def __init__(self, p1: MapPoint, p2: MapPoint, s: int):
"""
:param p1:
:type p1: MapPoint
:param p2:
:type p2: MapPoint
:param s:
:type s: int
"""
self.p1 = p1
self.p2 = p2
self.scale = min(s, 18)
self.ta = []
self.xMin = None
self.xMax = None
self.yMin = None
self.yMax = None
self.tile_x_min = None
self.tile_x_max = None
self.tile_y_min = None
self.tile_y_max = None
self.width = None
self.height = None
self.genTileArray()
if self.width > 5 or self.height > 5:
LOGGER.warning(f"Large map ({self.width}x{self.height} tiles)")
def _run(self):
LOGGER.debug(
f"SIM connection started (device_address={self.device_address})")
try:
while True:
id = self.stdout.read(1)[0] # Returns 0 if process was killed
if id not in SimConnection.packetHandlers.keys():
LOGGER.error(
f"SIM protocol violation!!! Shutting down. (device_address={self.device_address})"
)
for b in self.stdout.getHistory():
LOGGER.error(hex(b[0]))
LOGGER.error("^^^^ violation.")
return
# Call packet handler
SimConnection.packetHandlers[id](self)
except Exception as ex:
with self._shutdown_lock:
if not self._is_shutting_down:
LOGGER.exception(
f"Error in SIM connection. (device_address={self.device_address})"
)
LOGGER.warning(
f"SIM connection thread shut down (device_address={self.device_address})"
)
def timer(self):
"""
"""
LOGGER.debug("Auto-save thread started")
while True:
with self.as_cv:
self.as_cv.wait_for(lambda: self._as_is_shutting_down,
timeout=AUTOSAVE_INTERVAL_S)
if self._as_is_shutting_down:
break
try:
t1 = time.perf_counter()
self.save(self.session_name)
t2 = time.perf_counter()
# LOGGER.debug("Auto-Save Successful.")
LOGGER.debug(f"Successfully Auto-Saved in {t2 - t1} seconds.")
except Exception as e:
LOGGER.exception(
"Exception in autosave thread"
) # Automatically grabs and prints exception info
LOGGER.warning("Auto save thread shut down")
def _run(self) -> None:
"""
"""
with self.cv:
LOGGER.debug(
f"Debug connection thread started (device_address={self.device_address})"
)
while True:
self.cv.wait_for(lambda: self._is_shutting_down,
timeout=PACKET_INTERVAL_S)
if self._is_shutting_down:
break
if not self.callback:
continue
full_arr: bytearray = bytearray()
# full_arr.extend(self.config_mock_set_values())
# full_arr.extend(self.message_mock_set_values())
full_arr.extend(self.bulk_sensor_mock_random())
# full_arr.extend(self.bad_subpacket_id_mock()) # bad id, to see handling of itself and remaining data
full_arr.extend(self.gps_mock_random())
full_arr.extend(self.orientation_mock_random())
self.receive(full_arr)
LOGGER.warning(
f"Debug connection thread shut down (device_address={self.device_address})"
)
def _handleRadio(self):
length = self._getLength()
if length == 0:
LOGGER.warning(f"Empty SIM radio packet received (device_address={self.device_address})")
data = self.stdout.read(length)
self._xbee.recieved_from_rocket(data)
def _parse_tx_request_frame(self, data, frame_len) -> None:
"""
:brief: Parses a TX Request frame, and passes a TX Status packet to the rocket.
:param data: Iterable
:param frame_len: length as defined in XBee protocol
"""
calculated_checksum = FrameType.TX_REQUEST.value # Checksum includes frame type
frame_id = next(data)
calculated_checksum += frame_id
destination_address = bytearray()
for _ in range(8): # 64 bit destination address
b = next(data)
destination_address.append(b)
calculated_checksum += b
# Reserved 2 bytes. But in one case it's labelled as network address?
network_addr_msb = next(data)
calculated_checksum += network_addr_msb
network_addr_lsb = next(data)
calculated_checksum += network_addr_lsb
broadcast_radius = next(data) # Broadcast radius - not used
calculated_checksum += broadcast_radius
transmit_options = next(data)
calculated_checksum += transmit_options
payload = bytearray()
for _ in range(frame_len - 14):
b = next(data)
payload.append(b)
calculated_checksum += b
received_checksum = next(data)
calculated_checksum = 0xFF - (calculated_checksum & 0xFF
) # As per XBee's spec
if received_checksum != calculated_checksum:
raise ChecksumMismatchError()
if destination_address == bytearray(
self.gs_address) or destination_address == bytearray(
XBEE_BROADCAST_ADDRESS):
self.ground_callback(payload)
else:
LOGGER.warning(
f"Discarding tx request frame with destination address other than GS ({destination_address.hex()})"
)
# Send acknowledge
status_payload = bytearray(
(frame_id, network_addr_msb, network_addr_lsb, 0, 0, 0))
self.rocket_callback(
self._create_frame(FrameType.TX_STATUS, status_payload))
def run(self):
"""
"""
LOGGER.debug("Send thread started")
# TODO : Once we have multiple connections, we will loop over and send a config request to each
# Starting up, request hello/ha ndshake/identification
for connection in self.connections.values():
try:
connection.broadcast(self.command_parser.broadcast_data(CommandType.CONFIG))
except Exception as ex:
LOGGER.exception("Exception in send thread while sending config requests")
while True:
try:
message = self.commandQueue.get(block=True, timeout=None) # Block until something new
self.commandQueue.task_done()
if message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
try:
(device, command, data) = self.command_parser.pase_command(message)
except CommandParsingError as ex:
LOGGER.error(f"Error parsing command: {str(ex)}")
continue
full_address = self.device_manager.get_full_address(device)
if full_address is None:
LOGGER.error(f"Device not yet connected: {device.name}")
continue
connection = self.connections[full_address.connection_name]
LOGGER.info(f"Sending command {command.name} to device {device.name} ({full_address})")
connection.send(full_address.device_address, data)
LOGGER.info("Sent command!")
COMMAND_SENT_EVENT.increment()
except TimeoutException: # TODO: Connection should have converted this to a generic exception for decoupling
LOGGER.error("Message timed-out!")
except queue.Empty:
pass
except Exception as ex:
LOGGER.exception("Unexpected error while sending!") # Automatically grabs and prints exception info
LOGGER.warning("Send thread shut down")
def run(self) -> None:
"""
"""
LOGGER.debug("Mapping thread started")
last_latitude = None
last_longitude = None
last_desired_size = None
last_update_time = 0
while True:
with self.cv:
self.cv.wait() # CV lock is released while waiting
if self._is_shutting_down:
break
try:
# Prevent update spam
current_time = time.time()
if current_time - last_update_time < 0.5:
time.sleep(0.5)
# copy location values to use, to keep the values consistent in synchronous but adjacent calls
latitude = self.rocket_data.last_value_by_device(
self.device, DataEntryIds.LATITUDE)
longitude = self.rocket_data.last_value_by_device(
self.device, DataEntryIds.LONGITUDE)
desired_size = self.getDesiredMapSize()
# Prevent unnecessary work while no location data is received
if latitude is None or longitude is None:
continue
# Prevent unnecessary work while data hasnt changed
if (latitude, longitude,
desired_size) == (last_latitude, last_longitude,
last_desired_size):
continue
if self.plotMap(latitude, longitude, DEFAULT_RADIUS,
DEFAULT_ZOOM):
# notify UI that new data is available to be displayed
self.sig_received.emit()
else:
continue
last_latitude = latitude
last_longitude = longitude
last_update_time = current_time
last_desired_size = desired_size
except Exception:
LOGGER.exception(
"Error in map thread loop"
) # Automatically grabs and prints exception info
LOGGER.warning("Mapping thread shut down")
def register_device(self, device_type: DeviceType, device_version: str,
full_address: FullAddress) -> None:
with self._lock:
if device_type not in self._device_type_to_device and full_address not in self._full_address_to_device:
pass
elif device_type in self._device_type_to_device and full_address != self._device_type_to_device[
device_type].full_address:
raise InvalidRegistration(
f"Cannot reassign device_type={device_type.name} (full_address={self._device_type_to_device[device_type].full_address}) to full_address={full_address}"
)
elif full_address in self._full_address_to_device and device_type != self._full_address_to_device[
full_address].device_type:
raise InvalidRegistration(
f"Cannot reassign full_address={full_address} (device={self._full_address_to_device[full_address].device_type}) to device={device_type}"
)
else:
LOGGER.info(
f"Already registered. Device={device_type.name}, full_address={full_address}"
)
return
if device_type in self.required_versions and device_version != self.required_versions[
device_type]:
error_str = f"Version {device_version} does not match required version {self.required_versions[device_type]} for device {device_type.name}"
if self.strict_versions:
raise InvalidDeviceVersion(error_str)
else:
LOGGER.warning(error_str)
self._device_type_to_device[device_type] = RegisteredDevice(
device_type=device_type, full_address=full_address)
self._full_address_to_device = {
d.full_address: d
for d in self._device_type_to_device.values()
}
# If two devices somehow have the same full address, mapping wont be one-to-one.
assert len(self._device_type_to_device) == len(
self._full_address_to_device)
if device_type in self.expected_devices:
LOGGER.info(
f"Registered expected device={device_type.name}, full_address={full_address}, {self.num_expected_registered()}/{len(self.expected_devices)} expected devices"
)
else:
LOGGER.warning(
f"Registered unexpected device={device_type.name}, full_address={full_address}, {self.num_expected_registered()}/{len(self.expected_devices)} expected devices"
)
DEVICE_REGISTERED_EVENT.increment()
def setViewedDevice(self, devices) -> None:
"""
:param devices
:type devices: list of rocket devices
"""
with self.cv:
self.viewed_devices = devices
for device in self.viewed_devices:
if self.rocket_data.last_value_by_device(
device, DataEntryIds.LATITUDE) is None:
LOGGER.warning("Data unavailable for {}".format(
device.name))
self.notify()
def _run_rocket_rx(self) -> None:
"""
:brief: Process the incoming rocket data queue.
This is the top level function, and handles any unescaped start delimiters.
"""
LOGGER.debug(f"Xbee sim thread started")
while True:
try:
start = next(self._rocket_rx_queue)
assert start == START_DELIMITER
self._parse_API_frame()
except UnescapedDelimiterError:
LOGGER.warning("Caught UnescapedDelimiterError exception")
continue # drop it and try again
except ShuttingDown:
break
LOGGER.warning("Xbee sim thread shut down")
def processMap(requestQueue, resultQueue):
"""To be run in a new process as the stitching and resizing is a CPU bound task
:param requestQueue:
:type requestQueue: Queue
:param resultQueue:
:type resultQueue: Queue
"""
# On Windows, process forking does not copy globals and thus all packeges are re-imported. Not for threads
# though.
# Note: This means that on Windows the logger will create one log file per process because the session ID
# is based on the import time
# https://docs.python.org/3/library/multiprocessing.html#logging
# TODO: Fix by creating .session file which contains session ID and other
# process-global constants. Look into file-locks to make this multiprocessing safe. This is an OS feature
LOGGER.debug("Mapping process started")
while True:
try:
request = requestQueue.get()
if request is None: # Shutdown request
break
(p0, p1, p2, zoom, desiredSize) = request
location = mapbox_utils.TileGrid(p1, p2, zoom)
location.downloadArrayImages()
largeMapImage = location.genStitchedMap()
x_min, x_max, y_min, y_max = location.xMin, location.xMax, location.yMin, location.yMax
if desiredSize is None:
resizedMapImage = largeMapImage
else:
if desiredSize[0] / desiredSize[1] > abs(p1.x - p2.x) / abs(
p1.y - p2.y): # Wider aspect ratio
x_crop_size = (abs(p1.x - p2.x) * largeMapImage.shape[1]
) / (location.xMax - location.xMin)
y_crop_size = (x_crop_size *
desiredSize[1]) / desiredSize[0]
else: # Taller aspect ratio
y_crop_size = (abs(p1.y - p2.y) * largeMapImage.shape[0]
) / (location.yMax - location.yMin)
x_crop_size = (y_crop_size *
desiredSize[0]) / desiredSize[1]
center_x = (
(p0.x - location.xMin) *
largeMapImage.shape[1]) / (location.xMax - location.xMin)
center_y = (
(p0.y - location.yMin) *
largeMapImage.shape[0]) / (location.yMax - location.yMin)
# Crop image centered around p0 (point of interest) and at the desired aspect ratio.
# Crop is largest possible within rectangle defined by p1 & p2
x_crop_start = round(center_x - x_crop_size / 2)
x_crop_end = round(x_crop_start + x_crop_size)
y_crop_start = round(center_y - y_crop_size / 2)
y_crop_end = round(y_crop_start + y_crop_size)
croppedMapImage = largeMapImage[y_crop_start:y_crop_end,
x_crop_start:x_crop_end]
# Check obtained desired aspect ratio (within one pixel)
assert abs(x_crop_size / y_crop_size -
desiredSize[0] / desiredSize[1]) < 1 / max(
croppedMapImage.shape[0:2])
assert croppedMapImage.shape[1] == round(x_crop_size)
assert croppedMapImage.shape[0] == round(y_crop_size)
x_min, x_max, y_min, y_max = min(p1.x, p2.x), max(
p1.x, p2.x), min(p1.y, p2.y), max(p1.y, p2.y)
if croppedMapImage.shape[1] < desiredSize[0]:
# Dont scale up the image. Waste of memory.
resizedMapImage = croppedMapImage
else:
# Downsizing the map here to the ideal size for the plot reduces the amount of work required in the
# main thread and thus reduces stuttering
resizedMapImage = np.array(
Image.fromarray(croppedMapImage).resize(
(desiredSize[0], desiredSize[1]
))) # x,y order is opposite for resize
resultQueue.put((resizedMapImage, x_min, x_max, y_min, y_max))
except Exception as ex:
LOGGER.exception("Exception in processMap process"
) # Automatically grabs and prints exception info
resultQueue.put(None)
resultQueue.cancel_join_thread()
requestQueue.cancel_join_thread()
resultQueue.close()
requestQueue.close()
LOGGER.warning("Mapping process shut down")
def run(self):
"""
"""
LOGGER.debug("Send thread started")
# TODO : Once we have multiple connections, we will loop over and send a config request to each
# Starting up, request hello/ha ndshake/identification
for connection in self.connections.values():
try:
connection.broadcast(bytes([CommandType.CONFIG.value]))
except Exception as ex:
LOGGER.exception(
"Exception in send thread while sending config requests")
while True:
try:
message = self.commandQueue.get(
block=True, timeout=None) # Block until something new
self.commandQueue.task_done()
if message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
message_parts = message.split('.')
if len(message_parts) != 2:
LOGGER.error("Bad command format")
continue
(device_str, command_str) = message_parts
try:
device = DeviceType[device_str.upper()]
except KeyError:
LOGGER.error(f"Unknown device: {device_str}")
continue
full_address = self.device_manager.get_full_address(device)
if full_address is None:
LOGGER.error(f"Device not yet connected: {device.name}")
continue
connection = self.connections[full_address.connection_name]
try:
command = CommandType[command_str.upper()]
except KeyError:
LOGGER.error(f"Unknown command {command_str}")
continue
LOGGER.info(
f"Sending command {command} to device {device.name} ({full_address})"
)
data = bytes([command.value])
connection.send(full_address.device_address, data)
LOGGER.info("Sent command!")
COMMAND_SENT_EVENT.increment()
except TimeoutException: # TODO: Connection should have converted this to a generic exception for decoupling
LOGGER.error("Message timed-out!")
except queue.Empty:
pass
except Exception as ex:
LOGGER.exception(
"Unexpected error while sending!"
) # Automatically grabs and prints exception info
LOGGER.warning("Send thread shut down")
def run(self):
"""This thread loop waits for new data and processes it when available"""
LOGGER.debug("Read thread started")
while True:
connection_message = self.dataQueue.get(
block=True, timeout=None) # Block until something new
self.dataQueue.task_done()
if connection_message is None: # Either received None or woken up for shutdown
with self._shutdown_lock:
if self._is_shutting_down:
break
else:
continue
connection = connection_message.connection
full_address = FullAddress(
connection_name=self.connection_to_name[connection],
device_address=connection_message.device_address)
data = connection_message.data
byte_stream: BytesIO = BytesIO(data)
# Get length of bytes (without using len(data) for decoupling)
byte_stream.seek(0, SEEK_END)
end = byte_stream.tell()
byte_stream.seek(0)
# Iterate over stream to extract subpackets where possible
while byte_stream.tell() < end:
try:
self.packet_parser.set_endianness(
connection.isIntBigEndian(),
connection.isFloatBigEndian())
parsed_data: Dict[DataEntryIds,
any] = self.packet_parser.extract(
byte_stream)
if DataEntryIds.DEVICE_TYPE in parsed_data and DataEntryIds.VERSION_ID in parsed_data:
self.device_manager.register_device(
parsed_data[DataEntryIds.DEVICE_TYPE],
parsed_data[DataEntryIds.VERSION_ID], full_address)
elif DataEntryIds.DEVICE_TYPE in parsed_data:
LOGGER.warning(
'Received DEVICE_TYPE but not VERSION_ID')
elif DataEntryIds.VERSION_ID in parsed_data:
LOGGER.warning(
'Received VERSION_ID but not DEVICE_TYPE')
self.rocket_data.add_bundle(full_address, parsed_data)
# notify UI that new data is available to be displayed
self.sig_received.emit()
except Exception as e:
LOGGER.exception("Error decoding new packet! %s", e)
# Just discard rest of data TODO Review policy on handling remaining data or problem packets. Consider data errors too
byte_stream.seek(0, SEEK_END)
CONNECTION_MESSAGE_READ_EVENT.increment()
LOGGER.warning("Read thread shut down")
