def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(
os.path.realpath(__file__)), self.configFname)
print configPath
self.cfg = ConfigUtil(configPath, self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.debounce_ms = self.cfg.getConfigInt("debounce_ms")
self.shortpress_ms = self.cfg.getConfigInt("shortpress_ms")
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.timeDown = 0.0
self.presetNo = 1
self.shortPress = False
self.longPress = False
self.initScreen()
self.initGPIO()
self.UIMode = self.CAMERA_MODE # Next line changes mode to start in
# FITDECT_MODE.
self.changeUIMode() # Initialises the messages.
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.debounce_ms = self.cfg.getConfigInt("debounce_ms")
self.shortpress_ms = self.cfg.getConfigInt("shortpress_ms")
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.timeDown = 0.0
self.presetNo = 1
self.shortPress = False
self.longPress = False
self.initScreen()
self.initGPIO()
self.UIMode = self.CAMERA_MODE # Next line changes mode to start in
# FITDECT_MODE.
self.changeUIMode() # Initialises the messages.
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.presetNo = 1
self.initScreen()
self.initGPIO()
def __init__(self,port = None):
print "runServer.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
if (port == None):
port = '/dev/ttyUSB0'
print "Opening Serial Connection on %s" % port
self.ser = serial.Serial(port,9600,timeout=1)
print "Waiting for serial comms to settle..."
time.sleep(2)
print "Reading first line of data, and ignoring it."
line = self.ser.readline() # throw away any part lines
print "line=%s" % line
self.start()
print "waiting for some data..."
while(self.ser.inWaiting() < 10):
print "waiting - inWaiting()=%d" % self.ser.inWaiting()
time.sleep(1)
print "wait over!"
print "ignoring a few lines for start command to register..."
for n in range(0,5):
line = self.ser.readline() # throw away any part lines
print "line=%s" % line
#Initialise data lists.
self.t=[] # initialize the data lists
self.d1=[]
self.d2=[]
self.d3=[]
self.d4=[]
self.d5=[]
self.d6=[]
# Start web server
self._ws = webServer.WebServer(self)
webServer.setRoutes(self._ws)
# Run our main loop.
self.run()
def __init__(self, save=False, inFile=None):
print "benFinder.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(
os.path.realpath(__file__)), self.configFname)
print configPath
self.cfg = ConfigUtil(configPath, self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
# Check if we are running from live kinect or a file.
if (inFile):
device = depth.CV_CAP_FILE
else:
device = depth.CV_CAP_FREENECT
# Initialise the captureManager
self._captureManager = CaptureManager(device,
None,
True,
inFile=inFile)
self._captureManager.channel = depth.CV_CAP_OPENNI_DEPTH_MAP
# If we are runnign from a file, use the first frame as the
# background image.
if (inFile):
self.saveBgImg()
# If we have asked to save the background image, do that, and exit,
# otherwise initialise the seizure detector.
if (save):
self.saveBgImg()
else:
self.loadBgImg()
self.autoBackgroundImg = None
self._status = self.ALARM_STATUS_OK
self._ts = TimeSeries(
tslen=self.cfg.getConfigInt("timeseries_length"))
self._frameCount = 0
self._outputFrameCount = 0
self._nPeaks = 0
self._ts_time = 0
self._rate = 0
self._ws = webServer.benWebServer(self)
self._ws.setBgImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("background_depth")))
self._ws.setChartImg(
"%s/%s" % (self._tmpdir, self.cfg.getConfigStr("chart_fname")))
self._ws.setRawImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("raw_image_fname")))
self._ws.setMaskedImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("masked_image_fname")))
self._ws.setDataFname(
"%s/%s" % (self._tmpdir, self.cfg.getConfigStr("data_fname")))
self._ws.setAnalysisResults({})
webServer.setRoutes(self._ws)
self.run()
class BenFinder(object):
configFname = "config.ini"
configSection = "benFinder"
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
def __init__(self, save=False, inFile=None):
print "benFinder.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(
os.path.realpath(__file__)), self.configFname)
print configPath
self.cfg = ConfigUtil(configPath, self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
# Check if we are running from live kinect or a file.
if (inFile):
device = depth.CV_CAP_FILE
else:
device = depth.CV_CAP_FREENECT
# Initialise the captureManager
self._captureManager = CaptureManager(device,
None,
True,
inFile=inFile)
self._captureManager.channel = depth.CV_CAP_OPENNI_DEPTH_MAP
# If we are runnign from a file, use the first frame as the
# background image.
if (inFile):
self.saveBgImg()
# If we have asked to save the background image, do that, and exit,
# otherwise initialise the seizure detector.
if (save):
self.saveBgImg()
else:
self.loadBgImg()
self.autoBackgroundImg = None
self._status = self.ALARM_STATUS_OK
self._ts = TimeSeries(
tslen=self.cfg.getConfigInt("timeseries_length"))
self._frameCount = 0
self._outputFrameCount = 0
self._nPeaks = 0
self._ts_time = 0
self._rate = 0
self._ws = webServer.benWebServer(self)
self._ws.setBgImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("background_depth")))
self._ws.setChartImg(
"%s/%s" % (self._tmpdir, self.cfg.getConfigStr("chart_fname")))
self._ws.setRawImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("raw_image_fname")))
self._ws.setMaskedImg(
"%s/%s" %
(self._tmpdir, self.cfg.getConfigStr("masked_image_fname")))
self._ws.setDataFname(
"%s/%s" % (self._tmpdir, self.cfg.getConfigStr("data_fname")))
self._ws.setAnalysisResults({})
webServer.setRoutes(self._ws)
self.run()
def run(self):
"""Run the main loop."""
while (True):
self._captureManager.enterFrame()
frame = self._captureManager.frame
if frame is not None:
if (self.autoBackgroundImg == None):
self.autoBackgroundImg = numpy.float32(frame)
rawFrame = frame.copy()
# First work out the region of interest by
# subtracting the fixed background image
# to create a mask.
#print frame
#print self._background_depth_img
absDiff = cv2.absdiff(frame, self._background_depth_img)
benMask, maskArea = filters.getBenMask(absDiff, 8)
cv2.accumulateWeighted(frame, self.autoBackgroundImg, 0.05)
# Convert the background image into the same format
# as the main frame.
#bg = self.autoBackgroundImg
bg = cv2.convertScaleAbs(self.autoBackgroundImg, alpha=1.0)
# Subtract the background from the frame image
cv2.absdiff(frame, bg, frame)
# Scale the difference image to make it more sensitive
# to changes.
cv2.convertScaleAbs(frame, frame, alpha=100)
# Apply the mask so we only see the test subject.
frame = cv2.multiply(frame, benMask, dst=frame, dtype=-1)
if (maskArea <= self.cfg.getConfigInt('area_threshold')):
bri = (0, 0, 0)
else:
# Calculate the brightness of the test subject.
bri = filters.getMean(frame, benMask)
# Add the brightness to the time series ready for analysis.
self._ts.addSamp(bri[0])
self._ts.addImg(rawFrame)
# Write timeseries to a file every 'output_framecount' frames.
if (self._outputFrameCount >=
self.cfg.getConfigInt('output_framecount')):
# Write timeseries to file
self._ts.writeToFile("%s/%s" % \
( self.cfg.getConfigStr('output_directory'),
self.cfg.getConfigStr('ts_fname')
))
self._outputFrameCount = 0
else:
self._outputFrameCount = self._outputFrameCount + 1
# Only do the analysis every 15 frames (0.5 sec), or whatever
# is specified in configuration file analysis_framecount
# parameter.
if (self._frameCount <
self.cfg.getConfigInt('analysis_framecount')):
self._frameCount = self._frameCount + 1
else:
# Look for peaks in the brightness (=movement).
self._nPeaks, self._ts_time, self._rate = self._ts.findPeaks(
)
#print "%d peaks in %3.2f sec = %3.1f bpm" % \
# (nPeaks,ts_time,rate)
oldStatus = self._status
if (maskArea > self.cfg.getConfigInt('area_threshold')):
# Check for alarm levels
if (self._rate > self.cfg.getConfigInt("rate_warn")):
self._status = self.ALARM_STATUS_OK
elif (self._rate >
self.cfg.getConfigInt("rate_alarm")):
self._status = self.ALARM_STATUS_WARN
else:
self._status = self.ALARM_STATUS_FULL
else:
self._status = self.ALARM_STATUS_NOT_FOUND
if (oldStatus == self.ALARM_STATUS_OK and
self._status == self.ALARM_STATUS_WARN) or \
(oldStatus == self.ALARM_STATUS_WARN and
self._status == self.ALARM_STATUS_FULL):
# Write timeseries to file
self._ts.writeToFile("%s/%s" % \
( self.cfg.getConfigStr('output_directory'),
self.cfg.getConfigStr('alarm_ts_fname')
),bgImg=self._background_depth_img)
# Collect the analysis results together and send them
# to the web server.
resultsDict = {}
resultsDict['fps'] = "%3.0f" % self.fps
resultsDict['bri'] = "%4.0f" % self._ts.mean
resultsDict['area'] = "%6.0f" % maskArea
resultsDict['nPeaks'] = "%d" % self._nPeaks
resultsDict['ts_time'] = self._ts_time
resultsDict['rate'] = "%d" % self._rate
resultsDict['time_t'] = time.ctime()
resultsDict['status'] = self._status
self._ws.setAnalysisResults(resultsDict)
# Write the results to file as a json string
utils.writeJSON(resultsDict,"%s/%s" % \
(self._tmpdir,
self.cfg.getConfigStr("data_fname")))
utils.writeLog(resultsDict,"%s/%s" % \
(self._tmpdir,
"benFinder_alarms.log"))
# Plot the graph of brightness, and save the images
# to disk.
self._ts.plotRawData(
file=True,
fname="%s/%s" % \
(self._tmpdir,self.cfg.getConfigStr("chart_fname")))
cv2.imwrite(
"%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("raw_image_fname")),
rawFrame)
cv2.imwrite(
"%s/%s" %
(self._tmpdir,
self.cfg.getConfigStr("masked_image_fname")), frame)
self._frameCount = 0
else:
print "Null frame received - assuming end of file and exiting"
break
self._captureManager.exitFrame()
@property
def fps(self):
return self._captureManager.fps
@property
def nPeaks(self):
return self._nPeaks
@property
def ts_time(self):
return self._ts_time
@property
def rate(self):
return self._rate
@property
def rawImgFname(self):
return self.cfg.getConfigStr("raw_image_fname")
@property
def maskedImgFname(self):
return self.cfg.getConfigStr("masked_image_fname")
@property
def chartImgFname(self):
return self.cfg.getConfigStr("chart_fname")
def saveBgImg(self):
""" Write a new background image to the appropriate file location."""
if (self._captureManager.hasEnteredFrame):
self._captureManager.exitFrame()
self._captureManager.enterFrame()
print "Writing image to %s." % self.cfg.getConfigStr(
"background_depth")
self._captureManager.writeImage(
"%s/%s" % (self._wkdir, self.cfg.getConfigStr("background_depth")))
print self._captureManager.frame
print self._captureManager.frame.dtype
self._captureManager.exitFrame()
self.loadBgImg()
def loadBgImg(self):
print "Loading background image %s/%s." % \
(self._wkdir,self.cfg.getConfigStr("background_depth"))
self._background_depth_img = cv2.imread("%s/%s" % \
(self._wkdir,self.cfg.getConfigStr("background_depth")),
cv2.CV_LOAD_IMAGE_GRAYSCALE)
# cv2.CV_LOAD_IMAGE_UNCHANGED)
print self._background_depth_img
print self._background_depth_img.dtype
class bentv_ui:
# Basic Configuration
configFname = "config.ini"
configSection = "bentv"
debug = False
# Initialise some instance variables.
screen = None
font = None
textLine1 = "BenTV_UI"
textLine2 = "Waiting for Button Press to move camera"
presetNo = 1
presetTxt = ['NULL','Behind Door', 'Corner', 'Chair', 'Bed']
# Alarms
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
statusStrs = ("OK","Warning","ALARM!!!","Ben Not Found")
screenBGColours = ( (0,0,255), # Blue for all ok
(128,128,0), # Yellow for warning
(255,0,0), # Red for full alarm.
(128,128,128) # Grey for not found.
)
alarmStatus = 0 # Current alarm status
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.presetNo = 1
self.initScreen()
self.initGPIO()
def getIpAddr(self,ifname):
"""Return the IP Address of the given interface (e.g 'wlan0')
from http://raspberrypi.stackexchange.com/questions/6714/how-to-get-the-raspberry-pis-ip-address-for-ssh.
"""
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15])
)[20:24])
def getHostName(self):
"""Returns the hostname and IP address of the wireless interface as a tuple.
"""
hostname = socket.gethostname()
ipaddr = self.getIpAddr("wlan0")
return (hostname,ipaddr)
def initGPIO(self):
"""Initialise the GPIO pins - not we use GPIO pin numbers, not physical
pin numbers on rpi."""
haveGPIO = True
try:
import RPi.GPIO as GPIO
except:
print "failed to import RPi.GPIO"
haveGPIO = False
pinNo = self.cfg.getConfigInt("gpiono")
if (self.debug): print "gpioNo = %d" % pinNo
if (haveGPIO):
GPIO.setmode(GPIO.BCM)
GPIO.setup(pinNo, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# very long debounce time to prevent presses while camera is moving.
GPIO.add_event_detect(pinNo,
GPIO.RISING,
callback=self.moveCamera,
bouncetime=1000)
else:
print "no GPIO - simulating camera move"
self.moveCamera(1)
def display_text(self):
""" Write the given text onto the display area of the screen"""
# Clear screen
self.screen.fill(self.screenBGColours[self.alarmStatus])
# Line 1 text
txtImg = self.font.render(self.textLine1,
True,(255,255,255))
self.screen.blit(txtImg,(0,380))
# Line 1 time
tnow = time.localtime(time.time())
txtStr = "%02d:%02d:%02d " % (tnow[3],tnow[4],tnow[5])
w = self.font.size(txtStr)[0]
txtImg = self.font.render(txtStr,
True,(255,255,255))
self.screen.blit(txtImg,(self.fbSize[0]-w,380))
# Line 2 text
txtImg = self.smallFont.render(self.textLine2,
True,(255,255,255))
self.screen.blit(txtImg,(0,400))
# Line 2 network info
txtStr = "Host: %s, IP: %s " % (self.hostname, self.ipaddr)
w = self.smallFont.size(txtStr)[0]
txtImg = self.smallFont.render(txtStr,
True,
(255,255,255))
self.screen.blit(txtImg,(self.fbSize[0]-w,400))
pygame.display.update()
def initScreen(self):
"""Initialise the display using the pygame library"""
drivers = ['x11', 'fbcon', 'svgalib']
found = False
disp_no = os.getenv("DISPLAY")
if disp_no:
print "I'm running under X display = {0}".format(disp_no)
for driver in drivers:
# Make sure that SDL_VIDEODRIVER is set
if not os.getenv('SDL_VIDEODRIVER'):
os.putenv('SDL_VIDEODRIVER', driver)
try:
pygame.display.init()
print 'Using Driver: {0}.'.format(driver)
except pygame.error:
print 'Driver: {0} failed.'.format(driver)
continue
found = True
break
if not found:
raise Exception('No suitable video driver found!')
self.fbSize = (pygame.display.Info().current_w, pygame.display.Info().current_h)
print "Framebuffer size: %d x %d" % self.fbSize
if (disp_no):
print "Using X11 window"
winSize = (640,480)
self.screen = pygame.display.set_mode(winSize)
self.fbSize = winSize
else:
print "Using full screen framebuffer"
self.screen = pygame.display.set_mode(self.fbSize, pygame.FULLSCREEN)
print "blank screen..."
self.screen.fill((0, 0, 255))
print "initialise fonts"
pygame.font.init()
self.font = pygame.font.Font(None,30)
self.smallFont = pygame.font.Font(None,16)
print "calling display_text()"
self.display_text()
print "initScreen complete"
def moveCamera(self,pinNo):
"""Callback function when button is pressed"""
print('moveCamera called by pin number %d. PresetNo=%d' % (pinNo,self.presetNo))
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
#resp, content = h.request("http://192.168.1.24/preset.cgi?-act=goto&-status=1&-number=%d" % self.presetNo,"GET")
resp, content = h.request("%s/%s%d" % (self.cfg.getConfigStr('camaddr'),
self.cfg.getConfigStr('cammoveurl'),
self.presetNo),"GET")
print "moved to preset %d - content=%s" % (self.presetNo,content)
self.textLine1 = "Camera Position %d (%s)" % (self.presetNo,
self.presetTxt[self.presetNo])
self.presetNo += 1
if (self.presetNo > 4): self.presetNo = 1
def getBenFinderData(self):
print "getBenfinderData"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderurl'))
print requestStr
try:
resp, content = h.request(requestStr,
"GET")
dataDict = json.loads(content)
self.alarmStatus = int(dataDict['status'])
self.textLine1 = " Rate = %d bpm (status=%d - %s)" % \
(int(dataDict['rate']),
int(dataDict['status']),
self.statusStrs[int(dataDict['status'])]
)
print dataDict['time_t']
self.textLine2 = " Fit Detector Time = %s " % dataDict['time_t']
print resp,content
return True
except:
print "Error:",sys.exc_info()[0]
self.textLine1 = "No Connection to Fit Detector"
return False
class bentv_ui:
# Basic Configuration
configFname = "config.ini"
configSection = "bentv"
debug = False
# Initialise some instance variables.
screen = None
font = None
textLine1 = "Camera_Mode"
textLine2 = "Waiting for Button Press to move camera"
presetNo = 1
presetTxt = ['NULL', 'Behind Door', 'Corner', 'Chair', 'Bed']
# UI Modes
CAMERA_MODE = 0
FITDECT_MODE = 1
# Alarms
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
statusStrs = ("OK", "Warning", "ALARM!!!", "Ben Not Found")
screenBGColours = (
(0, 0, 255), # Blue for all ok
(128, 128, 0), # Yellow for warning
(255, 0, 0), # Red for full alarm.
(128, 128, 128) # Grey for not found.
)
alarmStatus = 0 # Current alarm status
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(
os.path.realpath(__file__)), self.configFname)
print configPath
self.cfg = ConfigUtil(configPath, self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.debounce_ms = self.cfg.getConfigInt("debounce_ms")
self.shortpress_ms = self.cfg.getConfigInt("shortpress_ms")
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.timeDown = 0.0
self.presetNo = 1
self.shortPress = False
self.longPress = False
self.initScreen()
self.initGPIO()
self.UIMode = self.CAMERA_MODE # Next line changes mode to start in
# FITDECT_MODE.
self.changeUIMode() # Initialises the messages.
def getIpAddr(self, ifname):
"""Return the IP Address of the given interface (e.g 'wlan0')
from http://raspberrypi.stackexchange.com/questions/6714/how-to-get-the-raspberry-pis-ip-address-for-ssh.
"""
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15]))[20:24])
def getHostName(self):
"""Returns the hostname and IP address of the wireless interface as a tuple.
"""
hostname = socket.gethostname()
ipaddr = self.getIpAddr("wlan0")
return (hostname, ipaddr)
def initGPIO(self):
"""Initialise the GPIO pins - note we use GPIO pin numbers, not physical
pin numbers on rpi."""
global haveGPIO
pinNo = self.cfg.getConfigInt("gpiono")
self.pinNo = pinNo
if (self.debug): print "gpioNo = %d" % pinNo
if (haveGPIO):
GPIO.setmode(GPIO.BCM)
GPIO.setup(pinNo, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# very long debounce time to prevent presses while camera is moving.
#GPIO.add_event_detect(pinNo,
# GPIO.FALLING,
# callback=self.buttonCallback
# ,bouncetime=100)
else:
print "no GPIO - simulating camera move"
self.moveCamera(1)
self.lastButtonVal = 1
self.lastButtonTime = time.time()
def buttonCallback(self, pinNo):
""" called on falling edge - it waits for rising edge to see how long
the button press was. """
print "Button Down"
self.timeDown = time.time()
GPIO.wait_for_edge(pinNo, GPIO.RISING)
print "Button Up"
print "time of press = %f" % (time.time() - self.timeDown)
def pollButtons(self):
"""poll the buttons, and set a variable to say if we have detected
a single, double or long click."""
global haveGPIO
if (haveGPIO):
ip = GPIO.input(self.pinNo)
tnow = time.time()
if (ip != self.lastButtonVal):
print "button state changed"
if (ip):
keyPressLength = (tnow - self.lastButtonTime) * 1000. #ms
print "Keypress Length = %f sec" % (keyPressLength)
if (keyPressLength < self.debounce_ms):
print "Ignoring very short keypress"
self.shortPress = False
self.longPress = False
elif (keyPressLength < self.shortpress_ms):
print "short press"
self.shortPress = True
self.longPress = False
else:
self.shortPress = False
self.longPress = True
self.lastButtonVal = ip
self.lastButtonTime = tnow
else:
pass
# do nothing if we do not have GPIO access.
def serviceUI(self):
"""Respond to button presses."""
if (self.longPress):
if (self.UIMode == self.CAMERA_MODE):
self.moveCamera(self.pinNo)
elif (self.UIMode == self.FITDECT_MODE):
self.setFitDectBackground()
else:
print "Unrecognised UIMode %d." % self.UIMode
self.longPress = False
if (self.shortPress):
self.changeUIMode()
self.shortPress = False
def changeUIMode(self):
"""Change the UI mode - toggle between camera and fit detector"""
if (self.UIMode == self.CAMERA_MODE):
print "Entering FitDetector Mode"
self.textLine1 = "Fit Detector Mode"
self.textLine2 = " Press long button press to reset background. Short press to change mode."
self.UIMode = self.FITDECT_MODE
else:
print "Entering Camera Mode"
self.textLine1 = "Camera Mode"
self.textLine2 = " Press long button press to move camera. Short press to change mode."
self.UIMode = self.CAMERA_MODE
self.alarmStatus = self.ALARM_STATUS_NOT_FOUND
self.lastDisplayUpdateTime = time.time() #Force message to display for
# a little while before being
# overwritten.
self.display_text()
def display_text(self):
""" Write the given text onto the display area of the screen"""
# Clear screen
self.screen.fill(self.screenBGColours[self.alarmStatus])
# Line 1 text
txtImg = self.font.render(self.textLine1, True, (255, 255, 255))
self.screen.blit(txtImg, (0, 380))
# Line 1 time
tnow = time.localtime(time.time())
txtStr = "%02d:%02d:%02d " % (tnow[3], tnow[4], tnow[5])
w = self.font.size(txtStr)[0]
txtImg = self.font.render(txtStr, True, (255, 255, 255))
self.screen.blit(txtImg, (self.fbSize[0] - w, 380))
# Line 2 text
txtImg = self.smallFont.render(self.textLine2, True, (255, 255, 255))
self.screen.blit(txtImg, (0, 400))
# Line 2 network info
txtStr = "Host: %s, IP: %s " % (self.hostname, self.ipaddr)
w = self.smallFont.size(txtStr)[0]
txtImg = self.smallFont.render(txtStr, True, (255, 255, 255))
self.screen.blit(txtImg, (self.fbSize[0] - w, 400))
pygame.display.update()
def initScreen(self):
"""Initialise the display using the pygame library"""
drivers = ['x11', 'fbcon', 'svgalib']
found = False
disp_no = os.getenv("DISPLAY")
if disp_no:
print "I'm running under X display = {0}".format(disp_no)
for driver in drivers:
# Make sure that SDL_VIDEODRIVER is set
if not os.getenv('SDL_VIDEODRIVER'):
os.putenv('SDL_VIDEODRIVER', driver)
try:
pygame.display.init()
print 'Using Driver: {0}.'.format(driver)
except pygame.error:
print 'Driver: {0} failed.'.format(driver)
continue
found = True
break
if not found:
raise Exception('No suitable video driver found!')
self.fbSize = (pygame.display.Info().current_w,
pygame.display.Info().current_h)
print "Framebuffer size: %d x %d" % self.fbSize
if (disp_no):
print "Using X11 window"
winSize = (640, 480)
self.screen = pygame.display.set_mode(winSize)
self.fbSize = winSize
else:
print "Using full screen framebuffer"
self.screen = pygame.display.set_mode(self.fbSize,
pygame.FULLSCREEN)
print "blank screen..."
self.screen.fill((0, 0, 255))
print "initialise fonts"
pygame.font.init()
self.font = pygame.font.Font(None, 30)
self.smallFont = pygame.font.Font(None, 16)
print "calling display_text()"
self.display_text()
print "initScreen complete"
def moveCamera(self, pinNo):
"""Callback function when button is pressed"""
print('moveCamera called by pin number %d. PresetNo=%d' %
(pinNo, self.presetNo))
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
#resp, content = h.request("http://192.168.1.24/preset.cgi?-act=goto&-status=1&-number=%d" % self.presetNo,"GET")
resp, content = h.request(
"%s/%s%d" % (self.cfg.getConfigStr('camaddr'),
self.cfg.getConfigStr('cammoveurl'), self.presetNo),
"GET")
print "moved to preset %d - content=%s" % (self.presetNo, content)
self.textLine1 = "Camera Position %d (%s)" % (
self.presetNo, self.presetTxt[self.presetNo])
self.presetNo += 1
if (self.presetNo > 4): self.presetNo = 1
def getBenFinderData(self):
#print "getBenfinderData"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderurl'))
#print requestStr
try:
resp, content = h.request(requestStr, "GET")
dataDict = json.loads(content)
self.alarmStatus = int(dataDict['status'])
self.textLine1 = " Rate = %d bpm (status=%d - %s)" % \
(int(dataDict['rate']),
int(dataDict['status']),
self.statusStrs[int(dataDict['status'])]
)
#print dataDict['time_t']
self.textLine2 = " Fit Detector Time = %s " % dataDict['time_t']
#print resp,content
return True
except:
print "Error:", sys.exc_info()[0]
self.textLine1 = "No Connection to Fit Detector"
return False
def setFitDectBackground(self):
"""Tell the fit detector to initialise its background image from
the current image."""
print "setFitDectBackground()"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderbackgroundurl'))
print requestStr
try:
resp, content = h.request(requestStr, "GET")
print resp, content
self.textLine1 = "Fit Detector Background Image Reset"
self.textLine2 = " Press button to reset background. Long press to change mode."
except:
print "Error:", sys.exc_info()[0]
self.textLine1 = "Error Initialising Fit Detector Background"
self.textLine2 = " Press button to reset background. Long press to change mode."
self.lastDisplayUpdateTime = time.time() #Force message to display for
# a little while before being
# overwritten.
self.display_text()
def run(self):
"""bentv main loop"""
self.lastDisplayUpdateTime = time.time()
while 1:
tnow = time.time()
self.pollButtons()
self.serviceUI()
if (tnow - self.lastDisplayUpdateTime >= 1.0):
if (self.UIMode == self.FITDECT_MODE):
self.getBenFinderData()
if (tnow - self.lastDisplayUpdateTime >= 1.0):
self.display_text()
self.lastDisplayUpdateTime = tnow
#print "main loop..."
time.sleep(0.2)
class bentv_ui:
# Basic Configuration
configFname = "config.ini"
configSection = "bentv"
debug = False
# Initialise some instance variables.
screen = None
font = None
textLine1 = "Camera_Mode"
textLine2 = "Waiting for Button Press to move camera"
presetNo = 1
presetTxt = ['NULL', 'Behind Door', 'Corner', 'Chair', 'Bed']
# UI Modes
CAMERA_MODE = 0
FITDECT_MODE = 1
# Alarms
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
statusStrs = ("OK", "Warning", "ALARM!!!", "Ben Not Found")
screenBGColours = (
(0, 0, 255), # Blue for all ok (0)
(128, 128, 0), # Yellow for warning (1)
(255, 0, 0), # Red for full alarm. (2)
(255, 0, 0), # Red for fall alarm. (3)
(128, 128, 0), # Yellow for fault (4)
(255, 0, 0), # Red for manual alarm. (5)
(128, 128, 128), # Grey for mute. (6)
)
alarmStatus = 0 # Current alarm status
# Dimensions of the status bar at the bottom of the screen.
statusBar_x = 0
statusBar_y = 380
statusbar_w = 640
statusbar_h = 100
alarmRatioThresh = 1
alarmRatio = 0
specRatio = 0
specPower = 0
alarmPhrase = ""
dataTime = ""
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(
os.path.realpath(__file__)), self.configFname)
print configPath
self.cfg = ConfigUtil(configPath, self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.debounce_ms = self.cfg.getConfigInt("debounce_ms")
self.shortpress_ms = self.cfg.getConfigInt("shortpress_ms")
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.timeDown = 0.0
self.presetNo = 1
self.shortPress = False
self.longPress = False
self.initScreen()
self.initGPIO()
self.UIMode = self.CAMERA_MODE # Next line changes mode to start in
# FITDECT_MODE.
self.changeUIMode() # Initialises the messages.
def getHostName(self):
"""Returns the hostname and IP address of the first physical
(non loopback) network interface as a tuple, using the
netifaces library..
"""
hostname = socket.gethostname()
ifList = netifaces.interfaces()
print ifList
ipAddr = "xxx.xxx.xxx.xxx"
for ifName in ifList:
print ifName
if not ifName.startswith('lo'):
print "non lo interface found ", ifName
ifInfo = netifaces.ifaddresses(ifName).get(
netifaces.AF_INET, [])
print ifInfo
if len(ifInfo) > 0:
ipAddr = ifInfo[0]['addr']
print ipAddr
return (hostname, ipAddr)
def initGPIO(self):
"""Initialise the GPIO pins - note we use GPIO pin numbers, not physical
pin numbers on rpi."""
global haveGPIO
pinNo = self.cfg.getConfigInt("gpiono")
self.pinNo = pinNo
if (self.debug): print "gpioNo = %d" % pinNo
if (haveGPIO):
GPIO.setmode(GPIO.BCM)
GPIO.setup(pinNo, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# very long debounce time to prevent presses while camera is moving.
#GPIO.add_event_detect(pinNo,
# GPIO.FALLING,
# callback=self.buttonCallback
# ,bouncetime=100)
else:
print "no GPIO - simulating camera move"
self.moveCamera(1)
self.lastButtonVal = 1
self.lastButtonTime = time.time()
def buttonCallback(self, pinNo):
""" called on falling edge - it waits for rising edge to see how long
the button press was. """
print "Button Down"
self.timeDown = time.time()
GPIO.wait_for_edge(pinNo, GPIO.RISING)
print "Button Up"
print "time of press = %f" % (time.time() - self.timeDown)
def pollButtons(self):
"""poll the buttons, and set a variable to say if we have detected
a single, double or long click."""
global haveGPIO
if (haveGPIO):
ip = GPIO.input(self.pinNo)
tnow = time.time()
if (ip != self.lastButtonVal):
print "button state changed"
if (ip):
keyPressLength = (tnow - self.lastButtonTime) * 1000. #ms
print "Keypress Length = %f sec" % (keyPressLength)
if (keyPressLength < self.debounce_ms):
print "Ignoring very short keypress"
self.shortPress = False
self.longPress = False
elif (keyPressLength < self.shortpress_ms):
print "short press"
self.shortPress = True
self.longPress = False
else:
self.shortPress = False
self.longPress = True
self.lastButtonVal = ip
self.lastButtonTime = tnow
else:
pass
# do nothing if we do not have GPIO access.
def serviceUI(self):
"""Respond to button presses."""
if (self.longPress):
if (self.UIMode == self.CAMERA_MODE):
self.moveCamera(self.pinNo)
elif (self.UIMode == self.FITDECT_MODE):
self.setFitDectBackground()
else:
print "Unrecognised UIMode %d." % self.UIMode
self.longPress = False
if (self.shortPress):
self.changeUIMode()
self.shortPress = False
def changeUIMode(self):
"""Change the UI mode - toggle between camera and fit detector"""
if (self.UIMode == self.CAMERA_MODE):
print "Entering FitDetector Mode"
self.textLine1 = "Fit Detector Mode"
self.textLine2 = " Short press to change mode."
self.UIMode = self.FITDECT_MODE
else:
print "Entering Camera Mode"
self.textLine1 = "Camera Mode"
self.textLine2 = " Press long button press to move camera. Short press to change mode."
self.UIMode = self.CAMERA_MODE
self.alarmStatus = self.ALARM_STATUS_NOT_FOUND
self.lastDisplayUpdateTime = time.time() #Force message to display for
# a little while before being
# overwritten.
self.drawStatusBar()
def drawStatusBar(self):
""" Write the given text onto the display area of the screen"""
try:
# Clear screen
self.screen.fill(self.screenBGColours[self.alarmStatus])
# Line 1 text
txtImg = self.font.render(self.textLine1, True, (255, 255, 255))
self.screen.blit(txtImg, (self.statusBar_x, self.statusBar_y))
# Line 1 time
tnow = time.localtime(time.time())
txtStr = "%02d:%02d:%02d " % (tnow[3], tnow[4], tnow[5])
w = self.font.size(txtStr)[0]
txtImg = self.font.render(txtStr, True, (255, 255, 255))
self.screen.blit(txtImg, (self.fbSize[0] - w, self.statusBar_y))
# Line 2 text
txtImg = self.smallFont.render(self.textLine2, True,
(255, 255, 255))
self.screen.blit(txtImg, (self.statusBar_x, self.statusBar_y + 20))
# Line 2 network info
txtStr = "Host: %s, IP: %s " % (self.hostname, self.ipaddr)
w = self.smallFont.size(txtStr)[0]
txtImg = self.smallFont.render(txtStr, True, (255, 255, 255))
self.screen.blit(txtImg,
(self.fbSize[0] - w, self.statusBar_y + 20))
#Draw the spectrum ratio bar graph in middle of status bar.
rx = 300
ry = self.statusBar_y
rw = 20
rh = 40
pygame.draw.rect(self.screen, (0, 0, 0), (rx, ry, rw, rh))
marginPc = 100 * self.specRatio / self.alarmRatioThresh
if marginPc > 100:
marginPc = 100
barh = rh * marginPc / 100
if barh < 2:
barh = 2
#print marginPc,barh
pygame.draw.rect(self.screen, (255, 0, 0),
(rx, ry + rh - barh, rw, barh))
pygame.display.update()
except:
print "Error in DrawStatusBar()"
def initScreen(self):
"""Initialise the display using the pygame library"""
drivers = ['x11', 'fbcon', 'svgalib']
found = False
disp_no = os.getenv("DISPLAY")
if disp_no:
print "I'm running under X display = {0}".format(disp_no)
for driver in drivers:
# Make sure that SDL_VIDEODRIVER is set
if not os.getenv('SDL_VIDEODRIVER'):
os.putenv('SDL_VIDEODRIVER', driver)
try:
pygame.display.init()
print 'Using Driver: {0}.'.format(driver)
except pygame.error:
print 'Driver: {0} failed.'.format(driver)
continue
found = True
break
if not found:
raise Exception('No suitable video driver found!')
self.fbSize = (pygame.display.Info().current_w,
pygame.display.Info().current_h)
print "Framebuffer size: %d x %d" % self.fbSize
if (disp_no):
print "Using X11 window"
winSize = (640, 480)
self.screen = pygame.display.set_mode(winSize)
self.fbSize = winSize
else:
print "Using full screen framebuffer"
self.screen = pygame.display.set_mode(self.fbSize,
pygame.FULLSCREEN)
#print "using small screen"
#winSize = (640,480)
#self.screen = pygame.display.set_mode(winSize)
#self.fbSize = winSize
print "blank screen..."
self.screen.fill((0, 0, 255))
print "initialise fonts"
pygame.font.init()
self.font = pygame.font.Font(None, 30)
self.smallFont = pygame.font.Font(None, 16)
print "calling drawStatusBar()"
self.drawStatusBar()
print "initScreen complete"
def moveCamera(self, pinNo):
"""Callback function when button is pressed"""
print('moveCamera called by pin number %d. PresetNo=%d' %
(pinNo, self.presetNo))
try:
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
#resp, content = h.request("http://192.168.1.24/preset.cgi?-act=goto&-status=1&-number=%d" % self.presetNo,"GET")
resp, content = h.request(
"%s/%s%d" %
(self.cfg.getConfigStr('camaddr'),
self.cfg.getConfigStr('cammoveurl'), self.presetNo), "GET")
print "moved to preset %d - content=%s" % (self.presetNo, content)
except:
print "Exception moving camera", sys.exc_info()[0]
self.textLine1 = "Camera Position %d (%s)" % (
self.presetNo, self.presetTxt[self.presetNo])
self.presetNo += 1
if (self.presetNo > 4): self.presetNo = 1
def getOpenSeizureDetectorData(self):
""" Use HTTP GET request to retrieve seizure detector
data from an OpenSeizureDetector web interface.
"""
#print "getOpenSeizureDetectorData"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderurl'))
#print requestStr
try:
resp, content = h.request(requestStr, "GET")
dataDict = json.loads(content)
self.alarmStatus = int(dataDict['alarmState'])
self.specPower = int(dataDict['specPower'])
self.roiPower = int(dataDict['roiPower'])
self.alarmThresh = int(dataDict['alarmThresh'])
self.alarmRatioThresh = int(dataDict['alarmRatioThresh'])
self.alarmPhrase = dataDict['alarmPhrase']
self.dataTime = dataDict['dataTime']
if (self.roiPower > self.alarmThresh):
self.specRatio = 10 * self.roiPower / self.specPower
else:
self.specRatio = 0
#print "specPower=%d, roiPower=%d, specRatio=%d" % \
# (specPower,roiPower,specRatio)
self.textLine1 = " Ratio = %d / %d (%s)" % \
(self.specRatio,self.alarmRatioThresh,
self.alarmPhrase)
#print dataDict['time_t']
self.textLine2 = " Fit Detector Time = %s " % self.dataTime
#print resp,content
return True
except:
print "getOpenSeizureDetectorData Error:", sys.exc_info()[0]
print "getOpenSeizureDetectorData Error"
self.textLine1 = "No Connection to Fit Detector"
return False
def run(self):
"""bentv main loop"""
self.lastDisplayUpdateTime = time.time()
while 1:
tnow = time.time()
self.pollButtons()
self.serviceUI()
if (tnow - self.lastDisplayUpdateTime >= 1.0):
if (self.UIMode == self.FITDECT_MODE):
self.getOpenSeizureDetectorData()
if (tnow - self.lastDisplayUpdateTime >= 1.0):
self.drawStatusBar()
self.lastDisplayUpdateTime = tnow
#print "main loop..."
time.sleep(0.2)
class runServer(object):
configFname = "config.ini"
configSection = "server"
MAXLEN = 300
def __init__(self,port = None):
print "runServer.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
if (port == None):
port = '/dev/ttyUSB0'
print "Opening Serial Connection on %s" % port
self.ser = serial.Serial(port,9600,timeout=1)
print "Waiting for serial comms to settle..."
time.sleep(2)
print "Reading first line of data, and ignoring it."
line = self.ser.readline() # throw away any part lines
print "line=%s" % line
self.start()
print "waiting for some data..."
while(self.ser.inWaiting() < 10):
print "waiting - inWaiting()=%d" % self.ser.inWaiting()
time.sleep(1)
print "wait over!"
print "ignoring a few lines for start command to register..."
for n in range(0,5):
line = self.ser.readline() # throw away any part lines
print "line=%s" % line
#Initialise data lists.
self.t=[] # initialize the data lists
self.d1=[]
self.d2=[]
self.d3=[]
self.d4=[]
self.d5=[]
self.d6=[]
# Start web server
self._ws = webServer.WebServer(self)
webServer.setRoutes(self._ws)
# Run our main loop.
self.run()
def run(self):
"""Run the main loop."""
while(True):
line = self.ser.readline() # read a line of text
mylist = line.split('\r')[0].split(",") # parse it into CSV tokens
if (mylist[0]=='data'):
print mylist
now = float(mylist[1])/1000 # time now in seconds
self.t.append(float(mylist[1])/1000) # from first element as milliseconds
self.d1.append(float(mylist[2])) # six data elements added to lists
self.d2.append(float(mylist[3]))
self.d3.append(float(mylist[4]))
self.d4.append(float(mylist[5]))
self.d5.append(float(mylist[6]))
#Trim the lists to avoid using up all the memory!
lenLists = len(self.t)
if (lenLists>self.MAXLEN):
del self.t[0:(lenLists-self.MAXLEN)]
del self.d1[0:(lenLists-self.MAXLEN)]
del self.d2[0:(lenLists-self.MAXLEN)]
del self.d3[0:(lenLists-self.MAXLEN)]
del self.d4[0:(lenLists-self.MAXLEN)]
del self.d5[0:(lenLists-self.MAXLEN)]
if(self.ser.inWaiting() < 100): # redraw only if you are caught up
plt.clf() # clear the figure
plt.plot(self.t,self.d1) # plot a line for each set of data
plt.plot(self.t,self.d2)
plt.plot(self.t,self.d3)
plt.plot(self.t,self.d4)
plt.plot(self.t,self.d5)
#plt.axis([now-300,now,min(d1)-50,max(d1)+50])
plt.axis([now-300,now,0,1000])
plt.xlabel("Time Since Boot [s]")
plt.grid(b=True, which='both', color='0.65',linestyle='-')
#plt.draw()
plt.savefig('www/out.png')
elif (mylist[0]=='Set'):
self.settingsStr = line # used by 'settings' function.
self.haveSettings = True
else:
if (len(line.split('\n')[0])>0):
print "Message %s" % line.split('\n')[0]
def setSetPoint(self,setpoint):
print "setSetPoint(%d)" % setpoint
self.ser.write("setpoint=%d" % setpoint)
def setKp(self,gain):
print "setKp(%d)" % gain
self.ser.write("kp=%d" % gain)
def setKi(self,gain):
print "setKi(%d)" % gain
self.ser.write("ki=%d" % gain)
def setKd(self,gain):
print "setKd(%d)" % gain
self.ser.write("kd=%d" % gain)
def start(self):
print "Sending start command"
self.ser.write("start")
print "returning to main loop...."
def stop(self):
print "sending stop command"
self.ser.write("stop")
def pumpstart(self):
print "Sending start command"
self.ser.write("pump=on")
print "returning to main loop...."
def pumpstop(self):
print "sending stop command"
self.ser.write("pump=off")
def settings(self):
self.haveSettings = False # Flag - set by main loop if settings received.
print "Requesting settings"
self.ser.write("settings")
print "Waiting for settings to be returned..."
# wait for main loop to set haveSettings.
while (not self.haveSettings):
pass
print "found settings: %s" % self.settingsStr
return self.settingsStr
class bentv_ui:
# Basic Configuration
configFname = "config.ini"
configSection = "bentv"
debug = False
# Initialise some instance variables.
screen = None
font = None
textLine1 = "Camera_Mode"
textLine2 = "Waiting for Button Press to move camera"
presetNo = 1
presetTxt = ['NULL','Behind Door', 'Corner', 'Chair', 'Bed']
# UI Modes
CAMERA_MODE = 0
FITDECT_MODE = 1
# Alarms
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
statusStrs = ("OK","Warning","ALARM!!!","Ben Not Found")
screenBGColours = ( (0,0,255), # Blue for all ok
(128,128,0), # Yellow for warning
(255,0,0), # Red for full alarm.
(128,128,128) # Grey for not found.
)
alarmStatus = 0 # Current alarm status
def __init__(self):
"""Initialise the bentv_ui class - reads the configuration file
and initialises the screen and GPIO monitor"""
print "bentv.__init__()"
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self.debounce_ms = self.cfg.getConfigInt("debounce_ms")
self.shortpress_ms = self.cfg.getConfigInt("shortpress_ms")
self.hostname, self.ipaddr = self.getHostName()
print self.hostname, self.ipaddr
self.timeDown = 0.0
self.presetNo = 1
self.shortPress = False
self.longPress = False
self.initScreen()
self.initGPIO()
self.UIMode = self.CAMERA_MODE # Next line changes mode to start in
# FITDECT_MODE.
self.changeUIMode() # Initialises the messages.
def getIpAddr(self,ifname):
"""Return the IP Address of the given interface (e.g 'wlan0')
from http://raspberrypi.stackexchange.com/questions/6714/how-to-get-the-raspberry-pis-ip-address-for-ssh.
"""
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15])
)[20:24])
def getHostName(self):
"""Returns the hostname and IP address of the wireless interface as a tuple.
"""
hostname = socket.gethostname()
ipaddr = self.getIpAddr("wlan0")
return (hostname,ipaddr)
def initGPIO(self):
"""Initialise the GPIO pins - note we use GPIO pin numbers, not physical
pin numbers on rpi."""
global haveGPIO
pinNo = self.cfg.getConfigInt("gpiono")
self.pinNo = pinNo
if (self.debug): print "gpioNo = %d" % pinNo
if (haveGPIO):
GPIO.setmode(GPIO.BCM)
GPIO.setup(pinNo, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# very long debounce time to prevent presses while camera is moving.
#GPIO.add_event_detect(pinNo,
# GPIO.FALLING,
# callback=self.buttonCallback
# ,bouncetime=100)
else:
print "no GPIO - simulating camera move"
self.moveCamera(1)
self.lastButtonVal = 1
self.lastButtonTime = time.time()
def buttonCallback(self,pinNo):
""" called on falling edge - it waits for rising edge to see how long
the button press was. """
print "Button Down"
self.timeDown = time.time()
GPIO.wait_for_edge(pinNo,GPIO.RISING)
print "Button Up"
print "time of press = %f" % (time.time()-self.timeDown)
def pollButtons(self):
"""poll the buttons, and set a variable to say if we have detected
a single, double or long click."""
global haveGPIO
if (haveGPIO):
ip = GPIO.input(self.pinNo)
tnow = time.time()
if (ip != self.lastButtonVal):
print "button state changed"
if (ip):
keyPressLength = (tnow - self.lastButtonTime)*1000. #ms
print "Keypress Length = %f sec" % (keyPressLength)
if (keyPressLength<self.debounce_ms):
print "Ignoring very short keypress"
self.shortPress = False
self.longPress = False
elif (keyPressLength<self.shortpress_ms):
print "short press"
self.shortPress = True
self.longPress = False
else:
self.shortPress = False
self.longPress = True
self.lastButtonVal = ip
self.lastButtonTime = tnow
else:
pass
# do nothing if we do not have GPIO access.
def serviceUI(self):
"""Respond to button presses."""
if (self.longPress):
if (self.UIMode == self.CAMERA_MODE):
self.moveCamera(self.pinNo)
elif (self.UIMode == self.FITDECT_MODE):
self.setFitDectBackground()
else:
print "Unrecognised UIMode %d." % self.UIMode
self.longPress = False
if (self.shortPress):
self.changeUIMode()
self.shortPress = False
def changeUIMode(self):
"""Change the UI mode - toggle between camera and fit detector"""
if (self.UIMode == self.CAMERA_MODE):
print "Entering FitDetector Mode"
self.textLine1 = "Fit Detector Mode"
self.textLine2 = " Press long button press to reset background. Short press to change mode."
self.UIMode = self.FITDECT_MODE
else:
print "Entering Camera Mode"
self.textLine1 = "Camera Mode"
self.textLine2 = " Press long button press to move camera. Short press to change mode."
self.UIMode = self.CAMERA_MODE
self.alarmStatus = self.ALARM_STATUS_NOT_FOUND
self.lastDisplayUpdateTime = time.time() #Force message to display for
# a little while before being
# overwritten.
self.display_text()
def display_text(self):
""" Write the given text onto the display area of the screen"""
# Clear screen
self.screen.fill(self.screenBGColours[self.alarmStatus])
# Line 1 text
txtImg = self.font.render(self.textLine1,
True,(255,255,255))
self.screen.blit(txtImg,(0,380))
# Line 1 time
tnow = time.localtime(time.time())
txtStr = "%02d:%02d:%02d " % (tnow[3],tnow[4],tnow[5])
w = self.font.size(txtStr)[0]
txtImg = self.font.render(txtStr,
True,(255,255,255))
self.screen.blit(txtImg,(self.fbSize[0]-w,380))
# Line 2 text
txtImg = self.smallFont.render(self.textLine2,
True,(255,255,255))
self.screen.blit(txtImg,(0,400))
# Line 2 network info
txtStr = "Host: %s, IP: %s " % (self.hostname, self.ipaddr)
w = self.smallFont.size(txtStr)[0]
txtImg = self.smallFont.render(txtStr,
True,
(255,255,255))
self.screen.blit(txtImg,(self.fbSize[0]-w,400))
pygame.display.update()
def initScreen(self):
"""Initialise the display using the pygame library"""
drivers = ['x11', 'fbcon', 'svgalib']
found = False
disp_no = os.getenv("DISPLAY")
if disp_no:
print "I'm running under X display = {0}".format(disp_no)
for driver in drivers:
# Make sure that SDL_VIDEODRIVER is set
if not os.getenv('SDL_VIDEODRIVER'):
os.putenv('SDL_VIDEODRIVER', driver)
try:
pygame.display.init()
print 'Using Driver: {0}.'.format(driver)
except pygame.error:
print 'Driver: {0} failed.'.format(driver)
continue
found = True
break
if not found:
raise Exception('No suitable video driver found!')
self.fbSize = (pygame.display.Info().current_w, pygame.display.Info().current_h)
print "Framebuffer size: %d x %d" % self.fbSize
if (disp_no):
print "Using X11 window"
winSize = (640,480)
self.screen = pygame.display.set_mode(winSize)
self.fbSize = winSize
else:
print "Using full screen framebuffer"
self.screen = pygame.display.set_mode(self.fbSize, pygame.FULLSCREEN)
print "blank screen..."
self.screen.fill((0, 0, 255))
print "initialise fonts"
pygame.font.init()
self.font = pygame.font.Font(None,30)
self.smallFont = pygame.font.Font(None,16)
print "calling display_text()"
self.display_text()
print "initScreen complete"
def moveCamera(self,pinNo):
"""Callback function when button is pressed"""
print('moveCamera called by pin number %d. PresetNo=%d' % (pinNo,self.presetNo))
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
#resp, content = h.request("http://192.168.1.24/preset.cgi?-act=goto&-status=1&-number=%d" % self.presetNo,"GET")
resp, content = h.request("%s/%s%d" % (self.cfg.getConfigStr('camaddr'),
self.cfg.getConfigStr('cammoveurl'),
self.presetNo),"GET")
print "moved to preset %d - content=%s" % (self.presetNo,content)
self.textLine1 = "Camera Position %d (%s)" % (self.presetNo,
self.presetTxt[self.presetNo])
self.presetNo += 1
if (self.presetNo > 4): self.presetNo = 1
def getBenFinderData(self):
#print "getBenfinderData"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderurl'))
#print requestStr
try:
resp, content = h.request(requestStr,
"GET")
dataDict = json.loads(content)
self.alarmStatus = int(dataDict['status'])
self.textLine1 = " Rate = %d bpm (status=%d - %s)" % \
(int(dataDict['rate']),
int(dataDict['status']),
self.statusStrs[int(dataDict['status'])]
)
#print dataDict['time_t']
self.textLine2 = " Fit Detector Time = %s " % dataDict['time_t']
#print resp,content
return True
except:
print "Error:",sys.exc_info()[0]
self.textLine1 = "No Connection to Fit Detector"
return False
def setFitDectBackground(self):
"""Tell the fit detector to initialise its background image from
the current image."""
print "setFitDectBackground()"
h = httplib2.Http(".cache")
h.add_credentials(self.cfg.getConfigStr('uname'),
self.cfg.getConfigStr('passwd'))
requestStr = "%s:%s/%s" % \
(self.cfg.getConfigStr('benfinderserver'),
self.cfg.getConfigStr('benfinderport'),
self.cfg.getConfigStr('benfinderbackgroundurl'))
print requestStr
try:
resp, content = h.request(requestStr,
"GET")
print resp,content
self.textLine1 = "Fit Detector Background Image Reset"
self.textLine2 = " Press button to reset background. Long press to change mode."
except:
print "Error:",sys.exc_info()[0]
self.textLine1 = "Error Initialising Fit Detector Background"
self.textLine2 = " Press button to reset background. Long press to change mode."
self.lastDisplayUpdateTime = time.time() #Force message to display for
# a little while before being
# overwritten.
self.display_text()
def run(self):
"""bentv main loop"""
self.lastDisplayUpdateTime = time.time()
while 1:
tnow = time.time()
self.pollButtons()
self.serviceUI()
if (tnow-self.lastDisplayUpdateTime >= 1.0):
if (self.UIMode == self.FITDECT_MODE):
self.getBenFinderData()
if (tnow-self.lastDisplayUpdateTime >= 1.0):
self.display_text()
self.lastDisplayUpdateTime = tnow
#print "main loop..."
time.sleep(0.2)
def __init__(self,save=False, inFile = None):
print "benFinder.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
# Check if we are running from live kinect or a file.
if (inFile):
device = depth.CV_CAP_FILE
else:
device = depth.CV_CAP_FREENECT
# Initialise the captureManager
self._captureManager = CaptureManager(
device, None, True, inFile=inFile)
self._captureManager.channel = depth.CV_CAP_OPENNI_DEPTH_MAP
# If we are runnign from a file, use the first frame as the
# background image.
if (inFile):
self.saveBgImg()
# If we have asked to save the background image, do that, and exit,
# otherwise initialise the seizure detector.
if (save):
self.saveBgImg()
else:
self.loadBgImg()
self.autoBackgroundImg = None
self._status = self.ALARM_STATUS_OK
self._ts = TimeSeries(tslen=self.cfg.getConfigInt("timeseries_length"))
self._frameCount = 0
self._outputFrameCount = 0
self._nPeaks = 0
self._ts_time = 0
self._rate = 0
self._ws = webServer.benWebServer(self)
self._ws.setBgImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("background_depth")))
self._ws.setChartImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("chart_fname")))
self._ws.setRawImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("raw_image_fname")))
self._ws.setMaskedImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("masked_image_fname")))
self._ws.setDataFname("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("data_fname")))
self._ws.setAnalysisResults({})
webServer.setRoutes(self._ws)
self.run()
class BenFinder(object):
configFname = "config.ini"
configSection = "benFinder"
ALARM_STATUS_OK = 0 # All ok, no alarms.
ALARM_STATUS_WARN = 1 # Warning status
ALARM_STATUS_FULL = 2 # Full alarm status.
ALARM_STATUS_NOT_FOUND = 3 # Benjamin not found in image
# (area below config area_threshold parameter)
def __init__(self,save=False, inFile = None):
print "benFinder.__init__()"
print os.path.realpath(__file__)
configPath = "%s/%s" % (os.path.dirname(os.path.realpath(__file__)),
self.configFname)
print configPath
self.cfg = ConfigUtil(configPath,self.configSection)
self.debug = self.cfg.getConfigBool("debug")
if (self.debug): print "Debug Mode"
self._wkdir = self.cfg.getConfigStr("working_directory")
if (self.debug): print "working_directory=%s\n" % self._wkdir
self._tmpdir = self.cfg.getConfigStr("tmpdir")
if (self.debug): print "tmpdir=%s\n" % self._tmpdir
# Check if we are running from live kinect or a file.
if (inFile):
device = depth.CV_CAP_FILE
else:
device = depth.CV_CAP_FREENECT
# Initialise the captureManager
self._captureManager = CaptureManager(
device, None, True, inFile=inFile)
self._captureManager.channel = depth.CV_CAP_OPENNI_DEPTH_MAP
# If we are runnign from a file, use the first frame as the
# background image.
if (inFile):
self.saveBgImg()
# If we have asked to save the background image, do that, and exit,
# otherwise initialise the seizure detector.
if (save):
self.saveBgImg()
else:
self.loadBgImg()
self.autoBackgroundImg = None
self._status = self.ALARM_STATUS_OK
self._ts = TimeSeries(tslen=self.cfg.getConfigInt("timeseries_length"))
self._frameCount = 0
self._outputFrameCount = 0
self._nPeaks = 0
self._ts_time = 0
self._rate = 0
self._ws = webServer.benWebServer(self)
self._ws.setBgImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("background_depth")))
self._ws.setChartImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("chart_fname")))
self._ws.setRawImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("raw_image_fname")))
self._ws.setMaskedImg("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("masked_image_fname")))
self._ws.setDataFname("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr("data_fname")))
self._ws.setAnalysisResults({})
webServer.setRoutes(self._ws)
self.run()
def run(self):
"""Run the main loop."""
while(True):
self._captureManager.enterFrame()
frame = self._captureManager.frame
if frame is not None:
if (self.autoBackgroundImg == None):
self.autoBackgroundImg = numpy.float32(frame)
rawFrame = frame.copy()
# First work out the region of interest by
# subtracting the fixed background image
# to create a mask.
#print frame
#print self._background_depth_img
absDiff = cv2.absdiff(frame,self._background_depth_img)
benMask,maskArea = filters.getBenMask(absDiff,8)
cv2.accumulateWeighted(frame,
self.autoBackgroundImg,0.05)
# Convert the background image into the same format
# as the main frame.
#bg = self.autoBackgroundImg
bg = cv2.convertScaleAbs(self.autoBackgroundImg,
alpha=1.0)
# Subtract the background from the frame image
cv2.absdiff(frame,bg,frame)
# Scale the difference image to make it more sensitive
# to changes.
cv2.convertScaleAbs(frame,frame,alpha=100)
# Apply the mask so we only see the test subject.
frame = cv2.multiply(frame,benMask,dst=frame,dtype=-1)
if (maskArea <= self.cfg.getConfigInt('area_threshold')):
bri=(0,0,0)
else:
# Calculate the brightness of the test subject.
bri = filters.getMean(frame,benMask)
# Add the brightness to the time series ready for analysis.
self._ts.addSamp(bri[0])
self._ts.addImg(rawFrame)
# Write timeseries to a file every 'output_framecount' frames.
if (self._outputFrameCount >= self.cfg.getConfigInt('output_framecount')):
# Write timeseries to file
self._ts.writeToFile("%s/%s" % \
( self.cfg.getConfigStr('output_directory'),
self.cfg.getConfigStr('ts_fname')
))
self._outputFrameCount = 0
else:
self._outputFrameCount = self._outputFrameCount + 1
# Only do the analysis every 15 frames (0.5 sec), or whatever
# is specified in configuration file analysis_framecount
# parameter.
if (self._frameCount < self.cfg.getConfigInt('analysis_framecount')):
self._frameCount = self._frameCount +1
else:
# Look for peaks in the brightness (=movement).
self._nPeaks,self._ts_time,self._rate = self._ts.findPeaks()
#print "%d peaks in %3.2f sec = %3.1f bpm" % \
# (nPeaks,ts_time,rate)
oldStatus = self._status
if (maskArea > self.cfg.getConfigInt('area_threshold')):
# Check for alarm levels
if (self._rate > self.cfg.getConfigInt(
"rate_warn")):
self._status= self.ALARM_STATUS_OK
elif (self._rate > self.cfg.getConfigInt(
"rate_alarm")):
self._status= self.ALARM_STATUS_WARN
else:
self._status= self.ALARM_STATUS_FULL
else:
self._status = self.ALARM_STATUS_NOT_FOUND
if (oldStatus == self.ALARM_STATUS_OK and
self._status == self.ALARM_STATUS_WARN) or \
(oldStatus == self.ALARM_STATUS_WARN and
self._status == self.ALARM_STATUS_FULL):
# Write timeseries to file
self._ts.writeToFile("%s/%s" % \
( self.cfg.getConfigStr('output_directory'),
self.cfg.getConfigStr('alarm_ts_fname')
),bgImg=self._background_depth_img)
# Collect the analysis results together and send them
# to the web server.
resultsDict = {}
resultsDict['fps'] = "%3.0f" % self.fps
resultsDict['bri'] = "%4.0f" % self._ts.mean
resultsDict['area'] = "%6.0f" % maskArea
resultsDict['nPeaks'] = "%d" % self._nPeaks
resultsDict['ts_time'] = self._ts_time
resultsDict['rate'] = "%d" % self._rate
resultsDict['time_t'] = time.ctime()
resultsDict['status'] = self._status
self._ws.setAnalysisResults(resultsDict)
# Write the results to file as a json string
utils.writeJSON(resultsDict,"%s/%s" % \
(self._tmpdir,
self.cfg.getConfigStr("data_fname")))
utils.writeLog(resultsDict,"%s/%s" % \
(self._tmpdir,
"benFinder_alarms.log"))
# Plot the graph of brightness, and save the images
# to disk.
self._ts.plotRawData(
file=True,
fname="%s/%s" % \
(self._tmpdir,self.cfg.getConfigStr("chart_fname")))
cv2.imwrite("%s/%s" % (self._tmpdir,
self.cfg.getConfigStr(
"raw_image_fname")),
rawFrame)
cv2.imwrite("%s/%s" % (self._tmpdir,self.cfg.getConfigStr(
"masked_image_fname")),
frame)
self._frameCount = 0
else:
print "Null frame received - assuming end of file and exiting"
break
self._captureManager.exitFrame()
@property
def fps(self):
return self._captureManager.fps
@property
def nPeaks(self):
return self._nPeaks
@property
def ts_time(self):
return self._ts_time
@property
def rate(self):
return self._rate
@property
def rawImgFname(self):
return self.cfg.getConfigStr("raw_image_fname")
@property
def maskedImgFname(self):
return self.cfg.getConfigStr("masked_image_fname")
@property
def chartImgFname(self):
return self.cfg.getConfigStr("chart_fname")
def saveBgImg(self):
""" Write a new background image to the appropriate file location."""
if (self._captureManager.hasEnteredFrame):
self._captureManager.exitFrame()
self._captureManager.enterFrame()
print "Writing image to %s." % self.cfg.getConfigStr("background_depth")
self._captureManager.writeImage("%s/%s" %
(self._wkdir,
self.cfg.getConfigStr("background_depth")
))
print self._captureManager.frame
print self._captureManager.frame.dtype
self._captureManager.exitFrame()
self.loadBgImg()
def loadBgImg(self):
print "Loading background image %s/%s." % \
(self._wkdir,self.cfg.getConfigStr("background_depth"))
self._background_depth_img = cv2.imread("%s/%s" % \
(self._wkdir,self.cfg.getConfigStr("background_depth")),
cv2.CV_LOAD_IMAGE_GRAYSCALE)
# cv2.CV_LOAD_IMAGE_UNCHANGED)
print self._background_depth_img
print self._background_depth_img.dtype