class TestVideoStreamDispatcher(object): SAMPLE_DEFAULT_IMAGE = object() SAMPLE_IMAGE = object() SAMPLE_FPS = 5 @mock.patch('services.video_streaming.stream_writers.InMemoryBufferedStreamWriter.InMemoryBufferedStreamWriter', autospec = False) @mock.patch('services.video_streaming.stream_readers.CameraStreamReader.CameraStreamReader', autospec = False) def setup(self, stream_reader_mock, stream_writer_mock): self._stream_reader_mock = stream_reader_mock self._stream_writer_mock = stream_writer_mock self._stream_reader_mock.read_next.side_effect = self._read_next_mock self._video_stream_dispatcher = VideoStreamDispatcher(self.SAMPLE_DEFAULT_IMAGE) self._video_stream_dispatcher.stream_reader = stream_reader_mock self._video_stream_dispatcher.add_stream_writer(stream_writer_mock) def _read_next_mock(self): time.sleep(1 / self.SAMPLE_FPS) return self.SAMPLE_IMAGE def test_when_dispatching_then_image_is_dispatched_to_stream_writer(self): self._dispatch() self._stream_writer_mock.write.assert_called_with(self.SAMPLE_IMAGE) def test_given_read_error_when_dispatching_then_last_image_is_dispatched_to_stream_writer(self): self._stream_reader_mock.read_next.side_effect = [self.SAMPLE_IMAGE, IOError] self._dispatch() self._stream_writer_mock.write.assert_called_with(self.SAMPLE_IMAGE) def test_given_read_error_and_no_last_image_when_dispatching_then_default_image_is_dispatched_to_stream_writer(self): self._stream_reader_mock.read_next.side_effect = IOError self._dispatch() self._stream_writer_mock.write.assert_called_with(self.SAMPLE_DEFAULT_IMAGE) def _dispatch(self): self._video_stream_dispatcher.start_dispatching_async() time.sleep(0.25) self._video_stream_dispatcher.stop_dispatching()
class BaseStationApplication(object): LOGGING_DIRECTORY = "../data/logs" IMAGE_LOGGING_DIRECTORY = "../data/logs/images" SERVER_PORT = 8080 REMOTE_SERVER_PORT = 8081 STREAMING_SERVER_PORT = 5000 STREAMING_SERVER_IP_ADDRESS = "192.168.0.60" REMOTE_SERVER_IP_ADDRESS = "192.168.0.60" DEFAULT_STREAM_IMAGE_FILE_NAME = "../resources/default-stream-image.png" VIDEO_STREAM_BUFFER_SIZE = 1 def initialize(self): #ptvsd.enable_attach(secret = 'd3sign3') self._init_logging() self._init_services() self._embedded_application = RemotableOf(EmbeddedApplication, self._remoting_client) self._init_web_app() self._logger.close() def _init_logging(self): self._logger = Logger() self._logger.similar_log_entry_skip_interval = 0 self._csv_log_subscriber = CsvLogSubscriber(self.LOGGING_DIRECTORY) self._image_log_subscriber = ImageLogSubscriber(self.IMAGE_LOGGING_DIRECTORY) self._console_log_subscriber = ConsoleLogSubscriber() self._logger.subscribe(self._csv_log_subscriber) self._logger.subscribe(self._image_log_subscriber) self._logger.subscribe(self._console_log_subscriber) def _init_services(self): self._init_remoting_services() self._coordinate_factory = CoordinateFactory() self._world_map_service = WorldMapService(self._coordinate_factory) self._local_world_map_service = RemotableOf(LocalWorldMapService, self._remoting_client) self._pathfinding_service = PathfindingService(Pathfinder(PathSimplifier()), self._world_map_service, self._coordinate_factory) self._embedded_video_streaming_service = RemotableOf(VideoStreamingService, self._remoting_client) self._movement_executor = RemotableOf(MovementExecutor, self._remoting_client) self._path_navigator = PathNavigator(self._movement_executor, self._world_map_service, self._coordinate_factory) self._motion_service = MotionService(self._movement_executor, self._path_navigator) self._hardware_status_collector_service = RemotableOf(HardwareStatusCollectorService, self._remoting_client) self._secret_code_decoding_service = RemotableOf(SecretCodeDecodingService, self._remoting_client) self._treasure_handling_service = RemotableOf(TreasureHandlingService, self._remoting_client) self._camera_arm_control_service = RemotableOf(CameraArmControlService, self._remoting_client) self._game_cycle_control_service = GameCycleControlService(StateFactory(), self._world_map_service, self._pathfinding_service, self._motion_service, self._secret_code_decoding_service, self._treasure_handling_service, self._hardware_status_collector_service, self._local_world_map_service) self._init_video_streaming_service() def _init_video_streaming_service(self): self._original_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE) self._processed_stream_buffer = InMemoryBufferedStreamWriter(self.VIDEO_STREAM_BUFFER_SIZE) self._world_map_stream_writer = WorldMapStreamWriter(self._world_map_service, self._pathfinding_service) self._world_map_stream_writer.add_output_stream_writer(self._processed_stream_buffer) self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME)) self._video_stream_dispatcher.add_stream_writer(self._original_stream_buffer) self._video_stream_dispatcher.add_stream_writer(self._world_map_stream_writer) self._tcp_stream_reader = TcpStreamReader(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, False) self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, self._original_stream_buffer, self._processed_stream_buffer, self._tcp_stream_reader) def _init_remoting_services(self): self._remote_method_invoker = RemoteMethodInvoker(JsonSerializer()) self._remoting_client = RemotingClient(self._remote_method_invoker, self.REMOTE_SERVER_IP_ADDRESS, self.REMOTE_SERVER_PORT) def _init_web_app(self): self._web_server = WebServer(self.SERVER_PORT, self._logger, self._embedded_application, self._remoting_client, self._world_map_service, self._local_world_map_service, self._pathfinding_service, self._video_streaming_service, self._embedded_video_streaming_service, self._game_cycle_control_service, self._motion_service, self._hardware_status_collector_service, self._secret_code_decoding_service, self._treasure_handling_service, self._camera_arm_control_service) self._web_server.run()
class EmbeddedApplication(object): LOGGING_DIRECTORY = "../data/logs" IMAGE_LOGGING_DIRECTORY = "../data/logs/images" SERVER_PORT = 8081 REMOTE_SERVER_PORT = 8080 STREAMING_SERVER_PORT = 5000 STREAMING_SERVER_IP_ADDRESS = "0.0.0.0" DEFAULT_STREAM_IMAGE_FILE_NAME = "../resources/default-stream-image.png" DEFAULT_EMBEDDED_CAMERA_ID = 0 EMBEDDED_CAMERA_FRAME_ROTATION_ANGLE = 90 VIDEO_STREAM_BUFFER_SIZE = 1 MAX_TCP_STREAM_IMAGE_SIZE = Vector2(360, 480) def initialize(self): #ptvsd.enable_attach(secret = 'd3sign3') #ptvsd.wait_for_attach() self._init_logging() self._init_drivers() self._init_services() self._publish_remoting_objects() self._init_web_app() self._logger.close() def _init_logging(self): self._logger = Logger() self._logger.logging_level = LogEntryType.INFORMATIONAL self._logger.save_blob_data = True self._csv_log_subscriber = CsvLogSubscriber(self.LOGGING_DIRECTORY) self._image_log_subscriber = ImageLogSubscriber(self.IMAGE_LOGGING_DIRECTORY) self._console_log_subscriber = ConsoleLogSubscriber() self._logger.subscribe(self._csv_log_subscriber) self._logger.subscribe(self._image_log_subscriber) self._logger.subscribe(self._console_log_subscriber) def _init_drivers(self): self._uart_driver = UartDriver() self._pololu_driver = PololuDriver(self._uart_driver) self._microcontroller_driver = MicrocontrollerDriver(self._uart_driver) def _init_services(self): self._init_remoting_services() self._camera_arm_control_service = CameraArmControlService(self._pololu_driver) self._hardware_status_collector_service = HardwareStatusCollectorService(self._microcontroller_driver) self._local_world_map_service = LocalWorldMapService(self._camera_arm_control_service) self._movement_executor = MovementExecutor(self._microcontroller_driver) self._secret_code_decoding_service = SecretCodeDecodingService(self._microcontroller_driver) self._treasure_handling_service = TreasureHandlingService(self._microcontroller_driver, self._local_world_map_service, self._movement_executor) self._init_video_streaming_service() def _init_video_streaming_service(self): self._tcp_stream_writer = TcpStreamWriter(self.STREAMING_SERVER_IP_ADDRESS, self.STREAMING_SERVER_PORT, self.VIDEO_STREAM_BUFFER_SIZE, self.MAX_TCP_STREAM_IMAGE_SIZE) self._local_world_map_stream_writer = LocalWorldMapStreamWriter(self._local_world_map_service) self._local_world_map_stream_writer.add_output_stream_writer(self._tcp_stream_writer) self._video_stream_dispatcher = VideoStreamDispatcher(Image.from_file(self.DEFAULT_STREAM_IMAGE_FILE_NAME)) self._video_stream_dispatcher.add_stream_writer( self._local_world_map_stream_writer) self._video_streaming_service = VideoStreamingService(self._video_stream_dispatcher, None, self._tcp_stream_writer) self._video_streaming_service.set_camera_source(self.DEFAULT_EMBEDDED_CAMERA_ID, self.EMBEDDED_CAMERA_FRAME_ROTATION_ANGLE) def _init_remoting_services(self): self._remoting_server = RemotingServer(JsonSerializer()) def _publish_remoting_objects(self): self._remoting_server.publish_object(self._movement_executor) self._remoting_server.publish_object(self._hardware_status_collector_service) self._remoting_server.publish_object(self._secret_code_decoding_service) self._remoting_server.publish_object(self._treasure_handling_service) self._remoting_server.publish_object(self._video_streaming_service) self._remoting_server.publish_object(self._camera_arm_control_service) self._remoting_server.publish_object(self._local_world_map_service) self._remoting_server.publish_object(self) def _init_web_app(self): self._web_server = EmbeddedWebServer(self.SERVER_PORT, self._logger, self._remoting_server) self._web_server.run() def restart(self): python = sys.executable script = os.path.realpath(__file__) subprocess.Popen([python, script]) self.stop() def stop(self): self._web_server.shutdown() sys.exit(0)