def go_initialize_stimulus(stimulus_xml, optics, extra):
""" returns fsee.Observer.Observer """
try:
# stimulus_xml can be a filename
if stimulus_xml[0] == "/":
pass
else:
# otherwise it's a string
# pass it like a string
stimulus_xml = StringIO(stimulus_xml)
stim_xml = xml_stimulus.xml_stimulus_from_filename(stimulus_xml)
stim_xml_osg = xml_stimulus_osg.StimulusWithOSG(stim_xml.get_root())
with stim_xml_osg.OSG_model_path(extra=extra) as osg_model_path:
# sys.stderr.write('osg_model_path = \n %s' % open(osg_model_path).read())
hz = 60.0 # fps
vision = fsee.Observer.Observer(
model_path=osg_model_path,
# scale=1000.0, # from meters to mm
hz=hz,
skybox_basename=None,
full_spectrum=True,
optics=optics,
do_luminance_adaptation=False,
)
positive_answer({}, ("Model loaded, path = %s" % osg_model_path))
return vision
except IOError, ex:
exit_with_error("Could not load file %s: %s" % (stimulus_xml, ex))
def go_render(vision, json, compute_mu, write_binary):
position = numpy.array(json["position"])
attitude = numpy.array(json["attitude"])
# XXX hack to try orientation theory
# correcting for left-handeness
# should use a reflection instead, but it's all good because rotz
attitude = attitude.T
linear_velocity_body = numpy.array(json["linear_velocity_body"])
angular_velocity_body = numpy.array(json["angular_velocity_body"])
linear_velocity_body = cgtypes.vec3(linear_velocity_body)
angular_velocity_body = cgtypes.vec3(angular_velocity_body)
position = cgtypes.vec3(position)
orientation = cgtypes.quat.fromMat(cgtypes.quat(), cgtypes.mat3(attitude))
vision.step(position, orientation)
R = vision.get_last_retinal_imageR()
G = vision.get_last_retinal_imageG()
B = vision.get_last_retinal_imageB()
y = (R + G + B) / 3.0 / 255
answer = {}
answer["position"] = list(position)
answer["orientation"] = numpy.array(orientation.toMat3()).tolist()
answer["linear_velocity_body"] = list(linear_velocity_body)
answer["angular_velocity_body"] = list(angular_velocity_body)
answer["luminance"] = y.tolist()
# Get Q_dot and mu from body velocities
# WARNING: Getting Q_dot and mu can be very slow
if compute_mu:
lvel = json["linear_velocity_body"]
avel = json["angular_velocity_body"]
linear_velocity_body = cgtypes.vec3(numpy.array(lvel))
angular_velocity_body = cgtypes.vec3(numpy.array(avel))
qdot, mu = vision.get_last_retinal_velocities(linear_velocity_body, angular_velocity_body)
answer["nearness"] = mu
answer["retinal_velocities"] = qdot
if write_binary:
what = answer["luminance"]
n = len(what)
s = struct.pack(">" + "f" * n, *what)
positive_answer({"binary_length": len(s), "mean": numpy.mean(what)}, "Sending binary data (n * 4 bytes)")
sys.stdout.write(s)
sys.stdout.flush()
else:
positive_answer(answer)
def main():
try:
# XXX Add timestamp
sys.stderr.write("rfsee_server.py started\n")
# State
config = {"compute_mu": 0, "write_binary": 1, "optics": "buchner71", "osg_params": {"white_arena": False}}
vision = None
while True:
line = sys.stdin.readline()
if not line:
break
try:
json = decode(line)
method = json["method"]
del (json["method"])
if method == "render":
if vision is None:
exit_with_error("Before rendering, configure the vision.")
go_render(vision, json, config["compute_mu"], config["write_binary"])
elif method == "get":
key = json["key"]
if not config.has_key(key):
exit_with_error('You asked for key "%s", but I only know %s' % (key, config.keys()))
value = config[key]
positive_answer({"key": key, "value": value}, "Here is the results you requested")
elif method == "config":
for key in json.keys():
if key == "stimulus_xml":
# sys.stderr.write('Using params: %s\n' % config['osg_params'])
vision = go_initialize_stimulus(json[key], config["optics"], config["osg_params"])
dirs = vision.cvs.precomputed_optics_module.receptor_dirs
dirs = map(lambda x: [x[0], x[1], x[2]], dirs)
dirs = []
# sys.stderr.write("Type of dirs : %s " % type(dirs[0]))
config["receptors_dirs"] = dirs
else:
if not (config.has_key(key)):
exit_with_error(
'Trying to set config key "%s", but I only know %s' % (key, config.keys())
)
else:
old_value = config[key]
config[key] = json[key]
positive_answer(
{}, "Changed %s from %s to %s" % (str(key), str(old_value), str(json[key]))
)
elif method == "bye":
positive_answer({}, "Goodbye, good sir.")
else:
exit_with_error("Unknown method '%s'.\n" % method)
except KeyError:
exit_with_error("Got incomplete values in request: '%s'\n" % str(line))
except DecodeError, ex:
exit_with_error("Cannot decode json: '%s' \n\t %s\n" % (line, str(ex)))
except EncodeError, ex:
exit_with_error("Cannot encode json. \n\t %s\n" % (str(ex)))
