def cleanup():
Zero()()
release_lock()
shm.vision_modules.set(vision_state)
shm.settings_control.set(control_settings)
shm.navigation_settings.set(navigation_settings)
print('')
logger(
'Mission completed or interrupted. Restored running vision module state and zeroed submarine desires.',
copy_to_stdout=True)
end_time = time.time()
duration = end_time - start_time
logger("Mission finished in %i seconds!" % \
(duration), copy_to_stdout = True)
if initially_killed and was_ever_unkilled and shm.switches.hard_kill.get():
reload_self()
if not args.no_record:
logger('Disabling "Record" vision module', copy_to_stdout=True)
shm.vision_modules.Debug.set(False)
if not initially_recording:
shm.vision_modules.Record.set(False)
# Stop shmlogging
shmlog_proc.kill()
active_mission = shm.active_mission.get()
if not initially_recording:
active_mission.active = False
active_mission.log_path = bytes("", encoding="utf-8")
active_mission.name = bytes("", encoding="utf-8")
shm.active_mission.set(active_mission)
def cleanup():
Zero()()
release_lock()
shm.vision_modules.set(vision_state)
print('')
logger('Mission completed or interrupted. Restored running vision module state and zeroed submarine desires.', copy_to_stdout = True)
logger('Disabling "Record" vision module', copy_to_stdout = True)
shm.vision_modules.Record.set(False)
os.system('pkill -f auv-shmlogd')
if initially_killed and was_ever_unkilled and shm.switches.hard_kill.get():
reload_self()
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()
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()