class ThreadReception(threading.Thread): """objet thread gérant la réception des messages""" def __init__(self, conn): threading.Thread.__init__(self) self.connexion = conn # réf. du socket de connexion self.onNewMessage=EventHook() self.onError = EventHook() def run(self): try : while 1: message_recu = self.connexion.recv(1024) print "*" + message_recu + "*" self.onNewMessage.fire(self.bytes_to_number(message_recu)) except : print "Client arrêté. Connexion interrompue." self.onError.fire() def bytes_to_number(self,b): # if Python2.x b = map(ord, b) res = 0 for i in range(4): res += b[i] << (i*8) return res
def __init__(self, robot):
self.robot = robot
self.OnTooClose = EventHook()
self.OnAllClear = EventHook()
self.OnStop = EventHook()
self.Running = True
threading.Thread.__init__ ( self )
class ThreadEmission(threading.Thread): """objet thread gérant l'émission des messages""" def __init__(self, conn): threading.Thread.__init__(self) self.connexion = conn # réf. du socket de connexion self.onError = EventHook() def run(self): try : #length = os.path.getsize(config.nomImage) #self.connexion.send(self.convert_to_bytes(length)) if os.path.exists(config.nomImage): traitement = 0 self.connexion.send(self.convert_to_bytes(traitement)) emeteur = config.identifiantCam self.connexion.send(self.convert_to_bytes(emeteur)) length = os.path.getsize(config.nomImage) self.connexion.send(self.convert_to_bytes(length)) reply = open(config.nomImage, 'rb').read() self.connexion.sendall(reply) #self.onError.clear() except : print "Erreur dans l envoi du fichier" + str(sys.exc_info()[0]) self.onError.fire() def convert_to_bytes(self,no): result = bytearray() result.append(no & 255) for i in range(3): no = no >> 8 result.append(no & 255) return result
class webcamPi(): def __init__(self,fps,nameImg,numeroCam): self.isRecording = False self.fps = fps self.nameImg = nameImg self.onNewImage=EventHook() self.numeroCam=numeroCam def startRecord(self): # Wait for modprobe try : camera = picamera.PiCamera() time.sleep(2) camera.led = False self.isRecording =True while self.isRecording: # Grab one frame from camera camera.capture(self.nameImg) self.onNewImage.fire() time.sleep( ( 1.0 / self.fps) ) finally : # self.onNewImage.clear() camera.close() print "stop recording" def stopRecord(self): #TODO proteger la variable !! self.isRecording =False
class ProximitySensor(Sensor):
def __init__(self, warning_distance):
Sensor.__init__(self)
self.warning_distance = warning_distance
self.onProximity = EventHook()
def check_proximity(self):
if self.data < self.warning_distance:
self.onProximity.fire()
def __init__(self, ip: str = "127.0.0.1", port: int = 8888):
self.UDP_IP: str = ip
self.UDP_PORT: int = port
self.sock: socket = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.sock.bind((self.UDP_IP, self.UDP_PORT))
self.msg: dict = None
self.on_update: EventHook = EventHook()
self.stop: bool = False
self.listen_UDP: threading.Thread = None
class webcam():
def __init__(self,fps,nameImg,numeroCam):
self.isRecording = False
self.fps = fps
self.nameImg = nameImg
self.onNewImage=EventHook()
self.numeroCam=numeroCam
def startRecord(self):
# Wait for modprobe
time.sleep(2)
capture = cv.CaptureFromCAM(self.numeroCam)
text_font = cv.InitFont(cv.CV_FONT_HERSHEY_COMPLEX, .5, .5, 0.0, 1, cv.CV_AA )
text_coord = ( 5, 15 )
text_color = cv.CV_RGB(255,255,255)
self.isRecording =True
try :
while self.isRecording:
# Grab one frame from camera
frame = cv.QueryFrame(capture)
cv.PutText( frame,"PORT : "+ time.strftime('%d/%m/%y %H:%M',time.localtime()), text_coord, text_font, text_color )
cv.SaveImage(self.nameImg,frame)
self.onNewImage.fire()
time.sleep( ( 1.0 / self.fps) )
finally :
# self.onNewImage.clear()
print "stop recording"
def stopRecord(self):
#TODO proteger la variable !!
self.isRecording =False
def __init__(self, ip_address, port, notify):
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.listening = False
self.thingspeak_client = None
self.ip_address = ip_address
self.port = port
self._basement_state = 0
self._basement_hallway_state = 0
self._living_room_state = 0
self.message_received = EventHook()
self.notify = notify
self.callback = None
self.connect()
class RobotSenses(threading.Thread):
def __init__(self, robot):
self.robot = robot
self.OnTooClose = EventHook()
self.OnAllClear = EventHook()
self.OnStop = EventHook()
self.Running = True
threading.Thread.__init__ ( self )
def CheckIsObstructionPresent(self, distanceFromObstacle, obstructionPresent):
if (distanceFromObstacle < MIN_DRIVE_FORWARDS_DISTANCE and obstructionPresent == False):
print("obstructionPresent")
obstructionPresent = True
self.OnTooClose.fire()
return obstructionPresent
def CheckIsObstructionClear(self, distanceFromObstacle, obstructionPresent):
if (distanceFromObstacle > MIN_STOP_TURNING_DISTANCE and obstructionPresent == True):
print("no obstructionPresent")
obstructionPresent = False
self.OnAllClear.fire()
return obstructionPresent
def IsStopButtonPressed(self):
print("IsStopButtonPressed")
pressed = self.robot.IsButtonPressed()
print("IsStopButtonPressed: " + str(pressed))
if (pressed == 1):
print("StopButtonPressed")
self.Running = 0
self.OnStop.fire()
def run ( self ):
obstructionPresent =False
while(self.Running==1):
sleep(REFRESH_FREQUENCY)
distanceFromObstacle = self.robot.getDistanceFromObstacle()
print("distanceFromObstacle:" + str(distanceFromObstacle))
obstructionPresent = self.CheckIsObstructionPresent(distanceFromObstacle, obstructionPresent)
obstructionPresent = self.CheckIsObstructionClear(distanceFromObstacle, obstructionPresent)
self.IsStopButtonPressed()
def __init__(self, warning_distance):
Sensor.__init__(self)
self.warning_distance = warning_distance
self.onProximity = EventHook()
def __init__(self, conn): threading.Thread.__init__(self) self.connexion = conn # réf. du socket de connexion self.onNewMessage=EventHook() self.onError = EventHook()
def __init__(self,fps,nameImg,numeroCam): self.isRecording = False self.fps = fps self.nameImg = nameImg self.onNewImage=EventHook() self.numeroCam=numeroCam
class ArduinoClient(object):
def __init__(self, ip_address, port, notify):
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.listening = False
self.thingspeak_client = None
self.ip_address = ip_address
self.port = port
self._basement_state = 0
self._basement_hallway_state = 0
self._living_room_state = 0
self.message_received = EventHook()
self.notify = notify
self.callback = None
self.connect()
def set_motion_detect_callback(self, callback):
self.callback = callback
def connect(self):
try:
self.socket.connect((self.ip_address, self.port))
self.socket.send('Thank you for connecting\n')
self.start_listener_thread()
self.notify("Arduino: Connected")
logging.info("Arduino: Connected")
except:
self.notify("Arduino: Not found, giving up")
logging.warning("Arduino: Not found, giving up")
def start_listener_thread(self):
listener = Thread(target=self.listener_thread)
self.listening = True
listener.start()
def listener_thread(self):
msg = ''
while self.listening:
msg = msg + self.socket.recv(1024)
if msg.endswith('\n'):
logging.debug("Arduino: Message received - " + msg)
self.parse_message(msg)
self.message_received.fire(msg)
msg = ''
def parse_message(self, message):
j = json.loads(message)
d = dict()
if j.has_key('Living Room'):
d['field5'] = j['Living Room']
if self._living_room_state != j['Living Room']:
self._living_room_state = j['Living Room']
self.change_detected('Living Room', j['Living Room'])
if j.has_key('Basement Hallway'):
d['field6'] = j['Basement Hallway']
if self._basement_hallway_state != j['Basement Hallway']:
self._basement_hallway_state = j['Basement Hallway']
self.change_detected('Basement Hallway', j['Basement Hallway'])
if j.has_key('Basement'):
d['field7'] = j['Basement']
if self._basement_state != j['Basement']:
self._basement_state = j['Basement']
self.change_detected('Basement', j['Basement'])
if self.thingspeak_client:
self.thingspeak_client.write(d)
def change_detected(self, location, state):
if state == 1 and self.callback:
self.callback(location)
