
#Search for databases in $VISION_TEST_PATH
test_path = os.path.expandvars(
os.path.expanduser(os.environ[vision_test_path]))
for f in os.listdir(test_path):
fname = os.path.join(test_path, f)
if os.path.isfile(fname) and fname.endswith('.cdb'):
self.load_db(fname)
break
#Ctrl+C handling
def handler(signum, frame):
self.log.warning("INTERRUPT; stopping CAVE")
self.window_destroy(None)
register_exit_signals(handler)
#This fairly pointless function is necessary to periodically wake up
#the gtk main thread to detect system interrupts even when not focused
#I believe this is due to a Gtk bug
GLib.timeout_add(500, lambda: True)
#Make the window more shrinkable
self.window.set_size_request(400, 400)
#Fire up the main window
self.log.info("Launching GUI. Welcome to CAVE!")
self.init = True
Gdk.threads_enter()
Gtk.main()
Gdk.threads_leave()
]
@classmethod
def run_test(cls):
for act in cls.actuators:
print("Firing %s..." % act)
fire_actuators([act])
time.sleep(0.8)
cls.cleanup()
@classmethod
def cleanup(cls):
set_names_off(cls.actuators)
if __name__ == "__main__":
def interrupt(signal, frame):
ActuatorTest.cleanup()
sys.exit(0)
register_exit_signals(interrupt)
print("ATTENTION: This will fire both torpedos and markers!")
print("\tBe sure that grabbers have not been reassigned")
print("\tPress ENTER to continue or Control-C to quit")
input()
ActuatorTest.run_test()
