def extract(self, byte_stream: BytesIO):
"""
Return dict of parsed subpacket data and length of subpacket
:param byte_stream:
:type byte_stream:
:return: parsed_data
:rtype: Dict[Any, Any]
"""
if self.big_endian_ints is None or self.big_endian_floats is None:
raise Exception("Endianness not set before parsing")
# header extraction
header: Header = self.header(byte_stream)
# data extraction
parsed_data: Dict[Any, Any] = {}
try:
parsed_data = self.parse_data(byte_stream, header)
except Exception as e:
LOGGER.exception("Error parsing data"
) # Automatically grabs and prints exception info
parsed_data[DataEntryIds.TIME] = header.timestamp
self.big_endian_ints = None
self.big_endian_floats = None
return parsed_data
def _run(self):
LOGGER.debug(
f"SIM connection started (device_address={self.device_address})")
try:
while True:
id = self.stdout.read(1)[0] # Returns 0 if process was killed
if id not in SimConnection.packetHandlers.keys():
LOGGER.error(
f"SIM protocol violation!!! Shutting down. (device_address={self.device_address})"
)
for b in self.stdout.getHistory():
LOGGER.error(hex(b[0]))
LOGGER.error("^^^^ violation.")
return
# Call packet handler
SimConnection.packetHandlers[id](self)
except Exception as ex:
with self._shutdown_lock:
if not self._is_shutting_down:
LOGGER.exception(
f"Error in SIM connection. (device_address={self.device_address})"
)
LOGGER.warning(
f"SIM connection thread shut down (device_address={self.device_address})"
)
def timer(self):
"""
"""
LOGGER.debug("Auto-save thread started")
while True:
with self.as_cv:
self.as_cv.wait_for(lambda: self._as_is_shutting_down,
timeout=AUTOSAVE_INTERVAL_S)
if self._as_is_shutting_down:
break
try:
t1 = time.perf_counter()
self.save(self.session_name)
t2 = time.perf_counter()
# LOGGER.debug("Auto-Save Successful.")
LOGGER.debug(f"Successfully Auto-Saved in {t2 - t1} seconds.")
except Exception as e:
LOGGER.exception(
"Exception in autosave thread"
) # Automatically grabs and prints exception info
LOGGER.warning("Auto save thread shut down")
def run(self):
"""
"""
LOGGER.debug("Send thread started")
# TODO : Once we have multiple connections, we will loop over and send a config request to each
# Starting up, request hello/ha ndshake/identification
for connection in self.connections.values():
try:
connection.broadcast(self.command_parser.broadcast_data(CommandType.CONFIG))
except Exception as ex:
LOGGER.exception("Exception in send thread while sending config requests")
while True:
try:
message = self.commandQueue.get(block=True, timeout=None) # Block until something new
self.commandQueue.task_done()
if message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
try:
(device, command, data) = self.command_parser.pase_command(message)
except CommandParsingError as ex:
LOGGER.error(f"Error parsing command: {str(ex)}")
continue
full_address = self.device_manager.get_full_address(device)
if full_address is None:
LOGGER.error(f"Device not yet connected: {device.name}")
continue
connection = self.connections[full_address.connection_name]
LOGGER.info(f"Sending command {command.name} to device {device.name} ({full_address})")
connection.send(full_address.device_address, data)
LOGGER.info("Sent command!")
COMMAND_SENT_EVENT.increment()
except TimeoutException: # TODO: Connection should have converted this to a generic exception for decoupling
LOGGER.error("Message timed-out!")
except queue.Empty:
pass
except Exception as ex:
LOGGER.exception("Unexpected error while sending!") # Automatically grabs and prints exception info
LOGGER.warning("Send thread shut down")
def run(self) -> None:
"""
"""
LOGGER.debug("Mapping thread started")
last_latitude = None
last_longitude = None
last_desired_size = None
last_update_time = 0
while True:
with self.cv:
self.cv.wait() # CV lock is released while waiting
if self._is_shutting_down:
break
try:
# Prevent update spam
current_time = time.time()
if current_time - last_update_time < 0.5:
time.sleep(0.5)
# copy location values to use, to keep the values consistent in synchronous but adjacent calls
latitude = self.rocket_data.last_value_by_device(
self.device, DataEntryIds.LATITUDE)
longitude = self.rocket_data.last_value_by_device(
self.device, DataEntryIds.LONGITUDE)
desired_size = self.getDesiredMapSize()
# Prevent unnecessary work while no location data is received
if latitude is None or longitude is None:
continue
# Prevent unnecessary work while data hasnt changed
if (latitude, longitude,
desired_size) == (last_latitude, last_longitude,
last_desired_size):
continue
if self.plotMap(latitude, longitude, DEFAULT_RADIUS,
DEFAULT_ZOOM):
# notify UI that new data is available to be displayed
self.sig_received.emit()
else:
continue
last_latitude = latitude
last_longitude = longitude
last_update_time = current_time
last_desired_size = desired_size
except Exception:
LOGGER.exception(
"Error in map thread loop"
) # Automatically grabs and prints exception info
LOGGER.warning("Mapping thread shut down")
def receive_data(self) -> None:
"""
This is called when new data is available to be displayed.
:return:
:rtype:
"""
for label in self.rocket_profile.labels:
try:
getattr(self, label.name + "Label").setText(
label.update(self.rocket_data))
except:
LOGGER.exception(f'Failed to update {label.name}Label:')
LABLES_UPDATED_EVENT.increment()
def _run_self_test(self):
try:
LOGGER.info("SELF TEST STARTED")
snapshot = get_event_stats_snapshot()
sleep(20)
# Dont wait, check difference now all at once
# Add any other common events here
assert LABLES_UPDATED_EVENT.wait(snapshot, timeout=0) >= 2
assert MAP_UPDATED_EVENT.wait(snapshot, timeout=0) >= 2
LOGGER.info("SELF TEST PASSED")
ret_code = 0
except AssertionError:
LOGGER.exception("SELF TEST FAILED")
ret_code = 1
self.main_app.shutdown()
os._exit(ret_code)
def processMap(requestQueue, resultQueue):
"""To be run in a new process as the stitching and resizing is a CPU bound task
:param requestQueue:
:type requestQueue: Queue
:param resultQueue:
:type resultQueue: Queue
"""
# On Windows, process forking does not copy globals and thus all packeges are re-imported. Not for threads
# though.
# Note: This means that on Windows the logger will create one log file per process because the session ID
# is based on the import time
# https://docs.python.org/3/library/multiprocessing.html#logging
# TODO: Fix by creating .session file which contains session ID and other
# process-global constants. Look into file-locks to make this multiprocessing safe. This is an OS feature
LOGGER.debug("Mapping process started")
while True:
try:
request = requestQueue.get()
if request is None: # Shutdown request
break
(p0, p1, p2, zoom, desiredSize) = request
location = mapbox_utils.TileGrid(p1, p2, zoom)
location.downloadArrayImages()
largeMapImage = location.genStitchedMap()
x_min, x_max, y_min, y_max = location.xMin, location.xMax, location.yMin, location.yMax
if desiredSize is None:
resizedMapImage = largeMapImage
else:
if desiredSize[0] / desiredSize[1] > abs(p1.x - p2.x) / abs(
p1.y - p2.y): # Wider aspect ratio
x_crop_size = (abs(p1.x - p2.x) * largeMapImage.shape[1]
) / (location.xMax - location.xMin)
y_crop_size = (x_crop_size *
desiredSize[1]) / desiredSize[0]
else: # Taller aspect ratio
y_crop_size = (abs(p1.y - p2.y) * largeMapImage.shape[0]
) / (location.yMax - location.yMin)
x_crop_size = (y_crop_size *
desiredSize[0]) / desiredSize[1]
center_x = (
(p0.x - location.xMin) *
largeMapImage.shape[1]) / (location.xMax - location.xMin)
center_y = (
(p0.y - location.yMin) *
largeMapImage.shape[0]) / (location.yMax - location.yMin)
# Crop image centered around p0 (point of interest) and at the desired aspect ratio.
# Crop is largest possible within rectangle defined by p1 & p2
x_crop_start = round(center_x - x_crop_size / 2)
x_crop_end = round(x_crop_start + x_crop_size)
y_crop_start = round(center_y - y_crop_size / 2)
y_crop_end = round(y_crop_start + y_crop_size)
croppedMapImage = largeMapImage[y_crop_start:y_crop_end,
x_crop_start:x_crop_end]
# Check obtained desired aspect ratio (within one pixel)
assert abs(x_crop_size / y_crop_size -
desiredSize[0] / desiredSize[1]) < 1 / max(
croppedMapImage.shape[0:2])
assert croppedMapImage.shape[1] == round(x_crop_size)
assert croppedMapImage.shape[0] == round(y_crop_size)
x_min, x_max, y_min, y_max = min(p1.x, p2.x), max(
p1.x, p2.x), min(p1.y, p2.y), max(p1.y, p2.y)
if croppedMapImage.shape[1] < desiredSize[0]:
# Dont scale up the image. Waste of memory.
resizedMapImage = croppedMapImage
else:
# Downsizing the map here to the ideal size for the plot reduces the amount of work required in the
# main thread and thus reduces stuttering
resizedMapImage = np.array(
Image.fromarray(croppedMapImage).resize(
(desiredSize[0], desiredSize[1]
))) # x,y order is opposite for resize
resultQueue.put((resizedMapImage, x_min, x_max, y_min, y_max))
except Exception as ex:
LOGGER.exception("Exception in processMap process"
) # Automatically grabs and prints exception info
resultQueue.put(None)
resultQueue.cancel_join_thread()
requestQueue.cancel_join_thread()
resultQueue.close()
requestQueue.close()
LOGGER.warning("Mapping process shut down")
def run(self):
"""
"""
LOGGER.debug("Send thread started")
# TODO : Once we have multiple connections, we will loop over and send a config request to each
# Starting up, request hello/ha ndshake/identification
for connection in self.connections.values():
try:
connection.broadcast(bytes([CommandType.CONFIG.value]))
except Exception as ex:
LOGGER.exception(
"Exception in send thread while sending config requests")
while True:
try:
message = self.commandQueue.get(
block=True, timeout=None) # Block until something new
self.commandQueue.task_done()
if message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
message_parts = message.split('.')
if len(message_parts) != 2:
LOGGER.error("Bad command format")
continue
(device_str, command_str) = message_parts
try:
device = DeviceType[device_str.upper()]
except KeyError:
LOGGER.error(f"Unknown device: {device_str}")
continue
full_address = self.device_manager.get_full_address(device)
if full_address is None:
LOGGER.error(f"Device not yet connected: {device.name}")
continue
connection = self.connections[full_address.connection_name]
try:
command = CommandType[command_str.upper()]
except KeyError:
LOGGER.error(f"Unknown command {command_str}")
continue
LOGGER.info(
f"Sending command {command} to device {device.name} ({full_address})"
)
data = bytes([command.value])
connection.send(full_address.device_address, data)
LOGGER.info("Sent command!")
COMMAND_SENT_EVENT.increment()
except TimeoutException: # TODO: Connection should have converted this to a generic exception for decoupling
LOGGER.error("Message timed-out!")
except queue.Empty:
pass
except Exception as ex:
LOGGER.exception(
"Unexpected error while sending!"
) # Automatically grabs and prints exception info
LOGGER.warning("Send thread shut down")
def run(self):
"""This thread loop waits for new data and processes it when available"""
LOGGER.debug("Read thread started")
while True:
connection_message = self.dataQueue.get(
block=True, timeout=None) # Block until something new
self.dataQueue.task_done()
if connection_message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
connection = connection_message.connection
full_address = FullAddress(
connection_name=self.connection_to_name[connection],
device_address=connection_message.device_address)
data = connection_message.data
byte_stream: BytesIO = BytesIO(data)
# Get length of bytes (without using len(data) for decoupling)
byte_stream.seek(0, SEEK_END)
end = byte_stream.tell()
byte_stream.seek(0)
# Iterate over stream to extract subpackets where possible
while byte_stream.tell() < end:
try:
self.packet_parser.set_endianness(
connection.isIntBigEndian(),
connection.isFloatBigEndian())
parsed_data: Dict[DataEntryIds,
any] = self.packet_parser.extract(
byte_stream)
if DataEntryIds.DEVICE_TYPE in parsed_data and DataEntryIds.VERSION_ID in parsed_data:
self.device_manager.register_device(
parsed_data[DataEntryIds.DEVICE_TYPE],
parsed_data[DataEntryIds.VERSION_ID], full_address)
elif DataEntryIds.DEVICE_TYPE in parsed_data:
LOGGER.warning(
'Received DEVICE_TYPE but not VERSION_ID')
elif DataEntryIds.VERSION_ID in parsed_data:
LOGGER.warning(
'Received VERSION_ID but not DEVICE_TYPE')
self.rocket_data.add_bundle(full_address, parsed_data)
# notify UI that new data is available to be displayed
self.sig_received.emit()
except Exception as e:
LOGGER.exception("Error decoding new packet! %s", e)
# Just discard rest of data TODO Review policy on handling remaining data or problem packets. Consider data errors too
byte_stream.seek(0, SEEK_END)
CONNECTION_MESSAGE_READ_EVENT.increment()
LOGGER.warning("Read thread shut down")
