def test_delegate():
channel = Channel(uri=URI, exchange=EXCHANGE)
service = ServiceProvider(channel)
service.delegate("MyService", my_service, Struct, Int64Value)
with pytest.raises(RuntimeError):
service.delegate("MyService", my_service, Struct, Int64Value)
channel.close()
def test_serve():
channel = Channel(uri=URI, exchange=EXCHANGE)
service = ServiceProvider(channel)
topic = "MyService"
service.delegate(topic, my_service, Struct, Int64Value)
subscription = Subscription(channel)
sent = Message(content="body".encode('latin'))
channel.publish(sent, topic=subscription.name)
recv = channel.consume(timeout=1.0)
assert recv.subscription_id == subscription.id
# Trying to serve a message from another subscription should fail
assert service.should_serve(recv) is False
with pytest.raises(RuntimeError):
service.serve(recv)
sent.topic = topic
channel.publish(message=sent)
recv = channel.consume(timeout=1.0)
assert service.should_serve(recv) is True
service.serve(recv)
channel.close()
class BrokerEvents(object):
def __init__(self, broker_uri, management_uri, log_level):
self.log = Logger(name="BrokerEvents", level=log_level)
self.log.debug("broker_uri='{}'", broker_uri)
self.channel = Channel(broker_uri)
self.subscription = Subscription(self.channel)
self.subscription.subscribe(topic="binding.*")
self.log.debug("management_uri='{}'", management_uri)
self.consumers = self.query_consumers_http(management_uri)
def run(self):
while True:
msg = self.channel.consume()
self.log.debug("topic='{}' metadata={}", msg.topic, msg.metadata)
if msg.metadata["destination_kind"] != "queue" or \
msg.metadata["source_name"] != "is":
continue
event = msg.topic.split('.')[-1]
topic = msg.metadata["routing_key"]
queue = msg.metadata["destination_name"]
if event == "created":
self.consumers.info[topic].consumers.append(queue)
elif event == "deleted":
self.consumers.info[topic].consumers.remove(queue)
if len(self.consumers.info[topic].consumers) == 0:
del self.consumers.info[topic]
self.log.info("event='{}' topic='{}' queue='{}'", event, topic,
queue)
self.channel.publish(
Message(content=self.consumers),
topic="BrokerEvents.Consumers",
)
@staticmethod
def query_consumers_http(management_uri):
reply = requests.get(management_uri + "/api/bindings")
if reply.status_code != 200:
why = "Failed to query management API, code={}".format(
reply.status_code)
raise RuntimeError(why)
bindings = reply.json()
bindings = [
b for b in bindings
if b["destination_type"] == "queue" and b["source"] == "is"
]
consumers = ConsumerList()
for b in bindings:
consumers.info[b["routing_key"]].consumers.append(b["destination"])
return consumers
def __init__(self, *args, **kwargs):
self.ICMP_ECHO_REQUEST = 8
self.icmp_seq = 1
self.packet_loss = 0
self.loss_perc = 0
self.last_seq = 0
self.delay_list = []
self.file = open("ping_result.txt", "w")
self.connection = Channel(**kwargs)
self.status = PingStatus()
def __init__(self, broker_uri, management_uri, log_level):
self.log = Logger(name="BrokerEvents", level=log_level)
self.log.debug("broker_uri='{}'", broker_uri)
self.channel = Channel(broker_uri)
self.subscription = Subscription(self.channel)
self.subscription.subscribe(topic="binding.*")
self.log.debug("management_uri='{}'", management_uri)
self.consumers = self.query_consumers_http(management_uri)
def test_multi_subscription():
channel = Channel(uri=URI, exchange=EXCHANGE)
message = Message()
subscription1 = Subscription(channel)
subscription2 = Subscription(channel)
channel.publish(message, topic=subscription1.name)
recv = channel.consume(timeout=1.0)
assert recv.subscription_id == subscription1.name
channel.publish(message, topic=subscription2.name)
recv = channel.consume(timeout=1.0)
assert recv.subscription_id == subscription2.name
channel.close()
def test_negative_timeout():
channel = Channel(uri=URI, exchange=EXCHANGE)
with pytest.raises(AssertionError):
channel.consume(timeout=-1e-10)
with pytest.raises(socket.timeout):
channel.consume(timeout=0)
channel.close()
def main():
service_name = 'SkeletonsDetector.Detect'
op = load_options()
sd = RPCSkeletonsDetector(op)
log = Logger(name=service_name)
channel = Channel(op.broker_uri)
log.info('Connected to broker {}', op.broker_uri)
provider = ServiceProvider(channel)
provider.add_interceptor(LogInterceptor())
max_batch_size = max(100, op.zipkin_batch_size)
exporter = ZipkinExporter(
service_name=service_name,
host_name=op.zipkin_host,
port=op.zipkin_port,
transport=BackgroundThreadTransport(max_batch_size=max_batch_size),
)
tracing = TracingInterceptor(exporter=exporter)
provider.delegate(topic='SkeletonsDetector.Detect',
function=partial(RPCSkeletonsDetector.detect, sd),
request_type=Image,
reply_type=ObjectAnnotations)
provider.run()
class TransformationFetcher:
def __init__(self, broker_uri=None):
self.channel = Channel() if broker_uri is None else Channel(broker_uri)
self.subscription = Subscription(self.channel)
self.transformations = {}
def get_transformation(self, _from, _to):
if _from in self.transformations and _to in self.transformations[_from]:
return self.transformations[_from][_to]
if self._request_transformation(_from, _to):
return self.transformations[_from][_to]
return None
def _request_transformation(self, _from, _to):
topic = 'FrameTransformation.{}.{}'.format(_from, _to)
self.subscription.subscribe(topic)
try:
msg = self.channel.consume(timeout=5.0)
self.subscription.unsubscribe(topic)
except:
self.subscription.unsubscribe(topic)
return False
transformation = msg.unpack(FrameTransformation)
if _from not in self.transformations:
self.transformations[_from] = {}
self.transformations[_from][_to] = to_np(transformation.tf)
return True
def test_channel():
channel = Channel(uri=URI, exchange=EXCHANGE)
subscription = Subscription(channel)
subscription.subscribe("MyTopic.Sub.Sub")
struct = Struct()
struct.fields["value"].number_value = 666.0
sent = Message(struct)
sent.reply_to = subscription
sent.created_at = int(1000 * now()) / 1000.0
sent.timeout = 1.0
sent.topic = "MyTopic.Sub.Sub"
channel.publish(message=sent)
received = channel.consume(timeout=1.0)
assert sent.reply_to == received.reply_to
assert sent.subscription_id == received.subscription_id
assert sent.content_type == received.content_type
assert sent.body == received.body
assert sent.status == received.status
assert sent.topic == received.topic
assert sent.correlation_id == received.correlation_id
assert sent.timeout == received.timeout
assert sent.metadata == received.metadata
assert sent.created_at == received.created_at
assert str(sent) == str(received)
struct2 = received.unpack(Struct)
assert str(struct) == str(struct2)
assert struct == struct2
channel.close()
def main(_argv):
# Connect to the broker
broker = "ampq://*****:*****@10.10.2.1:30000"
channel = Channel(broker)
# Subscribe to the desired topic
subscription = Subscription(channel)
camera_id = "CameraGateway." + FLAGS.camera + ".Frame"
subscription.subscribe(topic=camera_id)
if FLAGS.tiny:
yolo = YoloV3Tiny()
else:
yolo = YoloV3()
yolo.load_weights(FLAGS.weights)
logging.info('weights loaded')
class_names = [c.strip() for c in open(FLAGS.classes).readlines()]
logging.info('classes loaded')
msg = channel.consume()
img = msg.unpack(Image)
img = get_np_image(img)
img_to_draw = img
#img = tf.image.decode_image(img, channels=3)
img = tf.expand_dims(img, 0)
img = transform_images(img, FLAGS.size)
t1 = time.time()
boxes, scores, classes, nums = yolo(img)
t2 = time.time()
logging.info('time: {}'.format(t2 - t1))
logging.info('detections:')
for i in range(nums[0]):
logging.info('\t{}, {}, {}'.format(class_names[int(classes[0][i])],
np.array(scores[0][i]),
np.array(boxes[0][i])))
img_to_draw = draw_outputs(img_to_draw, (boxes, scores, classes, nums),
class_names)
cv2.imwrite(FLAGS.output, img_to_draw)
logging.info('output saved to: {}'.format(FLAGS.output))
def test_propagation():
topic = "span_test"
channel = Channel(uri=URI, exchange=EXCHANGE)
subscription = Subscription(channel)
subscription.subscribe(topic)
tracer = Tracer()
with tracer.span(name="span_name") as span:
span_id = span.span_id
message = Message()
message.body = "body".encode('latin1')
message.inject_tracing(span)
channel.publish(topic=topic, message=message)
message2 = channel.consume(timeout=1.0)
span_context = message2.extract_tracing()
assert span_context.span_id == span_id
assert span_context.trace_id == tracer.tracer.span_context.trace_id
def test_rpc():
channel = Channel(uri=URI, exchange=EXCHANGE)
service = ServiceProvider(channel)
service.add_interceptor(LogInterceptor())
service.delegate("MyService", my_service, Struct, Int64Value)
subscription = Subscription(channel)
def request_serve_consume(number):
struct = Struct()
struct.fields["value"].number_value = number
message = Message(struct)
message.reply_to = subscription
message.pack(struct)
channel.publish(topic="MyService", message=message)
request = channel.consume(timeout=1.0)
assert request.body == message.body
service.serve(request)
assert request.unpack(Struct) == struct
return channel.consume(timeout=1.0)
reply = request_serve_consume(90.0)
int64 = reply.unpack(Int64Value)
assert int64.value == 90
assert reply.status.ok() is True
reply = request_serve_consume(666.0)
assert reply.status.ok() is False
assert reply.status.code == StatusCode.FAILED_PRECONDITION
reply = request_serve_consume(10.0)
assert reply.status.ok() is False
assert reply.status.code == StatusCode.INTERNAL_ERROR
channel.close()
def test_body(size):
channel = Channel(uri=URI, exchange=EXCHANGE)
subscription = Subscription(channel)
subscription.subscribe("MyTopic.Sub.Sub")
sent = Message()
sent.reply_to = subscription
sent.topic = "MyTopic.Sub.Sub"
sent.body = bytes(bytearray(range(256)) * int(size))
channel.publish(message=sent)
received = channel.consume(timeout=1.0)
assert repr(sent.body) == repr(received.body)
assert sent.body == received.body
channel.close()
def main():
service_name = 'FaceDetector.Detect'
log = Logger(name=service_name)
op = load_options()
detector = RPCFaceDetector(op.model)
channel = Channel(op.broker_uri)
log.info('Connected to broker {}', op.broker_uri)
provider = ServiceProvider(channel)
provider.add_interceptor(LogInterceptor())
exporter = create_exporter(service_name=service_name, uri=op.zipkin_uri)
tracing = TracingInterceptor(exporter=exporter)
provider.add_interceptor(tracing)
provider.delegate(topic='FaceDetector.Detect',
function=detector.detect,
request_type=Image,
reply_type=ObjectAnnotations)
provider.run()
def run(self, id, broker_uri):
service_name = "CameraGateway.{}".format(id)
channel = Channel(broker_uri)
server = ServiceProvider(channel)
logging = LogInterceptor()
server.add_interceptor(logging)
server.delegate(topic=service_name + ".GetConfig",
request_type=FieldSelector,
reply_type=CameraConfig,
function=self.get_config)
server.delegate(topic=service_name + ".SetConfig",
request_type=CameraConfig,
reply_type=Empty,
function=self.set_config)
self.driver.start_capture()
self.logger.info("Listening for requests")
while True:
image = self.driver.grab_image()
channel.publish(Message(content=image),
topic=service_name + ".Frame")
pose = self.driver.get_pose()
frameTransList = FrameTransformations()
frameTransList.tfs.extend([pose])
channel.publish(Message(content=frameTransList),
topic=service_name + ".FrameTransformations")
try:
message = channel.consume(timeout=0)
if server.should_serve(message):
server.serve(message)
except socket.timeout:
pass
from is_wire.core import Channel, Subscription, Message
from is_msgs.robot_pb2 import RobotConfig
import json
import time
options = json.load(open("../etc/conf/options.json"))
channel = Channel(options["broker_uri"])
subscription = Subscription(channel)
rid = options["robot_parameters"]["id"]
for i in range(10):
config = RobotConfig()
config.speed.linear = -0.2
set_req = Message(content=config, reply_to=subscription)
channel.publish(topic="RobotGateway.{}.SetConfig".format(rid),
message=set_req)
set_rep = channel.consume(timeout=0.05)
print("set:", set_rep.status)
get_req = Message(reply_to=subscription)
channel.publish(topic="RobotGateway.{}.GetConfig".format(rid),
message=get_req)
get_rep = channel.consume(timeout=0.05)
print("get:", get_rep.status, get_rep.unpack(RobotConfig))
time.sleep(0.1)
config = RobotConfig()
config.speed.linear = 0.0
set_config_req = Message(content=config, reply_to=subscription)
from is_wire.core import Channel, Subscription, Message
from is_msgs.robot_pb2 import RobotConfig
import os
from sys import argv
uri = os.environ[
"BROKER_URI"] if "BROKER_URI" in os.environ else "amqp://10.10.2.20:30000"
channel = Channel(uri)
subscription = Subscription(channel)
config = RobotConfig()
config.speed.linear = float(argv[1] or 0.0)
config.speed.angular = float(argv[2] if len(argv) is 3 else 0.0)
channel.publish(message=Message(content=config, reply_to=subscription),
topic="RobotGateway.0.SetConfig")
reply = channel.consume(timeout=1.0)
print reply.status
channel.publish(message=Message(reply_to=subscription),
topic="RobotGateway.0.GetConfig")
reply = channel.consume(timeout=1.0)
print reply.unpack(RobotConfig)
return op
# Carrega parametros do robo e endereco do broker do arquivo Json
op_config = load_options()
ATSPlog = Logger(name='unpack')
service_name = "RobotGateway.{}".format(op_config.robot_parameters.id)
sonar_topic = "RobotGateway.{}.SonarScan".format(op_config.robot_parameters.id)
pose_topic = "RobotGateway.{}.Pose".format(op_config.robot_parameters.id)
# instania channel passando endereco do broker
# estabelece conexao com o broker
channel = Channel(op_config.broker_uri)
ATSPlog.info("event=ChannelInitDone")
# Inscreve nos topicos que deseja receber mensagem
subscription = Subscription(channel)
subscription.subscribe(pose_topic)
subscription.subscribe(sonar_topic)
ATSPlog.info("SubscriptionsDone")
# Envia mensagem de getConfig
get_req = Message(reply_to=subscription)
# Salva correlation_id do request
cor_id = get_req.correlation_id
# print("cor_id: ", cor_id)
# Broadcast message to anyone interested (subscribed)
channel.publish(message=get_req, topic=service_name + ".GetConfig")
annotations_data = json.load(f)
n_annotations_on_file = len(annotations_data['annotations'])
if n_annotations_on_file == n_frames:
log.info(
"Video '{}' already annotated at '{}' with {} annotations",
video_file, annotations_data['created_at'],
n_annotations_on_file)
continue
pending_videos.append(video_file)
n_annotations[base_name] = n_frames
if len(pending_videos) == 0:
log.info("Exiting...")
sys.exit(-1)
channel = Channel(options.broker_uri)
subscription = Subscription(channel)
requests = {}
annotations_received = defaultdict(dict)
state = State.MAKE_REQUESTS
frame_fetcher = FrameVideoFetcher(video_files=pending_videos,
base_folder=options.folder)
while True:
if state == State.MAKE_REQUESTS:
state = State.RECV_REPLIES
if len(requests) < MIN_REQUESTS:
while len(requests) <= MAX_REQUESTS:
base_name, frame_id, frame = frame_fetcher.next()
if frame is None:
def navigate(goalX, goalY, robotArUco, worldFrame, mapFile, step, robot_size,
N_KNN, MAX_EDGE_LEN, show_path):
exporter = ZipkinExporter(
service_name="Robot.Controller",
host_name="10.10.2.13",
port="30200",
transport=AsyncTransport,
)
# Create a channel to connect to the broker
channel = Channel("amqp://10.10.2.13:30000")
# Create a subscription
subscription = Subscription(channel)
# Subscribe to the following topics:
# - To get the robot's current position in relation where it was turned on, i.e., dead reckoning odometry
# - To get the position of the ArUco marker attached to the robot's back
#robotArUco = 8 # ArUco marker ID attached to the robot's back
#worldFrame = 1000 # Number of the world reference frame in the HPN Intelligent Space
awarenessOff(channel)
time.sleep(6) # to wait some time to be sure the awareness if off
topicGetRobotOdometry = "FrameTransformation.2000.2001"
topicGetArUcoRobotBack = "FrameTransformation." + str(
robotArUco + 100) + "." + str(worldFrame)
subscription.subscribe(topicGetRobotOdometry)
subscription.subscribe(topicGetArUcoRobotBack)
# Initialise transformation matrices used for storing odometry and correction
pepperPose = np.identity(4)
robotOriginToWorld = np.identity(4)
lastOdometry = np.identity(4)
# Load the frame transformation between the ArUco marker on the robot's back and the robot's base frame.
fileName = "frameArUcoRobot.dat"
arUcoToRobot = read_frameTransformation(fileName)
robotToArUco = inv(arUcoToRobot)
print("Goal: ", goalX, " ", goalY)
# Localize the robot before start path planning
robotLocalized = False
notSeen = 0
count = 0
while not robotLocalized:
# Source must be the current position of the robot in the world frame
message = channel.consume()
if (message.topic == topicGetRobotOdometry):
print("reading odometry")
# get the transformation matrix corresponding to the current rotation and position of the robot
lastOdometry = unpackFrameTransformation(message)
notSeen = notSeen + 1
print(notSeen)
if (message.topic == topicGetArUcoRobotBack):
print("correcting odometry")
# get the frame transformation betweeb the ArUco marker on the robot's back and the world
arUcoToWorld = unpackFrameTransformation(message)
# calculates the robot pose in the world frame
pepperPose = arUcoToWorld * robotToArUco
# calculate the frame transformation needed to correct robot's odometry while the ArUco marker is not seen by the intelligent space
robotOriginToWorld = pepperPose * inv(lastOdometry)
sourceX = pepperPose[0, 3]
sourceY = pepperPose[1, 3]
print("x= ", sourceX, " y= ", sourceY)
robotLocalized = True
notSeen = 0
if notSeen > 30:
notSeen = 0
count = count + 1
# unsubscribe to not accumulate messages
subscription.unsubscribe(topicGetRobotOdometry)
subscription.unsubscribe(topicGetArUcoRobotBack)
if count > 4:
print("I can't get localized by the Intelligent Space.")
print(
"Please take me to a spot where the marker on my back can be seen by one of the cameras."
)
sys.exit(0)
makeTurn(0, 0.3, channel)
subscription.subscribe(topicGetRobotOdometry)
subscription.subscribe(topicGetArUcoRobotBack)
# unsubscribe to not accumulate messages
subscription.unsubscribe(topicGetRobotOdometry)
subscription.unsubscribe(topicGetArUcoRobotBack)
#sys.exit(0)
# Create obstacles
ox, oy = create_virtualObstacles()
# Call path planning
# rx, ry contains the positions in the path
rx, ry = PRM_planning(mapFile, sourceX, sourceY, goalX, goalY, ox, oy,
robot_size, step, N_KNN, MAX_EDGE_LEN)
# Check if a path was found/home/raquel/ProgrammingIS/learningISBristol//
#assert len(rx) != 0, 'Cannot found path'
if len(rx) == 0:
print('Cannot find path')
raise SystemError
#sys.exit(0)
# Plot map points and obstacles
if show_path:
map_x, map_y = read_map(mapFile, step)
plt.plot(ox, oy, ".k")
plt.plot(sourceX, sourceY, "^r")
plt.plot(goalX, goalY, "^c")
plt.plot(map_x, map_y, ".b")
plt.grid(True)
plt.axis("equal")
plt.plot(rx, ry, "-r")
plt.plot(rx, ry, "og")
plt.show()
# Reverse the order of the path (list) returned by the path-planning algorithm
# The original list contains the goal at the beginning and the source at the end. We need the reverse
rx = rx[::-1]
ry = ry[::-1]
print(rx)
print(ry)
#sys.exit(0)
# Subscribe to the previous topics
subscription.subscribe(topicGetRobotOdometry)
subscription.subscribe(topicGetArUcoRobotBack)
i = 0
k = 0
stuck = 0
dist = 100.0
threshold = 0.2
try:
while True:
try:
# listen the channelprint(frameArUcoRobot)
message = channel.consume(timeout=0.5)
spanr = message.extract_tracing()
tracer = Tracer(exporter, spanr)
tracer.start_span(name="Navigate")
# Check if the message received is the robot's odometry - FrameTransformation type
if (message.topic == topicGetRobotOdometry):
# get the transformation matrix corresponding to the current rotation and position of the robot
lastOdometry = unpackFrameTransformation(message)
pepperPose = robotOriginToWorld * lastOdometry
#print(pepperPose)
elif (message.topic == topicGetArUcoRobotBack):
print("Odometry Corrected")
# get the transformation matrix corresponding to the current pose of the robot corrected when
# it sees an ArUco marker
arUcoToWorld = unpackFrameTransformation(message)
pepperPose = arUcoToWorld * robotToArUco
robotOriginToWorld = pepperPose * inv(lastOdometry)
except socket.timeout:
print("Time out")
# matrix Inverse
toPepperFrame = inv(pepperPose)
# transform the goal from the world frame to the robot frame
posX, posY, posZ = changeRefFrame(rx[i], ry[i], 0, toPepperFrame)
distPrevious = dist
dist = math.sqrt(posX**2 + posY**2)
#print(dist)
# If distance to current goal is less than the threshold, pick the next point in the path to be the next goal
if dist < threshold:
i = i + 1
stuck = 0
print(dist)
print("Path index: ", i, " of ", len(rx))
if i == (len(rx) - 1):
threshold = 0.5
# If that was the last point in the path, finish navigation. Goal achieved.
if i >= len(rx):
print("Goal achieved")
break
# If not the last point in the path, get the next point and converte it to robot frame
print("Next point in the path")
posX, posY, posZ = changeRefFrame(rx[i], ry[i], 0,
toPepperFrame)
# Command robot to move
commandMoveTo(posX, posY, channel)
#commandNavigateTo(posX,posY,channel)
# If distance to current goal is greater than the threshold, check if robot is stopped
# To check if robot is stopped, calculate the difference between current distance and previous one
elif abs(dist - distPrevious
) < 0.005: # if difference is less than 0.5 cm
k = k + 1 # accumulate
if k == 20: #see if situation remains for 20 times
# Robot is stuck. Let's send a move command again
print(dist)
k = 0
print(
"Ooops.... I got stuck.... I will try to move. Stuck = ",
stuck)
posX, posY, posZ = changeRefFrame(rx[i], ry[i], 0,
toPepperFrame)
stuck = stuck + 1
if stuck == 4:
goBack(-10, 0, channel)
stuck = 0
posX, posY, posZ = changeRefFrame(
rx[i], ry[i], 0, toPepperFrame)
# Command robot to move
commandMoveTo(posX, posY, channel)
else:
commandMoveTo(posX, posY, channel)
tracer.end_span()
except KeyboardInterrupt:
commandMoveTo(0, 0, channel)
#awarenessOff(channel)
awarenessOn(channel)
time.sleep(6)
from is_wire.core import Channel, Message, Subscription
from is_msgs.common_pb2 import Position, Pose
from is_msgs.camera_pb2 import FrameTransformation
import numpy as np #
from numpy.linalg import inv
import math
# Create a channel to connect to the broker
channel = Channel("amqp://10.10.2.20:30000")
# Create a subscription
subscription = Subscription(channel)
# Subscribe to get the relation from the initial reference frame where the robot was
# turned on and its current reference frame (dead reckoning odometry)
##################subscription.subscribe("FrameTransformation.1000.2000")
subscription.subscribe("FrameTransformation.2000.2001")
subscription.subscribe("FrameTransformation.2001.1003")
# Goal in the World Frame
# Change the goals value to make the robot move to different coordinates.
goalX = 0
goalY = 0
#goalWorldFrame = math.reshape(math.matrix([goalX, goalY, 0, 1]), [4, 1])
goalWorldFrame = np.matrix([goalX, goalY, 0, 1]).T
# Initialize transformation matrices used for storing odometry and correction
pepperPose = np.identity(4)
robotToWorld = np.identity(4)
# Change this variable to test between NavigateTo and MoveTo
import cv2
import time
import numpy as np
from is_msgs.image_pb2 import Image, ObjectAnnotations
from is_wire.core import Channel, Subscription, Message, Logger
from is_wire.core import Tracer, ZipkinExporter, BackgroundThreadTransport
log = Logger(name='Publisher')
broker_uri = 'amqp://localhost:5672'
if len(sys.argv) > 2:
log.critical('Invalid arguments. Try: python requester.py <BROKER_URI>')
if len(sys.argv) > 1:
broker_uri = sys.argv[1]
channel = Channel(broker_uri)
subscription = Subscription(channel)
exporter = ZipkinExporter(
service_name='SkeletonsDetectorRequester',
host_name='localhost',
port=9411,
transport=BackgroundThreadTransport(max_batch_size=100),
)
image = cv2.imread('../image.png')
tracer = Tracer(exporter)
with tracer.span(name='image') as span:
cimage = cv2.imencode(ext='.jpeg', img=image, params=[cv2.IMWRITE_JPEG_QUALITY, 80])
data = cimage[1].tobytes()
im = Image(data=data)
import sys
from is_wire.core import Channel, Subscription, Message, Logger
from is_wire.core.wire.status import StatusCode
from is_msgs.camera_pb2 import CameraConfig
from google.protobuf.json_format import Parse
# necessery to create a CameraConfig message
from google.protobuf.wrappers_pb2 import FloatValue
from is_msgs.common_pb2 import SamplingSettings
from is_msgs.image_pb2 import ImageSettings, Resolution, ColorSpace, ColorSpaces
uri = 'amqp://10.10.2.15:30000'
channel = Channel(uri)
subscription = Subscription(channel)
log = Logger(name='SetConfig')
camera_id = 0
"""
Loading CameraConfig protobuf from a json file
"""
with open('camera_config.json', 'r') as f:
try:
set_config = Parse(f.read(), CameraConfig())
log.info('CameraConfig:\n{}', set_config)
except Exception as ex:
log.critical('Unable to camera settings. \n{}', ex)
"""
Another way to create a CameraConfig message
"""
set_config = CameraConfig(
sampling=SamplingSettings(frequency=FloatValue(value=5.0)),
image=ImageSettings(
from __future__ import print_function
from is_wire.core import Channel, Subscription
from is_msgs.common_pb2 import Tensor
from is_msgs.camera_pb2 import FrameTransformations
import numpy as np
# Connect to the broker
channel = Channel("amqp://10.10.2.23:30000")
# Subscribe to the desired topic(s)
subscription = Subscription(channel)
topic02 = "ArUco.7.FrameTransformations" # get relation between camera 7 and the ArUco detected
subscription.subscribe(topic02)
# Blocks forever waiting for message
diretArucoPose = np.matrix('0,0,0,0;0,0,0,0;0,0,0,0;0,0,0,0')
matrix = np.matrix('0,0,0,0;0,0,0,0;0,0,0,0;0,0,0,0')
# Compare the Frame Transforamtion obtained directly from the Aruco detecion service when an Aruco Marker is seen
# with the calculated Frame Transforamtion when considering the camera extrinsic matrix and the Aruco Marker position in the world
while True:
message = channel.consume()
# Get the Frame Transformation that represents the pose of the Aruco mark in the camera 7 reference frame
# Then multiply by the extrinsic matrix of camera 7 to obtain the Aruco pose in world reference frame
if message.topic == topic02:
# Message returns a list of Frame Transformations
frameTransList = message.unpack(FrameTransformations)
# Check if there is any element (Frame Transformation) in the list
if frameTransList.tfs:
from is_wire.core import Channel, Subscription, Message, Logger
from is_msgs.common_pb2 import Position
import os
from sys import argv, exit
log = Logger(name="client")
uri = os.environ[
"BROKER_URI"] if "BROKER_URI" in os.environ else "amqp://10.10.2.20:30000"
log.info("uri={}", uri)
if len(argv) != 3:
log.error("Usage: python navigate.py <X> <Y>")
exit(-1)
channel = Channel(uri)
subscription = Subscription(channel)
position = Position()
position.x = float(argv[1])
position.y = float(argv[2])
channel.publish(message=Message(content=position, reply_to=subscription),
topic="RobotGateway.0.NavigateTo")
reply = channel.consume(timeout=1.0)
log.info("status={}", reply.status)
from __future__ import print_function
from is_wire.core import Channel, Subscription, Message
from np_pb import to_tensor, to_np
from is_msgs.common_pb2 import Tensor
import numpy as np
# This program shows how to publish a message using
# the Intelligent Space framework
# Connect to the broker
channel = Channel("amqp://10.10.2.23:30000")
# Create the message that is a matrix
message = Message()
test = np.array([[1, 2, 3, 4],[ 5, 6, 7, 8],[ 9, 10, 11, 12],[ 13, 14, 15, 16]])
# Convert to Tensor
test2 = to_tensor(test)
message.pack(test2)
# Define topic name
Topic= "Aula01"
message.topic = Topic
# Publish message under the topic
channel.publish(message)
log.warn(
'Path to SUBJECT_ID={} LABEL={} ({}) already exists.\n \
Would you like to proceed? All data will be deleted! [y/n]', subject_id,
label_id, labels[label_id])
key = input()
if key == 'y':
shutil.rmtree(sequence_folder)
elif key == 'n':
sys.exit(0)
else:
log.critical('Invalid command \'{}\', exiting.', key)
sys.exit(-1)
os.makedirs(sequence_folder)
channel = Channel(op.broker_uri)
subscription = Subscription(channel)
if device == "webcam":
# subscribe to one camera
subscription.subscribe('CameraGateway.{}.Frame'.format(cam.id))
elif device == "cameras":
# subscribe to multiple cameras
for c in cam:
subscription.subscribe('CameraGateway.{}.Frame'.format(c.id))
# get display image size
size = (2 * cam[0].config["image"]["resolution"]["height"],
2 * cam[0].config["image"]["resolution"]["width"], 3)
# create empty image do display
def main():
service_name = "CameraGateway"
log = Logger(service_name)
options = load_options()
camera = CameraGateway(fps=options["fps"])
publish_channel = Channel(options['broker_uri'])
rpc_channel = Channel(options['broker_uri'])
server = ServiceProvider(rpc_channel)
logging = LogInterceptor()
server.add_interceptor(logging)
server.delegate(topic=service_name + ".*.GetConfig",
request_type=FieldSelector,
reply_type=CameraConfig,
function=camera.get_config)
server.delegate(topic=service_name + ".*.SetConfig",
request_type=CameraConfig,
reply_type=Empty,
function=camera.set_config)
exporter = create_exporter(service_name=service_name,
uri=options["zipkin_uri"])
while True:
# iterate through videos listed
for video in options['videos']:
# id of the first sequence of videos
person_id = video['person_id']
gesture_id = video['gesture_id']
# getting the path of the 4 videos
video_files = {
cam_id: os.path.join(
options['folder'],
'p{:03d}g{:02d}c{:02d}.mp4'.format(person_id, gesture_id,
cam_id))
for cam_id in options["cameras_id"]
}
for iteration in range(video['iterations']):
info = {
"person": person_id,
"gesture": gesture_id,
"iteration": iteration
}
log.info('{}', str(info).replace("'", '"'))
# object that let get images from multiples videos files
video_loader = FramesLoader(video_files)
# iterate through all samples on video
while True:
time_initial = time.time()
# listen server for messages about change
try:
message = rpc_channel.consume(timeout=0)
if server.should_serve(message):
server.serve(message)
except socket.timeout:
pass
frame_id, frames = video_loader.read()
for cam in sorted(frames.keys()):
tracer = Tracer(exporter)
span = tracer.start_span(name='frame')
pb_image = to_pb_image(frames[cam])
msg = Message(content=pb_image)
msg.inject_tracing(span)
topic = 'CameraGateway.{}.Frame'.format(cam)
publish_channel.publish(msg, topic=topic)
tracer.end_span()
took_ms = (time.time() - time_initial) * 1000
dt = (1 / camera.fps) - (took_ms / 1000)
if dt > 0:
time.sleep(dt)
info = {
"sample": frame_id,
"took_ms": took_ms,
"wait_ms": dt * 1000
}
log.info('{}', str(info).replace("'", '"'))
if frame_id >= (video_loader.num_samples - 1):
video_loader.release()
del video_loader
gc.collect()
break
if options['loop'] is False:
break
from is_wire.core import Channel, Logger
from src.utils.is_wire import RequestManager
from is_msgs.common_pb2 import Pose, Position
log = Logger(name='Client')
channel = Channel('amqp://localhost:5672')
request_manager = RequestManager(channel,
min_requests=15,
max_requests=30,
log_level=Logger.INFO)
poses = [(Pose(position=Position(x=i, y=2 * i)), i) for i in range(100)]
while True:
while request_manager.can_request() and len(poses) > 0:
pose, pose_id = poses.pop()
request_manager.request(content=pose,
topic="GetPosition",
timeout_ms=1000,
metadata=pose_id)
log.info('{:>6s} msg_id={}', " >>", pose_id)
received_msgs = request_manager.consume_ready(timeout=1.0)
for msg, metadata in received_msgs:
position = msg.unpack(Position)
log.info('{:<6s} msg_id={}', "<< ", metadata)
