def changeTagSize(self, size):
name = "CHANGE-SIZE-TAG"
id = self.state.getId()
values = {
"size": size
}
return Message(name, values, id)
def __execute(self, msg):
msg_obj = Message(msg)
cmd = msg_obj.get_cmd()
src = msg_obj.get_src()
response = ""
if cmd == "info":
body = msg_obj.get_msg()
method = body["method"]
params = body["params"]
if method == "stat":
response = self.__app_handler.get_processes_info()
elif method == "prior":
pid = params["pid"]
priority_id = params["priority_id"]
response = self.__app_handler.set_priority(priority_id, pid)
elif method == "term":
pid = params["pid"]
response = self.__app_handler.terminate(pid)
elif method == "halt":
self.__app_handler.terminate_all()
response = "All processes have been terminated"
elif method == "launch":
self.__app_handler.run()
response = "Processes running"
else:
response = f"error: no such method {method}"
elif cmd == "stop" and src == "KERNEL":
self.__app_handler.terminate_all()
response = "Closing due to KERNEL request. BYE"
else:
response = f"error: no such command {cmd} or access denied"
response_msg = {"body": response}
response_str = Message.format("send", "APP", msg_obj.get_src(),
response_msg)
return response_str
def configureBlobTracking(self, red, green, blue, custom):
name = "CONFIGURE-BLOBTRACKING"
id = self.state.getId()
values = {"red": red,
"green": green,
"blue": blue,
"custom": custom}
return Message(name, values, id)
def movePan(self, pos, speed):
name = "MOVEPAN"
id = self.state.getId()
values = {
"pos": self.panBounds(self.externalAngleToInternal(pos)),
"speed": speed
}
return Message(name, values, id)
def movePanWait(self, pos, speed):
name = "MOVEPAN-BLOCKING"
id = self.state.getId()
values = {
"pos": self.panBounds(self.externalAngleToInternal(pos)),
"speed": speed,
"blockid": id
}
return Message(name, values, id)
def moveWheelsByDegree(self, wheel, degrees, speed):
name = "MOVEBY-DEGREES"
id = self.state.getId()
values = {
"wheel": wheel.value,
"degrees": degrees,
"speed": speed,
"blockid": id
}
return Message(name, values, id)
def moveWheelsSeparatedWait(self, speedL, speedR, time):
name = "MOVE-BLOCKING"
id = self.state.getId()
values = {
"lspeed": speedL,
"rspeed": speedR,
"time": time,
"blockid": id
}
return Message(name, values, id)
def advancedLostBlobConfiguration(self, frames, minarea, max_count,
epsilon):
name = "CONFIGURE-LOSTBLOB"
id = self.state.getId()
values = {
"frames": frames,
"minarea": minarea,
"max_count": max_count,
"epsilon": epsilon
}
return Message(name, values, id)
def __execute(self, msg):
msg_obj = Message(msg)
cmd = msg_obj.get_cmd()
src = msg_obj.get_src()
response = ""
if cmd == "info":
body = msg_obj.get_msg()
method = body['method']
params = body['params']
if method == "addLineLog":
infoLog = params["info"]
response = self.__file_manager.addLineLog(infoLog)
elif method == "deleteLog":
response = self.__file_manager.deleteLogFile()
elif method == "readLogFile":
response = self.__file_manager.readLogFile()
elif method == "listLogs":
response = self.__file_manager.listLogs()
elif method == "createDir":
nameDir = params['nameDir']
response = self.__file_manager.createDir(nameDir)
elif method == "deleteDir":
nameDir = params['nameDir']
response = self.__file_manager.deleteDir(nameDir)
elif method == "addFileInDirectory":
nameDir = params['nameDir']
response = self.__file_manager.addFileInDirectory(nameDir)
elif method == "addLineInFileDirectory":
nameDir = params['nameDir']
info = params['info']
response = self.__file_manager.addLineInFileDirectory(
nameDir, info)
elif method == "listDirectoriesInDirectory":
nameDir = params['nameDir']
response = self.__file_manager.listDirectoriesInDirectory(
nameDir)
elif method == "setFileName":
fileName = params['fileName']
response = self.__file_manager.setFileName(fileName)
elif method == "getFileName":
response = self.__file_manager.getFileName()
else:
response = f"error: no such method {method}"
elif cmd == "stop" and src == "KERNEL":
response = "Closing due to KERNEL request. BYE"
else:
response = f"error: no such command {cmd} or access denied"
response_msg = {"body": response}
response_str = Message.format("send", "FILE_MAN", msg_obj.get_src(),
response_msg)
print("RES: " + response)
return response_str
def readLogFile(self):
msg = Message.format("info", "GUI", "FILE_MAN", {
"body": "",
"method": "readLogFile",
"params": {}
})
self.__kernel_socket.send(msg.encode())
data = self.__kernel_socket.recv(self.__BUFFER_SIZE)
if data:
line = data.decode('UTF-8') # convert to string (Python 3 only)
print("< " + line)
response = Message(line)
msge = response.get_msg()
return json.loads(msge["body"])
else:
raise InterruptedError
def status(self):
msg = Message.format("info", "GUI", "APP", {
"body": "",
"method": "stat",
"params": {}
})
self.__kernel_socket.send(msg.encode())
data = self.__kernel_socket.recv(self.__BUFFER_SIZE)
if data:
line = data.decode('UTF-8') # convert to string (Python 3 only)
print("< " + line)
response = Message(line)
msge = response.get_msg()
body = msge["body"]
return [tuple(d.values()) for d in body]
else:
raise InterruptedError
def startLine(self):
name = "START-LINE"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopLane(self):
name = "STOP-LANE"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopTag(self):
name = "STOP-TAG"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopQrTracking(self):
name = "STOP-QR-TRACKING"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopObjectRecognition(self):
name = "STOP-OBJECT-RECOGNITION"
id = self.state.getId()
values = {}
return Message(name, values, id)
def setLedColor(self, led, color):
name = "SET-LEDCOLOR"
id = self.state.getId()
values = {"led": led.value, "color": color.value}
return Message(name, values, id)
def setEmotion(self, emotion):
name = "SET-EMOTION"
id = self.state.getId()
values = {"emotion": emotion.value}
return Message(name, values, id)
def startColorMeasurement(self):
name = "START-COLOR-DETECTION"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopColorDetection(self):
name = "STOP-COLOR-DETECTION"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopCamera(self):
name = "STOP-CAMERA"
id = self.state.getId()
values = {}
return Message(name, values, id)
def setCamera(self, camera):
name = "SET-CAMERA"
id = self.state.getId()
values = {"camera": camera}
return Message(name, values, id)
def setStreamFps(self, fps):
name = "SET-STREAM-FPS"
id = self.state.getId()
values = {"fps": fps}
return Message(name, values, id)
def stopStream(self):
name = "STOP-STREAM"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopLineStats(self):
name = "STOP-LINE-STATS"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopColorMeasurement(self):
name = "STOP-COLOR-MEASUREMENT"
id = self.state.getId()
values = {}
return Message(name, values, id)
def setLaneColorInversionOff(self):
name = "INVERT-COLORS-LANE-OFF"
id = self.state.getId()
values = {}
return Message(name, values, id)
def stopFaceDetection(self):
name = "STOP-FACE-DETECTION"
id = self.state.getId()
values = {}
return Message(name, values, id)
def setCameraFps(self, fps):
name = "SET-CAMERA-FPS"
id = self.state.getId()
values = {"fps": fps}
return Message(name, values, id)
def changeStatusFrequency(self, frequency):
name = "SET-SENSOR-FREQUENCY"
id = self.state.getId()
values = {"frequency": frequency.value}
return Message(name, values, id)