def __init__(self, moduleConfig=None, loggingQueue=None):
""" Initialize new AzureImagePrediction instance.
Set parameters required by Azure Face API.
"""
logging.basicConfig(level=logging.CRITICAL)
self.logger = ThreadsafeLogger(
loggingQueue, "AzureImagePrediction") # Setup logging queue
self.config = moduleConfig
# Constants
self._subscriptionKey = self.config['Azure']['SubscriptionKey']
self._uriBase = self.config['Azure']['UriBase']
self._headers = {
'Content-Type': 'application/octet-stream',
'Ocp-Apim-Subscription-Key':
self.config['Azure']['SubscriptionKey'],
}
self._params = urllib.parse.urlencode({
"returnFaceId":
"true",
"returnFaceLandmarks":
"false",
"returnFaceAttributes":
"age,gender,glasses,facialHair"
})
def __init__(self, detectedClient, collectionPointConfig, loggingQueue):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.logger = logging.getLogger(
'btleRegisteredClient.BtleRegisteredClient')
self.clientEventLogger = logging.getLogger(
'btleRegisteredClient.BtleEventTesting')
self.clientEventSendLogger = logging.getLogger('eventSend')
self.clientInRangeTrigerCount = 2
self.lastTimeMessageClientInWasSentToController = -1
self.lastTimeMessageClientOutWasSentToController = -1
self.__countClientInRange = 0
self.__countClientOutOfRange = 0
self.timeInCollectionPointInMilliseconds = 0
self.firstRegisteredTime = time.time()
self.collectionPointConfig = collectionPointConfig
self.__clientOutThresholdMin = int(
self.collectionPointConfig['BtleRssiClientInThreshold'] +
(self.collectionPointConfig['BtleRssiClientInThreshold'] *
self.collectionPointConfig['BtleRssiErrorVariance']))
self.handleNewDetectedClientEvent(
detectedClient
) #standard shared methods when we see a detected client
def __init__(self, collectionPointConfig, loggingQueue):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.rClients = {} #registered clients
self.collectionPointConfig = collectionPointConfig #collection point config
def __init__(self, baseConfig, pInBoundQueue, pOutBoundQueue,
loggingQueue):
""" Initialize new CamCollectionPoint instance.
Setup queues, variables, configs, constants and loggers.
"""
super(BtleCollectionPoint, self).__init__()
# Queues
self.outQueue = pOutBoundQueue #messages from this thread to the main process
self.inQueue = pInBoundQueue
self.loggingQueue = loggingQueue
self.queueBLE = mp.Queue()
# Configs
self.moduleConfig = configLoader.load(
self.loggingQueue) #Get the config for this module
self.config = baseConfig
# Logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
# Variables
self.registeredClientRegistry = RegisteredClientRegistry(
self.moduleConfig, self.loggingQueue)
self.eventManager = EventManager(self.moduleConfig, pOutBoundQueue,
self.registeredClientRegistry,
self.loggingQueue)
self.alive = True
self.btleThread = None
self.BLEThread = None
self.repeatTimerSweepClients = None
def __init__(self, baseConfig, pInBoundEventQueue, pOutBoundEventQueue,
loggingQueue):
super(MQTTClientModule, self).__init__()
self.config = baseConfig
self.alive = True
self.inQueue = pInBoundEventQueue
# Constants
self._keepAlive = self.config['MqttKeepAlive']
self._feedName = self.config['MqttFeedName']
self._username = self.config['MqttUsername']
self._key = self.config['MqttKey']
self._host = self.config['MqttHost']
self._port = self.config['MqttPort']
self._publishJson = self.config['MqttPublishJson']
self._publishFaceValues = self.config['MqttPublishFaceValues']
# MQTT setup
self._client = mqtt.Client()
self._client.username_pw_set(self._username, self._key)
self._client.on_connect = self.onConnect
self._client.on_disconnect = self.onDisconnect
self._client.on_message = self.onMessage
self.mqttConnected = False
# Logging setup
self.logger = ThreadsafeLogger(loggingQueue, "MQTT")
def __init__(self, loggingQueue, moduleConfig):
""" Create a new IdsWrapper instance.
IdsWrapper uses the Windows IDS DLL, wraps C calls in Python.
Tested using the IDS XS 2.0 USB camera
"""
self.config = moduleConfig
self.isOpen = False
self.width = 0
self.height = 0
self.bitspixels = 0
self.py_width = 0
self.py_height = 0
self.py_bitspixel = 0
self.cam = None
self.pcImgMem = c_char_p() #create placeholder for image memory
self.pid=c_int()
# Setup logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
# Load the correct dll
try:
if architecture()[0] == '64bit':
self.logger.info('Using IDS camera with 64-bit architecture')
self.uEyeDll = cdll.LoadLibrary("C:/Windows/System32/uEye_api_64.dll")
else:
self.logger.info('Using IDS camera with 32-bit architecture')
self.uEyeDll = cdll.LoadLibrary("C:/Windows/System32/uEye_api.dll")
except Exception as e:
self.logger.error('Failed to load IDS DLL: %s . Are you sure you are using an IDS camera?'%e)
def __init__(self, queue, btleConfig, loggingQueue, debugMode=False):
Thread.__init__(self)
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.alive = True
self.btleConfig = btleConfig
self.queue = queue
self.btleCollectionPoint = BtleThreadCollectionPoint(self.eventScanResponse,self.btleConfig,self.loggingQueue)
def __init__(self, baseConfig, pInBoundQueue, pOutBoundQueue,
loggingQueue):
""" Initialize new CamCollectionPoint instance.
Setup queues, variables, configs, predictionEngines, constants and loggers.
"""
super(CamCollectionPoint, self).__init__()
if not self.check_opencv_version("3.", cv2):
print(
"OpenCV version {0} is not supported. Use 3.x for best results."
.format(self.get_opencv_version()))
# Queues
self.outQueue = pOutBoundQueue #messages from this thread to the main process
self.inQueue = pInBoundQueue
self.loggingQueue = loggingQueue
# Variables
self.video = None
self.needsReset = False
self.needsResetMux = False
self.alive = True
# Configs
self.moduleConfig = camConfigLoader.load(
self.loggingQueue) #Get the config for this module
self.config = baseConfig
# Prediction engine
self.imagePredictionEngine = AzureImagePrediction(
moduleConfig=self.moduleConfig, loggingQueue=loggingQueue)
# Constants
self._useIdsCamera = self.moduleConfig['UseIdsCamera']
self._minFaceWidth = self.moduleConfig['MinFaceWidth']
self._minFaceHeight = self.moduleConfig['MinFaceHeight']
self._minNearestNeighbors = self.moduleConfig['MinNearestNeighbors']
self._maximumPeople = self.moduleConfig['MaximumPeople']
self._facePixelBuffer = self.moduleConfig['FacePixelBuffer']
self._collectionThreshold = self.moduleConfig['CollectionThreshold']
self._showVideoStream = self.moduleConfig['ShowVideoStream']
self._sendBlobs = self.moduleConfig['SendBlobs']
self._blobWidth = self.moduleConfig['BlobWidth']
self._blobHeight = self.moduleConfig['BlobHeight']
self._captureWidth = self.moduleConfig['CaptureWidth']
self._captureHeight = self.moduleConfig['CaptureHeight']
self._bitsPerPixel = self.moduleConfig['BitsPerPixel']
self._resetEventTimer = self.moduleConfig['ResetEventTimer']
self._collectionPointType = self.config['CollectionPointType']
self._collectionPointId = self.config['CollectionPointId']
# Logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def __init__(self, collectionPointConfig, pOutBoundQueue,
registeredClientRegistry, loggingQueue):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.__stats_totalRemoveEvents = 0
self.__stats_totalNewEvents = 0
self.logger.debug("in constructor")
self.registeredClientRegistry = registeredClientRegistry
self.registeredClientRegistry.eventRegisteredClientAdded += self.__newClientRegistered
self.registeredClientRegistry.eventRegisteredClientRemoved += self.__removedRegisteredClient
self.collectionPointConfig = collectionPointConfig
self.outBoundEventQueue = pOutBoundQueue
def __init__(self, baseConfig, pInBoundQueue, pOutBoundQueue,
loggingQueue):
""" Initialize new TVCollectionPoint instance.
Setup queues, variables, configs, constants and loggers.
"""
super(TVCollectionPoint, self).__init__()
if not self.check_opencv_version("3.", cv2):
print(
"OpenCV version {0} is not supported. Use 3.x for best results."
.format(self.get_opencv_version()))
# Queues
self.outQueue = pOutBoundQueue #messages from this thread to the main process
self.inQueue = pInBoundQueue
self.loggingQueue = loggingQueue
# Variables
self.video = None
self.alive = True
self.ix = -1
self.iy = -1
self.fx = -1
self.fy = -1
self.clicking = False
self.boundSet = False
self.x1, self.x2, self.y1, self.y2 = 0, 0, 0, 0
# Configs
#self.moduleConfig = camConfigLoader.load(self.loggingQueue) #Get the config for this module
self.config = baseConfig
# Constants
self._captureWidth = 1600
self._captureHeight = 900
self._numLEDs = 60
self._collectionPointId = "tvcam1"
self._collectionPointType = "ambiLED"
self._showVideoStream = True
self._delimiter = ';'
self._colorMode = 'edgeDominant'
# self._colorMode = 'edgeMean'
self._perimeterDepth = 20
self._topSegments = 3
self._sideSegments = 2
# Logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def __init__(self,
clientEventHandler,
btleConfig,
loggingQueue,
debugMode=False):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.btleConfig = btleConfig
self.clientEventHandler = clientEventHandler
self.debug = debugMode
# define basic BGAPI parser
self.bgapi_rx_buffer = []
self.bgapi_rx_expected_length = 0
def __init__(self, kind="KCF", moduleConfig=None, loggingQueue=None):
""" Create an initialize new MultiTracker. Set up constants and parameters. """
self.config = moduleConfig
self.trackers = [] # List of trackers
self.kind = kind
self.focus = None
self.loggingQueue = loggingQueue
# Constants
self._useVelocity = self.config['UseVelocity']
self._closestThreshold = self.config["ClosestThreshold"]
self._primaryTarget = self.config['PrimaryTarget']
# Setup logging queue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def load(loggingQueue):
""" Load module specific config into dictionary, return it"""
logger = ThreadsafeLogger(loggingQueue, "CamCollectionPoint")
thisConfig = {}
configParser = configparser.ConfigParser()
thisConfig = loadSecrets(thisConfig, logger, configParser)
thisConfig = loadModule(thisConfig, logger, configParser)
return thisConfig
def __init__(self, baseConfig, pInBoundEventQueue, pOutBoundEventQueue,
loggingQueue):
super(WebsocketClientModule, self).__init__()
self.alive = True
self.config = baseConfig
self.inQueue = pInBoundEventQueue # inQueue are messages from the main process to websocket clients
self.outQueue = pOutBoundEventQueue # outQueue are messages from clients to main process
self.websocketClient = None
self.loggingQueue = loggingQueue
self.threadProcessQueue = None
# Constants
self._port = self.config['WebsocketPort']
self._host = self.config['WebsocketHost']
# logging setup
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def __init__(self,baseConfig,pOutBoundEventQueue, pInBoundEventQueue, loggingQueue):
# Standard initialization that most collection points would do
super(CollectionPoint, self).__init__()
self.alive = True
self.config = baseConfig
self.outBoundEventQueue = pOutBoundEventQueue
self.inBoundEventQueue = pInBoundEventQueue
self.logger = ThreadsafeLogger(loggingQueue,__name__)
# Initialize collection point specific variables
self.video = None
# Set constants from config
self._collectionPointId = self.config['CollectionPointId']
self._collectionPointType = self.config['CollectionPointType']
self._testMode = self.config['TestMode']
if not self.check_opencv_version("3.",cv2):
self.logger.critical("open CV is the wrong version {0}. We require version 3.x".format(self.get_opencv_version()))
def __init__(self, bbox, frame, kind, moduleConfig, loggingQueue):
""" Create and initialize a new Tracker. Set up constants and parameters. """
if kind in ["KCF", "MIL", "MEDIANFLOW", "GOTURN", "TLD", "BOOSTING"]:
self.tracker = cv2.Tracker_create(kind)
self.tracker.init(frame,
(bbox['x'], bbox['y'], bbox['w'], bbox['h']))
self.created = time()
self.bbox = (bbox['x'], bbox['y'], bbox['w'], bbox['h'])
self.velocity = (0, 0)
self.updateTime = self.created
self.config = moduleConfig
# Constants
self._useVelocity = self.config['UseVelocity']
self._horizontalVelocityBuffer = self.config[
'HorizontalVelocityBuffer']
self._verticalVelocityBuffer = self.config[
'VerticalVelocityBuffer']
# Setup logging queue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
else:
self.logger.error("Type %s not supported by mTracker" % kind)
class BtleCollectionPoint(Thread):
def __init__(self, baseConfig, pInBoundQueue, pOutBoundQueue,
loggingQueue):
""" Initialize new CamCollectionPoint instance.
Setup queues, variables, configs, constants and loggers.
"""
super(BtleCollectionPoint, self).__init__()
# Queues
self.outQueue = pOutBoundQueue #messages from this thread to the main process
self.inQueue = pInBoundQueue
self.loggingQueue = loggingQueue
self.queueBLE = mp.Queue()
# Configs
self.moduleConfig = configLoader.load(
self.loggingQueue) #Get the config for this module
self.config = baseConfig
# Logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
# Variables
self.registeredClientRegistry = RegisteredClientRegistry(
self.moduleConfig, self.loggingQueue)
self.eventManager = EventManager(self.moduleConfig, pOutBoundQueue,
self.registeredClientRegistry,
self.loggingQueue)
self.alive = True
self.btleThread = None
self.BLEThread = None
self.repeatTimerSweepClients = None
# main start method
def run(self):
###Pausing Startup to wait for things to start after a system restart
self.logger.info(
"Pausing execution 15 seconds waiting for other system services to start"
)
time.sleep(15)
self.logger.info(
"Done with our nap. Time to start looking for clients")
######### setup global client registry start #########
# self.registeredClientRegistry = RegisteredClientRegistry(self.moduleConfig, self.loggingQueue)
######### setup global client registry end #########
self.logger.info('here 1')
self.btleThread = BlueGigaBtleCollectionPointThread(
self.queueBLE, self.moduleConfig, self.loggingQueue)
self.BLEThread = Thread(target=self.btleThread.bleDetect,
args=(__name__, 10))
self.BLEThread.daemon = True
self.BLEThread.start()
self.logger.info('here 2')
#Setup repeat task to run the sweep every X interval
self.repeatTimerSweepClients = RepeatedTimer(
(self.moduleConfig['AbandonedClientCleanupIntervalInMilliseconds']
/ 1000), self.registeredClientRegistry.sweepOldClients)
# Process queue from main thread for shutdown messages
self.threadProcessQueue = Thread(target=self.processQueue)
self.threadProcessQueue.setDaemon(True)
self.threadProcessQueue.start()
self.logger.info('here 3')
#read the queue
while self.alive:
if not self.queueBLE.empty():
self.logger.info(
'got a thing here herhehrehfhve!~ ~ ~@~@~!#~ ~ #~ #@@~ ~@# @~#'
)
result = self.queueBLE.get(block=False, timeout=1)
self.__handleBtleClientEvents(result)
def processQueue(self):
self.logger.info(
"Starting to watch collection point inbound message queue")
while self.alive:
if not self.inQueue.empty():
self.logger.info("Queue size is %s" % self.inQueue.qsize())
try:
message = self.inQueue.get(block=False, timeout=1)
if message is not None:
if message == "SHUTDOWN":
self.logger.info("SHUTDOWN command handled on %s" %
__name__)
self.shutdown()
else:
self.sendOutMessage(message)
except Exception as e:
self.logger.error("Unable to read queue, error: %s " % e)
self.shutdown()
self.logger.info("Queue size is %s after" %
self.inQueue.qsize())
else:
time.sleep(.25)
#handle btle reads
def __handleBtleClientEvents(self, detectedClients):
self.logger.debug("doing handleBtleClientEvents: %s" % detectedClients)
for client in detectedClients:
self.logger.debug("--- Found client ---")
self.logger.debug(vars(client))
self.logger.debug("--- Found client end ---")
self.eventManager.registerDetectedClient(client)
def shutdown(self):
self.logger.info("Shutting down")
# self.threadProcessQueue.join()
self.repeatTimerSweepClients.stop()
self.btleThread.stop()
self.alive = False
time.sleep(1)
self.exit = True
class WebsocketClientModule(Thread):
def __init__(self, baseConfig, pInBoundEventQueue, pOutBoundEventQueue,
loggingQueue):
super(WebsocketClientModule, self).__init__()
self.alive = True
self.config = baseConfig
self.inQueue = pInBoundEventQueue # inQueue are messages from the main process to websocket clients
self.outQueue = pOutBoundEventQueue # outQueue are messages from clients to main process
self.websocketClient = None
self.loggingQueue = loggingQueue
self.threadProcessQueue = None
# Constants
self._port = self.config['WebsocketPort']
self._host = self.config['WebsocketHost']
# logging setup
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def run(self):
""" Main thread entry point.
Sets up websocket server and event callbacks.
Starts thread to monitor inbound message queue.
"""
self.logger.info("Starting websocket %s" % __name__)
self.connect()
def listen(self):
self.threadProcessQueue = Thread(target=self.processQueue)
self.threadProcessQueue.setDaemon(True)
self.threadProcessQueue.start()
def connect(self):
#websocket.enableTrace(True)
ws = websocket.WebSocketApp("ws://%s:%s" % (self._host, self._port),
on_message=self.onMessage,
on_error=self.onError,
on_close=self.onClose)
ws.on_open = self.onOpen
ws.run_forever()
def onError(self, ws, message):
self.logger.error("Error from websocket client: %s" % message)
def onClose(self, ws):
if self.alive:
self.logger.warn("Closed")
self.alive = False
# TODO: reconnect timer
else:
self.logger.info("Closed")
def onMessage(self, ws, message):
self.logger.info("Message from websocket server: %s" % message)
def onOpen(self, ws):
self.alive = True
self.websocketClient = ws
self.listen()
def shutdown(self):
""" Handle shutdown message.
Close and shutdown websocket server.
Join queue processing thread.
"""
self.logger.info("Shutting down websocket server %s" %
(multiprocessing.current_process().name))
try:
self.logger.info("Closing websocket")
self.websocketClient.close()
except Exception as e:
self.logger.error("Websocket close error : %s " % e)
self.alive = False
self.threadProcessQueue.join()
time.sleep(1)
self.exit = True
def sendOutMessage(self, message):
""" Send message to server """
self.websocketClient.send(json.dumps(message.__dict__))
def processQueue(self):
""" Monitor queue of messages from main process to this thread. """
while self.alive:
if (self.inQueue.empty() == False):
try:
message = self.inQueue.get(block=False, timeout=1)
if message is not None:
if message == "SHUTDOWN":
self.logger.debug("SHUTDOWN handled")
self.shutdown()
else:
self.sendOutMessage(message)
except Exception as e:
self.logger.error("Websocket unable to read queue : %s " %
e)
else:
time.sleep(.25)
class AzureImagePrediction(AbstractImagePrediction):
def __init__(self, moduleConfig=None, loggingQueue=None):
""" Initialize new AzureImagePrediction instance.
Set parameters required by Azure Face API.
"""
logging.basicConfig(level=logging.CRITICAL)
self.logger = ThreadsafeLogger(
loggingQueue, "AzureImagePrediction") # Setup logging queue
self.config = moduleConfig
# Constants
self._subscriptionKey = self.config['Azure']['SubscriptionKey']
self._uriBase = self.config['Azure']['UriBase']
self._headers = {
'Content-Type': 'application/octet-stream',
'Ocp-Apim-Subscription-Key':
self.config['Azure']['SubscriptionKey'],
}
self._params = urllib.parse.urlencode({
"returnFaceId":
"true",
"returnFaceLandmarks":
"false",
"returnFaceAttributes":
"age,gender,glasses,facialHair"
})
def getPrediction(self, imageBytes):
""" Get prediction results from Azure Face API.
Returns object with either a predictions array property or an error property.
"""
resultData = {}
try:
tempResult = self.__getPrediction(imageBytes)
resultData['predictions'] = tempResult
except Exception as e:
self.logger.error('Error getting prediction: %s' % e)
resultData['error'] = str(e)
return resultData
def __getPrediction(self, imageBytes):
""" Execute REST API call and return result """
if len(self._subscriptionKey) < 10:
raise EnvironmentError(
'Azure subscription key - %s - is not valid' %
self._subscriptionKey)
else:
try:
api_url = "https://%s/face/v1.0/detect?%s" % (self._uriBase,
self._params)
r = requests.post(api_url,
headers=self._headers,
data=imageBytes)
if r.status_code != 200:
raise ValueError(
'Request to Azure returned an error %s, the response is:\n%s'
% (r.status_code, r.text))
jsonResult = r.json()
self.logger.debug("Got azure data %s" % jsonResult)
return jsonResult
except Exception as e:
self.logger.error(e)
class MultiTracker(object):
def __init__(self, kind="KCF", moduleConfig=None, loggingQueue=None):
""" Create an initialize new MultiTracker. Set up constants and parameters. """
self.config = moduleConfig
self.trackers = [] # List of trackers
self.kind = kind
self.focus = None
self.loggingQueue = loggingQueue
# Constants
self._useVelocity = self.config['UseVelocity']
self._closestThreshold = self.config["ClosestThreshold"]
self._primaryTarget = self.config['PrimaryTarget']
# Setup logging queue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def add(self, bbox, frame, kind="KCF"):
""" Add new tracker with default type KCF. """
aTracker = Tracker(bbox, frame, kind, self.config, self.loggingQueue)
self.trackers.append(aTracker)
def removeAt(self, i):
""" Remove Tracker at index i. """
self.trackers.pop(i)
def remove(self, aTracker):
""" Remove tracker provided as parameter. """
self.trackers.remove(aTracker)
def update(self, frame):
""" Loop through each tracker updating bounding box, keep track of failures. """
bboxes = []
ind = 0
failed = []
for aTracker in self.trackers:
ok, bbox = aTracker.update(frame)
if not ok:
failed.append(ind)
else:
bboxes.append(bbox)
ind += 1
if len(failed) == 0:
return True, bboxes, None
else:
self.logger.error('Failed to update all trackers')
return False, bboxes, failed
def clear(self):
""" Remove all trackers. """
self.trackers.clear()
self.focus = None
def bboxContainsPt(self, bbox, pt, vBuffer):
""" Check if bbox contains pt.
Optionally provide velocity buffer to spread containing space.
"""
if ((bbox['x'] - vBuffer[0] <= pt[0] <=
(bbox['x'] + bbox['w'] + vBuffer[0]))
and (bbox['y'] - vBuffer[1] <= pt[1] <=
(bbox['y'] + bbox['h'] + vBuffer[1]))):
return True
else:
return False
def projectedLocationMatches(self, tracker, bbox):
""" Check if the velocity of the tracker could put it in the same spot as the bbox. """
if tracker.velocity:
return self.bboxContainsPt(bbox,
tracker.getProjectedLocation(time()),
tracker.getVelocityBuffer())
else:
return False
def intersects(self, tracker, bbox):
""" Check if the bbox and the trackers bounds intersect. """
if (tracker.right() < bbox['x']
or bbox['x'] + bbox['w'] < tracker.left()
or tracker.top() < bbox['y']
or bbox['y'] + bbox['h'] < tracker.bottom()):
return False # intersection is empty
else:
return True # intersection is not empty
def contains(self, bbox):
""" Check if the MultiTracker already has a tracker for the object detected.
Uses intersections and projected locations to determine if the tracker overlaps others.
This means objects that overlap when first detected will not _both_ be added to the MultiTracker.
"""
for aTracker in self.trackers:
if self._useVelocity:
if self.intersects(aTracker,
bbox) and self.projectedLocationMatches(
aTracker, bbox):
return True
elif self.intersects(aTracker, bbox):
return True
return False
def length(self):
""" Get number of Trackers in the MultiTracker. """
return len(self.trackers)
def getFocus(self):
""" Get focal object based on primaryTarget configuration.
Currently only closest is supported - checks whether there is a tracker
that is larger than the previous closest tracker by the configured threshold.
"""
if self._primaryTarget == "closest":
focusChanged = False
if self.focus:
# area = self.focus.area()
area = self.focus.area()
else:
area = None
for aTracker in self.trackers:
# If there's no focus or aTracker is larger than focus, and they aren't the same tracker
if not self.focus or (
aTracker.area() > area *
(1 + (self._closestThreshold / 100))
and self.focus.getCreated() != aTracker.getCreated()):
focusChanged = True
self.focus = aTracker
area = aTracker.area()
if focusChanged:
return self.focus
else:
return None
elif self._primaryTarget == "closest_engaged":
#TODO
self.logger.error('Primary Target %s is not implemented.' %
self._primaryTarget)
return None
else:
self.logger.error('Primary Target %s is not implemented.' %
self._primaryTarget)
return None
def checkFocus(self):
""" Check if focal Tracker has changed by updating the focus. """
focus = self.getFocus()
if focus:
return True, focus.bbox
else:
return False, None
class IdsWrapper(object):
def __init__(self, loggingQueue, moduleConfig):
""" Create a new IdsWrapper instance.
IdsWrapper uses the Windows IDS DLL, wraps C calls in Python.
Tested using the IDS XS 2.0 USB camera
"""
self.config = moduleConfig
self.isOpen = False
self.width = 0
self.height = 0
self.bitspixels = 0
self.py_width = 0
self.py_height = 0
self.py_bitspixel = 0
self.cam = None
self.pcImgMem = c_char_p() #create placeholder for image memory
self.pid=c_int()
# Setup logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
# Load the correct dll
try:
if architecture()[0] == '64bit':
self.logger.info('Using IDS camera with 64-bit architecture')
self.uEyeDll = cdll.LoadLibrary("C:/Windows/System32/uEye_api_64.dll")
else:
self.logger.info('Using IDS camera with 32-bit architecture')
self.uEyeDll = cdll.LoadLibrary("C:/Windows/System32/uEye_api.dll")
except Exception as e:
self.logger.error('Failed to load IDS DLL: %s . Are you sure you are using an IDS camera?'%e)
def isOpened(self):
""" Return camera open status"""
return self.isOpen
def set(self, key, value):
""" Set the py_width, py_height or py_bitspixel properties """
if key == 'py_width':
self.py_width = value
elif key == 'py_height':
self.py_height = value
else:
self.py_bitspixel = value
def allocateImageMemory(self):
""" Wrapped call to allocate image memory """
ret=self.uEyeDll.is_AllocImageMem(self.cam, self.width, self.height, self.bitspixel, byref(self.pcImgMem), byref(self.pid))
if ret == IS_SUCCESS:
self.logger.info("Successfully allocated image memory")
else:
self.logger.error('Memory allocation failed, no camera with value ' + str(self.cam.value) + ' | Error code: ' + str(ret))
return
def setImageMemory(self):
""" Wrapped call to set image memory """
ret = self.uEyeDll.is_SetImageMem(self.cam, self.pcImgMem, self.pid)
if ret == IS_SUCCESS:
self.logger.info("Successfully set image memory")
else:
self.logger.error("Failed to set image memory; error code: " + str(ret))
return
def beginCapture(self):
""" Wrapped call to begin capture """
ret = self.uEyeDll.is_CaptureVideo (self.cam, c_long(IS_DONT_WAIT))
if ret == IS_SUCCESS:
self.logger.info("Successfully began video capture")
else:
self.logger.error("Failed to begin video capture; error code: " + str(ret))
return
def initImageData(self):
""" Initialize the ImageData numpy array """
self.ImageData = np.ones((self.py_height,self.py_width),dtype=np.uint8)
def setCTypes(self):
""" Set C Types for width, height, and bitspixel properties"""
self.width = c_int(self.py_width)
self.height = c_int(self.py_height)
self.bitspixel = c_int(self.py_bitspixel)
def start(self):
""" Start capturing frames on another thread as a daemon """
self.updateThread = Thread(target=self.update)
self.updateThread.setDaemon(True)
self.updateThread.start()
return self
def initializeCamera(self):
""" Wrapped call to initialize camera """
ret = self.uEyeDll.is_InitCamera(byref(self.cam), self.hWnd)
if ret == IS_SUCCESS:
self.logger.info("Successfully initialized camera")
else:
self.logger.error("Failed to initialize camera; error code: " + str(ret))
return
def enableAutoExit(self):
""" Wrapped call to allow allocated memory to be dropped on exit. """
ret = self.uEyeDll.is_EnableAutoExit (self.cam, c_uint(1))
if ret == IS_SUCCESS:
self.logger.info("Successfully enabled auto exit")
else:
self.logger.error("Failed to enable auto exit; error code: " + str(ret))
return
def setDisplayMode(self):
""" Wrapped call to set display mode to DIB """
ret = self.uEyeDll.is_SetDisplayMode (self.cam, c_int(IS_SET_DM_DIB))
if ret == IS_SUCCESS:
self.logger.info("Successfully set camera to DIB mode")
else:
self.logger.error("Failed to set camera mode; error code: " + str(ret))
return
def setColorMode(self):
""" Wrapped call to set camera color capture mode """
ret = self.uEyeDll.is_SetColorMode(self.cam, c_int(IS_CM_SENSOR_RAW8))
if ret == IS_SUCCESS:
self.logger.info("Successfully set color mode")
else:
self.logger.error("Failed to set color mode; error code: " + str(ret))
return
def setCompressionFactor(self):
""" Wrapped call to set image compression factor.
Required for long USB lengths when bandwidth is constrained, lowers quality.
"""
ret = self.uEyeDll.is_DeviceFeature(self.cam, IS_DEVICE_FEATURE_CMD_SET_JPEG_COMPRESSION, byref(c_int(self.config['CompressionFactor'])), c_uint(INT_BYTE_SIZE));
if ret == IS_SUCCESS:
self.logger.info("Successfully set compression factor to: " + str(self.config['CompressionFactor']))
else:
self.logger.error("Failed to set compression factor; error code: " + str(ret))
return
def setPixelClock(self):
""" Wrapped call to set pixel clock.
Required for long USB lengths when bandwidth is constrained
Lowers frame rate and increases motion blur.
"""
ret = self.uEyeDll.is_PixelClock(self.cam, IS_PIXELCLOCK_CMD_SET, byref(c_uint(self.config['PixelClock'])), c_uint(INT_BYTE_SIZE));
if ret == IS_SUCCESS:
self.logger.info("Successfully set pixel clock to: " + str(self.config['PixelClock']))
else:
self.logger.error("Failed to set pixel clock; error code: " + str(ret))
return
def setTrigger(self):
""" Wrapped call to set trigger type to software trigger. """
ret = self.uEyeDll.is_SetExternalTrigger(self.cam, c_uint(IS_SET_TRIGGER_SOFTWARE))
if ret == IS_SUCCESS:
self.logger.info("Successfully set software trigger")
else:
self.logger.error("Failed to set software trigger; error code: " + str(ret))
return
def setImageProfile(self):
""" Wrapped call to set image format.
Sets resolution of the capture to UXGA. More modes available in idsConsts.py.
"""
ret = self.uEyeDll.is_ImageFormat(self.cam, c_uint(IMGFRMT_CMD_SET_FORMAT), byref(c_int(UXGA)), c_uint(INT_BYTE_SIZE))
if ret == IS_SUCCESS:
self.logger.info("Successfully set camera image profile")
else:
self.logger.error("Failed to set camera image profile; error code: " + str(ret))
return
def open(self):
""" Open connection to IDS camera, set various modes. """
self.cam = c_uint32(0)
self.hWnd = c_voidp()
self.initializeCamera()
self.enableAutoExit()
self.setDisplayMode()
self.setColorMode()
self.setCompressionFactor()
self.setPixelClock()
self.setTrigger()
self.setImageProfile()
# Declare video open
self.isOpen = True
self.logger.info('Successfully opened camera')
def update(self):
""" Loop to update frames and copy to ImageData variable. """
while True:
if not self.isOpen:
return
self.uEyeDll.is_CopyImageMem (self.cam, self.pcImgMem, self.pid, self.ImageData.ctypes.data_as(c_char_p))
def read(self):
""" Read frame currently available in ImageData variable. """
try:
return True, self.ImageData
except Exception as e:
self.logger.error('Error getting image data: %r'% e)
return False, None
def exit(self):
""" Close camera down, release memory. """
self.uEyeDll.is_ExitCamera(self.cam)
self.isOpen = False
self.logger.info('Closing wrapper and camera')
return
class BlueGigaBtleCollectionPointThread(Thread):
def __init__(self, queue, btleConfig, loggingQueue, debugMode=False):
Thread.__init__(self)
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.alive = True
self.btleConfig = btleConfig
self.queue = queue
self.btleCollectionPoint = BtleThreadCollectionPoint(self.eventScanResponse,self.btleConfig,self.loggingQueue)
def bleDetect(self,__name__,repeatcount=10):
try:
self.btleCollectionPoint.start()
except Exception as e:
self.logger.error("[btleThread] Unable to connect to BTLE device: %s"%e)
self.sendFailureNotice("Unable to connect to BTLE device")
quit()
while self.alive:
try:
self.btleCollectionPoint.scan()
except Exception as e:
self.logger.error("[btleThread] Unable to scan BTLE device: %s"%e)
self.sendFailureNotice("Unable to connect to BTLE device to perform a scan")
quit()
# don't burden the CPU
time.sleep(0.01)
# handler to print scan responses with a timestamp
def eventScanResponse(self,sender,args):
#check to make sure there is enough data to be a beacon
if len(args["data"]) > 15:
# self.logger.debug("=============================== eventScanResponse START ===============================")
try:
majorNumber = args["data"][26] | (args["data"][25] << 8)
# self.logger.debug("majorNumber=%i"%majorNumber)
except:
majorNumber = 0
try:
minorNumber = args["data"][28] | (args["data"][27] << 8)
# self.logger.debug("minorNumber=%i"%minorNumber)
except:
minorNumber = 0
if self.btleConfig['BtleAdvertisingMajor'] == majorNumber and self.btleConfig['BtleAdvertisingMinor'] == minorNumber:
self.logger.debug("self.btleConfig['BtleAdvertisingMinor'] == %i and self.btleConfig['BtleAdvertisingMinor'] == %i "%(majorNumber,minorNumber))
self.logger.debug("yep, we care about this major and minor so lets create a detected client and pass it to the event manager")
udid = "%s" % ''.join(['%02X' % b for b in args["data"][9:25]])
self.logger.debug("UDID=%s"%udid)
rssi = args["rssi"]
self.logger.debug("rssi=%s"%rssi)
beaconMac = "%s" % ''.join(['%02X' % b for b in args["sender"][::-1]])
self.logger.debug("beaconMac=%s"%beaconMac)
rawTxPower = args["data"][29]
self.logger.debug("rawTxPower=%i"%rawTxPower)
if rawTxPower <= 127:
txPower = rawTxPower
else:
txPower = rawTxPower - 256
self.logger.debug("txPower=%i"%txPower)
arrayDetectedClients = [] #we send an array to the event queue, we used to process bacthes of responses
#package it up for sending to the queue
detectedClient = DetectedClient('btle',udid=udid,beaconMac=beaconMac,majorNumber=majorNumber,minorNumber=minorNumber,tx=txPower,rssi=rssi)
arrayDetectedClients.append(detectedClient)
#put it on the queue for the event manager to pick up
self.queue.put(arrayDetectedClients)
self.logger.debug("================================= eventScanResponse END =================================")
def stop(self):
self.alive = False
def sendFailureNotice(self,msg):
if len(self.btleConfig['SlackChannelWebhookUrl']) > 10:
myMsg = 'Help I have fallen and can not get back up! \n %s. \nSent from %s'%(msg,platform.node())
payload = {'text': myMsg}
r = requests.post(self.btleConfig['SlackChannelWebhookUrl'], data = json.dumps(payload))
class EventManager(object):
def __init__(self, collectionPointConfig, pOutBoundQueue,
registeredClientRegistry, loggingQueue):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.__stats_totalRemoveEvents = 0
self.__stats_totalNewEvents = 0
self.logger.debug("in constructor")
self.registeredClientRegistry = registeredClientRegistry
self.registeredClientRegistry.eventRegisteredClientAdded += self.__newClientRegistered
self.registeredClientRegistry.eventRegisteredClientRemoved += self.__removedRegisteredClient
self.collectionPointConfig = collectionPointConfig
self.outBoundEventQueue = pOutBoundQueue
def registerDetectedClient(self, detectedClient):
self.logger.debug("Registering detected client %s" %
detectedClient.extraData["beaconMac"])
eClient = self.registeredClientRegistry.getRegisteredClient(
detectedClient.extraData["beaconMac"])
#check for existing
if eClient == None:
#Newly found client
if self.collectionPointConfig['InterfaceType'] == 'btle':
rClient = BtleRegisteredClient(detectedClient,
self.collectionPointConfig,
self.loggingQueue)
self.logger.debug(
"client %s not found in the existing clients. NEW CLIENT! " %
detectedClient.extraData["beaconMac"])
if rClient.shouldSendClientInEvent():
self.__sendEventToController(rClient, "clientIn")
elif rClient.shouldSendClientOutEvent():
self.logger.debug(
"########################################## SENDING CLIENT OUT eClient ##########################################"
)
self.__sendEventToController(rClient, "clientOut")
self.registeredClientRegistry.addNewRegisteredClient(rClient)
else:
eClient.updateWithNewDectedClientData(detectedClient)
if eClient.shouldSendClientInEvent():
#self.logger.debug("########################################## SENDING CLIENT IN ##########################################")
self.__sendEventToController(eClient, "clientIn")
elif eClient.shouldSendClientOutEvent():
self.logger.debug(
"########################################## SENDING CLIENT OUT rClient ##########################################"
)
self.__sendEventToController(eClient, "clientOut")
self.registeredClientRegistry.updateRegisteredClient(eClient)
def registerClients(self, detectedClients):
for detectedClient in detectedClients:
self.registerDetectedClient(detectedClient)
def getEventAuditData(self):
"""Returns a dict with the total New and Remove events the engine has seen since startup"""
return {
'NewEvents': self.__stats_totalNewEvents,
'RemoveEvents': self.__stats_totalRemoveEvents
}
def __newClientRegistered(self, sender, registeredClient):
self.logger.debug(
"######### NEW CLIENT REGISTERED %s #########" %
registeredClient.detectedClient.extraData["beaconMac"])
#we dont need to count for ever and eat up all the memory
if self.__stats_totalNewEvents > 1000000:
self.__stats_totalNewEvents = 0
else:
self.__stats_totalNewEvents += 1
def __removedRegisteredClient(self, sender, registeredClient):
self.logger.debug(
"######### REGISTERED REMOVED %s #########" %
registeredClient.detectedClient.extraData["beaconMac"])
if registeredClient.sweepShouldSendClientOutEvent():
self.__sendEventToController(registeredClient, "clientOut")
#we dont need to count for ever and eat up all the memory
if self.__stats_totalRemoveEvents > 1000000:
self.__stats_totalRemoveEvents = 0
else:
self.__stats_totalRemoveEvents += 1
def __sendEventToController(self, registeredClient, eventType):
eventMessage = CollectionPointEvent(
self.collectionPointConfig['collectionPointId'],
registeredClient.lastRegisteredTime,
registeredClient.detectedClient.extraData["beaconMac"],
self.collectionPointConfig['gatewayType'], eventType,
registeredClient.getExtenedDataForEvent())
if eventType == 'clientIn':
registeredClient.setClientInMessageSentToController()
elif eventType == 'clientOut':
registeredClient.setClientOutMessageSentToController()
#update reg
self.registeredClientRegistry.updateRegisteredClient(registeredClient)
self.outBoundEventQueue.put(eventMessage)
class TVCollectionPoint(Thread):
def __init__(self, baseConfig, pInBoundQueue, pOutBoundQueue,
loggingQueue):
""" Initialize new TVCollectionPoint instance.
Setup queues, variables, configs, constants and loggers.
"""
super(TVCollectionPoint, self).__init__()
if not self.check_opencv_version("3.", cv2):
print(
"OpenCV version {0} is not supported. Use 3.x for best results."
.format(self.get_opencv_version()))
# Queues
self.outQueue = pOutBoundQueue #messages from this thread to the main process
self.inQueue = pInBoundQueue
self.loggingQueue = loggingQueue
# Variables
self.video = None
self.alive = True
self.ix = -1
self.iy = -1
self.fx = -1
self.fy = -1
self.clicking = False
self.boundSet = False
self.x1, self.x2, self.y1, self.y2 = 0, 0, 0, 0
# Configs
#self.moduleConfig = camConfigLoader.load(self.loggingQueue) #Get the config for this module
self.config = baseConfig
# Constants
self._captureWidth = 1600
self._captureHeight = 900
self._numLEDs = 60
self._collectionPointId = "tvcam1"
self._collectionPointType = "ambiLED"
self._showVideoStream = True
self._delimiter = ';'
self._colorMode = 'edgeDominant'
# self._colorMode = 'edgeMean'
self._perimeterDepth = 20
self._topSegments = 3
self._sideSegments = 2
# Logger
self.logger = ThreadsafeLogger(loggingQueue, __name__)
def run(self):
""" Main thread method, run when the thread's start() function is called.
Controls flow of detected faces and the MultiTracker.
Sends color data in string format, like "#fffff;#f1f1f1;..."
"""
# Monitor inbound queue on own thread
self.threadProcessQueue = Thread(target=self.processQueue)
self.threadProcessQueue.setDaemon(True)
self.threadProcessQueue.start()
self.initializeCamera()
# Setup timer for FPS calculations
start = time.time()
frameCounter = 1
fps = 0
# Start timer for collection events
self.collectionStart = time.time()
ok, frame = self.video.read()
if not ok:
self.logger.error('Cannot read video file')
self.shutdown()
else:
framecopy = frame.copy()
cont = True
while cont or not self.boundSet:
cv2.imshow('Set ROI', framecopy)
cv2.setMouseCallback('Set ROI', self.getROI, frame)
k = cv2.waitKey(0)
if k == 32 and self.boundSet:
# on space, user wants to finalize bounds, only allow them to exit if bounds set
cont = False
# elif k != 27:
# any other key clears rectangles
# framecopy = frame.copy()
#ok, frame = self.video.read()
# cv2.imshow('Set ROI', framecopy)
# cv2.setMouseCallback('Set ROI', self.getROI, framecopy)
cv2.destroyWindow('Set ROI')
self.initKMeans()
# Set up for all modes
top_length_pixels = self.fx - self.ix
side_length_pixels = self.fy - self.iy
perimeter_length_pixels = top_length_pixels * 2 + side_length_pixels * 2
# mode specific setup
if self._colorMode == 'dominant':
pass
if self._colorMode == 'edgeDominant' or self._colorMode == 'edgeMean':
perimeter_depth = 0
if self._perimeterDepth < side_length_pixels / 2 and self._perimeterDepth < top_length_pixels / 2:
perimeter_depth = self._perimeterDepth
else:
perimeter_depth = min(side_length_pixels / 2,
top_length_pixels / 2)
while self.alive:
ok, ogframe = self.video.read()
if not ok:
self.logger.error('Error while reading frame')
break
frame = ogframe.copy()
# Dominant color
if self._colorMode == 'dominant':
data = self.getDominantColor(
cv2.resize(frame[:, :, :], (0, 0), fx=0.4, fy=0.4),
self.ix, self.fx, self.iy, self.fy)
#self.putCPMessage(data, 'light-dominant')
#print('data: ',data)
elif self._colorMode == 'edgeMean':
data = self.getEdgeMeanColors(frame, top_length_pixels,
side_length_pixels,
perimeter_length_pixels,
perimeter_depth)
print('data: ', data)
elif self._colorMode == 'edgeDominant':
# this is the most promising
colorData = self.getEdgeDominantColors(
frame, top_length_pixels, side_length_pixels,
perimeter_length_pixels, perimeter_depth)
# assuming LEDs are evenly distributed, find number for each edge of ROI
top_num_leds = self._numLEDs * (top_length_pixels /
perimeter_length_pixels)
side_num_leds = self._numLEDs * (side_length_pixels /
perimeter_length_pixels)
data = self.getColorString(colorData, top_num_leds,
side_num_leds)
self.putCPMessage(data, 'light-edges')
# print('data: ', data)
if self._showVideoStream:
cv2.rectangle(frame, (self.ix, self.iy), (self.fx, self.fy),
(255, 0, 0), 1)
cv2.imshow("output", frame)
cv2.waitKey(1)
def getMeanColor(self, frame):
color = [frame[:, :, i].mean() for i in range(frame.shape[-1])]
return color
def initKMeans(self):
# kmeans vars
self.n_colors = 5
self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER,
200, .1)
self.flags = cv2.KMEANS_RANDOM_CENTERS
def getColorString(self, colorData, top_num_leds, side_num_leds):
toReturn = ''
for key in colorData:
if key == 'top' or key == 'bottom':
for i in range(len(colorData[key])):
toReturn += (colorData[key][i] + self._delimiter) * int(
top_num_leds / self._topSegments)
if key == 'right' or key == 'left':
for i in range(len(colorData[key])):
toReturn += (colorData[key][i] + self._delimiter) * int(
side_num_leds / self._sideSegments)
return toReturn
def getDominantSegmentColor(self, segment):
average_color = [
segment[:, :, i].mean() for i in range(segment.shape[-1])
]
arr = np.float32(segment)
pixels = arr.reshape((-1, 3))
# kmeans clustering
_, labels, centroids = cv2.kmeans(pixels, self.n_colors, None,
self.criteria, 10, self.flags)
palette = np.uint8(centroids)
quantized = palette[labels.flatten()]
quantized = quantized.reshape(segment.shape)
dominant_color = palette[np.argmax(itemfreq(labels)[:, -1])]
return dominant_color
def getEdgeMeanColors(self, frame, top_length_pixels, side_length_pixels,
perimeter_length_pixels, perimeter_depth):
# assuming LEDs are evenly distributed, find number for each edge of ROI
top_num_leds = self._numLEDs * (top_length_pixels /
perimeter_length_pixels)
side_num_leds = self._numLEDs * (side_length_pixels /
perimeter_length_pixels)
top_segment_length = top_length_pixels / self._topSegments
side_segment_length = side_length_pixels / self._sideSegments
for i in range(0, self._topSegments):
ix = int(self.ix + i * top_segment_length)
fx = int(self.ix + (i + 1) * top_segment_length)
iy = int(self.iy)
fy = int(self.iy + perimeter_depth)
c = self.getMeanColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['top'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 0, 255), 1)
cv2.rectangle(frame, (ix, iy - (10 + perimeter_depth)),
(fx, fy - perimeter_depth),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._sideSegments):
ix = int(self.fx - perimeter_depth)
fx = int(self.fx)
iy = int(self.iy + i * side_segment_length)
fy = int(self.iy + (i + 1) * side_segment_length)
c = self.getMeanColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['right'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 255, 0), 1)
cv2.rectangle(frame, (ix + perimeter_depth, iy),
(fx + (10 + perimeter_depth), fy),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._topSegments):
ix = int(self.fx - (i + 1) * top_segment_length)
fx = int(self.fx - i * top_segment_length)
iy = int(self.fy - perimeter_depth)
fy = int(self.fy)
c = self.getMeanColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['bottom'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 0, 255), 1)
cv2.rectangle(frame, (ix, iy + perimeter_depth),
(fx, fy + (10 + perimeter_depth)),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._sideSegments):
ix = int(self.ix)
fx = int(self.ix + perimeter_depth)
iy = int(self.fy - (i + 1) * side_segment_length)
fy = int(self.fy - i * side_segment_length)
c = self.getMeanColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['left'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 255, 0), 1)
cv2.rectangle(frame, (ix - (10 + perimeter_depth), iy),
(fx - perimeter_depth, fy),
(int(c[0]), int(c[1]), int(c[2])), 10)
return data
def getEdgeDominantColors(self, frame, top_length_pixels,
side_length_pixels, perimeter_length_pixels,
perimeter_depth):
top_segment_length = top_length_pixels / self._topSegments
side_segment_length = side_length_pixels / self._sideSegments
data = {}
data['top'] = [None] * self._topSegments
data['right'] = [None] * self._sideSegments
data['bottom'] = [None] * self._topSegments
data['left'] = [None] * self._sideSegments
for i in range(0, self._topSegments):
ix = int(self.ix + i * top_segment_length)
fx = int(self.ix + (i + 1) * top_segment_length)
iy = int(self.iy)
fy = int(self.iy + perimeter_depth)
c = self.getDominantSegmentColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['top'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 0, 255), 1)
cv2.rectangle(frame, (ix, iy - (10 + perimeter_depth)),
(fx, fy - perimeter_depth),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._sideSegments):
ix = int(self.fx - perimeter_depth)
fx = int(self.fx)
iy = int(self.iy + i * side_segment_length)
fy = int(self.iy + (i + 1) * side_segment_length)
c = self.getDominantSegmentColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['right'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 255, 0), 1)
cv2.rectangle(frame, (ix + perimeter_depth, iy),
(fx + (10 + perimeter_depth), fy),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._topSegments):
ix = int(self.fx - (i + 1) * top_segment_length)
fx = int(self.fx - i * top_segment_length)
iy = int(self.fy - perimeter_depth)
fy = int(self.fy)
c = self.getDominantSegmentColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['bottom'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 0, 255), 1)
cv2.rectangle(frame, (ix, iy + perimeter_depth),
(fx, fy + (10 + perimeter_depth)),
(int(c[0]), int(c[1]), int(c[2])), 10)
for i in range(0, self._sideSegments):
ix = int(self.ix)
fx = int(self.ix + perimeter_depth)
iy = int(self.fy - (i + 1) * side_segment_length)
fy = int(self.fy - i * side_segment_length)
c = self.getDominantSegmentColor(
cv2.resize(frame[iy:fy, ix:fx, :], (0, 0), fx=0.2, fy=0.2))
data['left'][i] = self.getRGBHexString(c)
if self._showVideoStream:
cv2.rectangle(frame, (ix, iy), (fx, fy), (0, 255, 0), 1)
cv2.rectangle(frame, (ix - (10 + perimeter_depth), iy),
(fx - perimeter_depth, fy),
(int(c[0]), int(c[1]), int(c[2])), 10)
return data
def getRGBHexString(self, bgr):
return "%x%x%x" % (bgr[2], bgr[1], bgr[0])
def getDominantColor(self, img, ix, fx, iy, fy):
ix = int(ix)
fx = int(fx)
iy = int(iy)
fy = int(fy)
average_color = [
img[iy:fy, ix:fx, i].mean() for i in range(img.shape[-1])
]
arr = np.float32(img)
pixels = arr.reshape((-1, 3))
# kmeans clustering
_, labels, centroids = cv2.kmeans(pixels, self.n_colors, None,
self.criteria, 10, self.flags)
palette = np.uint8(centroids)
quantized = palette[labels.flatten()]
quantized = quantized.reshape(img.shape)
dominant_color = palette[np.argmax(itemfreq(labels)[:, -1])]
return dominant_color
def initializeCamera(self):
# open first webcam available
self.video = cv2.VideoCapture(0)
if not self.video.isOpened():
self.video.open()
#set the resolution from config
self.video.set(cv2.CAP_PROP_FRAME_WIDTH, self._captureWidth)
self.video.set(cv2.CAP_PROP_FRAME_HEIGHT, self._captureHeight)
def getROI(self, event, x, y, flags, frame):
framecopy = frame.copy()
if event == cv2.EVENT_LBUTTONDOWN:
self.clicking = True
self.ix, self.iy = x, y
elif event == cv2.EVENT_MOUSEMOVE:
if self.clicking:
cv2.rectangle(framecopy, (self.ix, self.iy), (x, y),
(0, 255, 0), -1)
cv2.imshow('Set ROI', framecopy)
elif event == cv2.EVENT_LBUTTONUP:
self.clicking = False
cv2.rectangle(framecopy, (self.ix, self.iy), (x, y), (0, 255, 0),
-1)
cv2.imshow('Set ROI', framecopy)
self.fx, self.fy = x, y
self.boundSet = True
def processQueue(self):
self.logger.info(
"Starting to watch collection point inbound message queue")
while self.alive:
if (self.inQueue.empty() == False):
self.logger.info("Queue size is %s" % self.inQueue.qsize())
try:
message = self.inQueue.get(block=False, timeout=1)
if message is not None:
if message == "SHUTDOWN":
self.logger.info("SHUTDOWN command handled on %s" %
__name__)
self.shutdown()
else:
self.handleMessage(message)
except Exception as e:
self.logger.error("Unable to read queue, error: %s " % e)
self.shutdown()
self.logger.info("Queue size is %s after" %
self.inQueue.qsize())
else:
time.sleep(.25)
def handleMessage(self, message):
self.logger.info("handleMessage not implemented!")
def putCPMessage(self, data, type):
if type == "off":
# Send off message
self.logger.info('Sending off message')
msg = CollectionPointEvent(self._collectionPointId,
self._collectionPointType, 'off', None)
self.outQueue.put(msg)
elif type == "light-edges":
# Reset collection start and now needs needs reset
collectionStart = time.time()
self.logger.info('Sending light message')
msg = CollectionPointEvent(self._collectionPointId,
self._collectionPointType,
'light-edges', data)
self.outQueue.put(msg)
elif type == "light-dominant":
# Reset collection start and now needs needs reset
collectionStart = time.time()
self.logger.info('Sending light message')
msg = CollectionPointEvent(self._collectionPointId,
self._collectionPointType,
'light-dominant', data)
self.outQueue.put(msg)
def shutdown(self):
self.alive = False
self.logger.info("Shutting down")
# self.putCPMessage(None, 'off')
cv2.destroyAllWindows()
time.sleep(1)
self.exit = True
def get_opencv_version(self):
import cv2 as lib
return lib.__version__
def check_opencv_version(self, major, lib=None):
# if the supplied library is None, import OpenCV
if lib is None:
import cv2 as lib
# return whether or not the current OpenCV version matches the
# major version number
return lib.__version__.startswith(major)
class BtleThreadCollectionPoint(object):
def __init__(self,
clientEventHandler,
btleConfig,
loggingQueue,
debugMode=False):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.btleConfig = btleConfig
self.clientEventHandler = clientEventHandler
self.debug = debugMode
# define basic BGAPI parser
self.bgapi_rx_buffer = []
self.bgapi_rx_expected_length = 0
def start(self):
packet_mode = False
# create BGLib object
self.ble = BGLib()
self.ble.packet_mode = packet_mode
self.ble.debug = self.debug
# add handler for BGAPI timeout condition (hopefully won't happen)
self.ble.on_timeout += self.my_timeout
# on busy hander
self.ble.on_busy = self.on_busy
# add handler for the gap_scan_response event
self.ble.ble_evt_gap_scan_response += self.clientEventHandler
# create serial port object and flush buffers
self.logger.info(
"Establishing serial connection to BLED112 on com port %s at baud rate %s"
% (self.btleConfig['BtleDeviceId'],
self.btleConfig['BtleDeviceBaudRate']))
self.serial = Serial(port=self.btleConfig['BtleDeviceId'],
baudrate=self.btleConfig['BtleDeviceBaudRate'],
timeout=1)
self.serial.flushInput()
self.serial.flushOutput()
# disconnect if we are connected already
self.ble.send_command(self.serial,
self.ble.ble_cmd_connection_disconnect(0))
self.ble.check_activity(self.serial, 1)
# stop advertising if we are advertising already
self.ble.send_command(self.serial, self.ble.ble_cmd_gap_set_mode(0, 0))
self.ble.check_activity(self.serial, 1)
# stop scanning if we are scanning already
self.ble.send_command(self.serial,
self.ble.ble_cmd_gap_end_procedure())
self.ble.check_activity(self.serial, 1)
# set the TX
# range 0 to 15 (real TX power from -23 to +3dBm)
#self.ble.send_command(self.serial, self.ble.ble_cmd_hardware_set_txpower(self.btleConfig['btleDeviceTxPower']))
#self.ble.check_activity(self.serial,1)
#ble_cmd_connection_update connection: 0 (0x00) interval_min: 30 (0x001e) interval_max: 46 (0x002e) latency: 0 (0x0000) timeout: 100 (0x0064)
#interval_min 6-3200
#interval_man 6-3200
#latency 0-500
#timeout 10-3200
self.ble.send_command(
self.serial,
self.ble.ble_cmd_connection_update(0x00, 0x001e, 0x002e, 0x0000,
0x0064))
self.ble.check_activity(self.serial, 1)
# set scan parameters
#scan_interval 0x4 - 0x4000
#Scan interval defines the interval when scanning is re-started in units of 625us
# Range: 0x4 - 0x4000
# Default: 0x4B (75ms)
# After every scan interval the scanner will change the frequency it operates at
# at it will cycle through all the three advertisements channels in a round robin
# fashion. According to the Bluetooth specification all three channels must be
# used by a scanner.
#
#scan_window 0x4 - 0x4000
# Scan Window defines how long time the scanner will listen on a certain
# frequency and try to pick up advertisement packets. Scan window is defined
# as units of 625us
# Range: 0x4 - 0x4000
# Default: 0x32 (50 ms)
# Scan windows must be equal or smaller than scan interval
# If scan window is equal to the scan interval value, then the Bluetooth module
# will be scanning at a 100% duty cycle.
# If scan window is half of the scan interval value, then the Bluetooth module
# will be scanning at a 50% duty cycle.
#
#active 1=active 0=passive
# 1: Active scanning is used. When an advertisement packet is received the
# Bluetooth stack will send a scan request packet to the advertiser to try and
# read the scan response data.
# 0: Passive scanning is used. No scan request is made.
#self.ble.send_command(self.serial, self.ble.ble_cmd_gap_set_scan_parameters(0x4B,0x32,1))
self.ble.send_command(
self.serial,
self.ble.ble_cmd_gap_set_scan_parameters(0xC8, 0xC8, 0))
self.ble.check_activity(self.serial, 1)
# start scanning now
self.ble.send_command(self.serial, self.ble.ble_cmd_gap_discover(1))
self.ble.check_activity(self.serial, 1)
# handler to notify of an API parser timeout condition
def my_timeout(self, sender, args):
self.logger.error(
"BGAPI timed out. Make sure the BLE device is in a known/idle state."
)
# might want to try the following lines to reset, though it probably
# wouldn't work at this point if it's already timed out:
self.ble.send_command(self.serial, self.ble.ble_cmd_system_reset(0))
self.ble.check_activity(self.serial, 1)
self.ble.send_command(self.serial, self.ble.ble_cmd_gap_discover(1))
self.ble.check_activity(self.serial, 1)
def on_busy(self, sender, args):
self.logger.warn("BGAPI device is busy.")
def scan(self):
# check for all incoming data (no timeout, non-blocking)
self.ble.check_activity(self.serial)
class CollectionPoint(Thread):
""" Sample class to show basic structure of collecting data and passing it to communication channels """
def __init__(self,baseConfig,pOutBoundEventQueue, pInBoundEventQueue, loggingQueue):
# Standard initialization that most collection points would do
super(CollectionPoint, self).__init__()
self.alive = True
self.config = baseConfig
self.outBoundEventQueue = pOutBoundEventQueue
self.inBoundEventQueue = pInBoundEventQueue
self.logger = ThreadsafeLogger(loggingQueue,__name__)
# Initialize collection point specific variables
self.video = None
# Set constants from config
self._collectionPointId = self.config['CollectionPointId']
self._collectionPointType = self.config['CollectionPointType']
self._testMode = self.config['TestMode']
if not self.check_opencv_version("3.",cv2):
self.logger.critical("open CV is the wrong version {0}. We require version 3.x".format(self.get_opencv_version()))
def run(self):
""" Sample run function for a collection point class.
Starting point for when the thread is start()'d from main.py
Extend this to create your own, or understand how to perform specific actions.
"""
# Start a thread to monitor the inbound queue
self.threadProcessQueue = Thread(target=self.processQueue)
self.threadProcessQueue.setDaemon(True)
self.threadProcessQueue.start()
# Load the OpenCV classifier to detect faces
faceCascade = cv2.CascadeClassifier('./classifiers/haarcascades/haarcascade_frontalface_default.xml')
tracker = cv2.Tracker_create("KCF")
# Get first camera connected
video = cv2.VideoCapture(0)
if not video.isOpened():
video.open()
# Set resolution of capture
video.set(cv2.CAP_PROP_FRAME_WIDTH, 1080)
video.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
ok, frame = video.read()
if not ok:
self.logger.error('Cannot read video file')
self.shutdown()
while self.alive:
# Read a new frame
ok, frame = video.read()
if not ok:
self.logger.error('Cannot read video file')
break
# Convert to grayscale
grayFrame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Copy the frame to allow manipulation
outputImage = frame.copy()
# Detect faces
faces = faceCascade.detectMultiScale(
grayFrame,
scaleFactor=1.1,
minNeighbors=5,
minSize=(5, 5)
)
self.logger.info("Found " + str(len(faces)) + " faces")
# Draw a rectangle around each face
for (x, y, w, h) in faces:
cv2.rectangle(outputImage, (x, y), (x+w, y+h), (0, 255, 0), 2)
if self._testMode:
if len(faces) > 0:
msg = CollectionPointEvent(self._collectionPointId,self._collectionPointType,('Found {0} faces'.format(len(faces))))
self.outBoundEventQueue.put(msg)
# Display the image
cv2.imshow("Faces found", outputImage)
ch = 0xFF & cv2.waitKey(1)
if ch == 27: #esc key
self.shutdown()
break
video.release()
def shutdown(self):
self.logger.info("Shutting down collection point")
cv2.destroyAllWindows()
self.threadProcessQueue.join()
self.alive = False
time.sleep(1)
self.exit = True
def get_opencv_version(self):
import cv2 as lib
return lib.__version__
def check_opencv_version(self,major, lib=None):
# if the supplied library is None, import OpenCV
if lib is None:
import cv2 as lib
# return whether or not the current OpenCV version matches the
# major version number
return lib.__version__.startswith(major)
class MQTTClientModule(Thread):
""" Threaded MQTT client for processing and publishing outbound messages"""
def __init__(self, baseConfig, pInBoundEventQueue, pOutBoundEventQueue,
loggingQueue):
super(MQTTClientModule, self).__init__()
self.config = baseConfig
self.alive = True
self.inQueue = pInBoundEventQueue
# Constants
self._keepAlive = self.config['MqttKeepAlive']
self._feedName = self.config['MqttFeedName']
self._username = self.config['MqttUsername']
self._key = self.config['MqttKey']
self._host = self.config['MqttHost']
self._port = self.config['MqttPort']
self._publishJson = self.config['MqttPublishJson']
self._publishFaceValues = self.config['MqttPublishFaceValues']
# MQTT setup
self._client = mqtt.Client()
self._client.username_pw_set(self._username, self._key)
self._client.on_connect = self.onConnect
self._client.on_disconnect = self.onDisconnect
self._client.on_message = self.onMessage
self.mqttConnected = False
# Logging setup
self.logger = ThreadsafeLogger(loggingQueue, "MQTT")
def onConnect(self, client, userdata, flags, rc):
self.logger.debug('MQTT onConnect called')
# Result code 0 is success
if rc == 0:
self.mqttConnected = True
# Subscribe to feed here
else:
self.logger.error('MQTT failed to connect: %s' % rc)
raise RuntimeError('MQTT failed to connect: %s' % rc)
def onDisconnect(self, client, userdata, rc):
self.logger.debug('MQTT onDisconnect called')
self.mqttConnected = False
if rc != 0:
self.logger.debug('MQTT disconnected unexpectedly: %s' % rc)
self.handleReconnect(rc)
def onMessage(self, client, userdata, msg):
self.logger.debug('MQTT onMessage called for client: %s' % client)
def connect(self):
""" Connect to MQTT broker
Skip calling connect if already connected.
"""
if self.mqttConnected:
return
self._client.connect(self._host,
port=self._port,
keepalive=self._keepAlive)
def disconnect(self):
""" Check if connected"""
if self.mqttConnected:
self._client.disconnect()
def subscribe(self, feed=False):
"""Subscribe to feed, defaults to feed specified in config"""
if not feed: feed = _feedName
self._client.subscribe('{0}/feeds/{1}'.format(self._username, feed))
def publish(self, value, feed=False):
"""Publish a value to a feed"""
if not feed: feed = _feedName
self._client.publish('{0}/feeds/{1}'.format(self._username, feed),
payload=value)
def publishFaceValues(self, message):
""" Publish face detection values to individual MQTT feeds
Parses _extendedData.predictions.faceAttributes property
Works with Azure face API responses and
"""
try:
for face in message._extendedData['predictions']:
faceAttrs = face['faceAttributes']
for key in faceAttrs:
if type(faceAttrs[key]) is dict:
val = self.flattenDict(faceAttrs[key])
print('val: ', val)
else:
val = faceAttrs[key]
self.publish(val, key)
except Exception as e:
self.logger.error('Error publishing values: %s' % e)
def flattenDict(self, aDict):
""" Get average of simple dictionary of numerical values """
try:
val = float(sum(aDict[key] for key in aDict)) / len(aDict)
except Exception as e:
self.logger.error('Error flattening dict, returning 0: %s' % e)
return val or 0
def publishJsonMessage(self, message):
msg_str = self.stringifyMessage(message)
self.publish(msg_str)
def stringifyMessage(self, message):
""" Dump into JSON string """
return json.dumps(message.__dict__).encode('utf8')
def processQueue(self):
self.logger.info('Processing queue')
while self.alive:
# Pump the loop
self._client.loop(timeout=1)
if (self.inQueue.empty() == False):
try:
message = self.inQueue.get(block=False, timeout=1)
if message is not None and self.mqttConnected:
if message == "SHUTDOWN":
self.logger.debug("SHUTDOWN command handled")
self.shutdown()
else:
# Send message as string or split into channels
if self._publishJson:
self.publishJsonMessage(message)
elif self._publishFaceData:
self.publishFaceValues(message)
else:
self.publishValues(message)
except Exception as e:
self.logger.error("MQTT unable to read queue : %s " % e)
else:
time.sleep(.25)
def shutdown(self):
self.logger.info("Shutting down MQTT %s" % (mp.current_process().name))
self.alive = False
time.sleep(1)
self.exit = True
def run(self):
""" Thread start method"""
self.logger.info("Running MQTT")
self.connect()
self.alive = True
# Start queue loop
self.processQueue()
class Tracker():
def __init__(self, bbox, frame, kind, moduleConfig, loggingQueue):
""" Create and initialize a new Tracker. Set up constants and parameters. """
if kind in ["KCF", "MIL", "MEDIANFLOW", "GOTURN", "TLD", "BOOSTING"]:
self.tracker = cv2.Tracker_create(kind)
self.tracker.init(frame,
(bbox['x'], bbox['y'], bbox['w'], bbox['h']))
self.created = time()
self.bbox = (bbox['x'], bbox['y'], bbox['w'], bbox['h'])
self.velocity = (0, 0)
self.updateTime = self.created
self.config = moduleConfig
# Constants
self._useVelocity = self.config['UseVelocity']
self._horizontalVelocityBuffer = self.config[
'HorizontalVelocityBuffer']
self._verticalVelocityBuffer = self.config[
'VerticalVelocityBuffer']
# Setup logging queue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
else:
self.logger.error("Type %s not supported by mTracker" % kind)
def getCreated(self):
""" Get created time """
return self.created
def right(self):
""" Get right bound of tracker """
return self.bbox[0] + self.bbox[2]
def top(self):
""" Get top bound of tracker """
return self.bbox[1] + self.bbox[3]
def bottom(self):
""" Get bottom bound of tracker """
return self.bbox[1]
def left(self):
""" Get left bound of tracker """
return self.bbox[0]
def area(self):
""" Get area of tracker bounding box """
return abs(self.right() - self.left()) * abs(self.top() -
self.bottom())
def update(self, frame):
""" Update tracker.
If velocity hack is being used, calculate the new velocity of the midpoint.
"""
ok, bbox = self.tracker.update(frame)
if self._useVelocity:
# Set velocity (pixels/sec)
deltaT = time() - self.updateTime
centreNow = ((bbox[0] + bbox[2] / 2), (bbox[1] + bbox[3] / 2))
centreLast = ((self.bbox[0] + self.bbox[2] / 2),
(self.bbox[1] + self.bbox[3] / 2))
Vx = (centreNow[0] - centreLast[0]) / deltaT
Vy = (centreNow[1] - centreLast[1]) / deltaT
self.velocity = (Vx, Vy)
self.logger.debug('New velocity: %s' % str(self.velocity[0]) +
', ' + str(self.velocity[1]))
self.updateTime = time()
self.bbox = bbox
return ok, bbox
def getProjectedLocation(self, time):
""" Get the estimated location of the bounding box, based on previous velocity. """
deltaT = max((time - self.updateTime), 1)
centreNow = ((self.bbox[0] + self.bbox[2] / 2),
(self.bbox[1] + self.bbox[3] / 2))
projectedX = centreNow[0] + (self.velocity[0] * deltaT)
projectedY = centreNow[1] + (self.velocity[1] * deltaT)
return (projectedX, projectedY)
def getVelocityBuffer(self):
''' Another hack to improve low frame rate tracking.
"Spread" out the bounding box based on velocity.
'''
return (abs(self.velocity[0]) * self._horizontalVelocityBuffer,
abs(self.velocity[1]) * self._verticalVelocityBuffer)
class BtleRegisteredClient:
#part of interface for Registered Client
def __init__(self, detectedClient, collectionPointConfig, loggingQueue):
# Logger
self.loggingQueue = loggingQueue
self.logger = ThreadsafeLogger(loggingQueue, __name__)
self.logger = logging.getLogger(
'btleRegisteredClient.BtleRegisteredClient')
self.clientEventLogger = logging.getLogger(
'btleRegisteredClient.BtleEventTesting')
self.clientEventSendLogger = logging.getLogger('eventSend')
self.clientInRangeTrigerCount = 2
self.lastTimeMessageClientInWasSentToController = -1
self.lastTimeMessageClientOutWasSentToController = -1
self.__countClientInRange = 0
self.__countClientOutOfRange = 0
self.timeInCollectionPointInMilliseconds = 0
self.firstRegisteredTime = time.time()
self.collectionPointConfig = collectionPointConfig
self.__clientOutThresholdMin = int(
self.collectionPointConfig['BtleRssiClientInThreshold'] +
(self.collectionPointConfig['BtleRssiClientInThreshold'] *
self.collectionPointConfig['BtleRssiErrorVariance']))
self.handleNewDetectedClientEvent(
detectedClient
) #standard shared methods when we see a detected client
#part of interface for Registered Client
def updateWithNewDectedClientData(self, detectedClient):
self.timeInCollectionPointInMilliseconds = time.time(
) - self.firstRegisteredTime
self.handleNewDetectedClientEvent(
detectedClient
) #standard shared methods when we see a detected client
#Common methods are handled here for updateWithNewDectedClientData and init
def handleNewDetectedClientEvent(self, detectedClient):
self.lastRegisteredTime = time.time()
self.detectedClient = detectedClient
self.txPower = detectedClient.extraData['tx']
self.beaconId = detectedClient.extraData['udid'] #TODO HACK FIX
self.incrementInternalClientEventCounts(detectedClient)
def incrementInternalClientEventCounts(self, detectedClient):
self.clientEventLogger.debug(
"==================================== EVENT COUNTS DATA START ===================================="
)
self.clientEventLogger.debug(
"Counts before inCount %i : outCount %i" %
(self.__countClientInRange, self.__countClientOutOfRange))
#self.clientEventLogger.debug("rssi types")
#self.clientEventLogger.debug("type of self.detectedClient.extraData['rssi'] = %s" %type(self.detectedClient.extraData['rssi']))
#self.clientEventLogger.debug("type of self.detectedClient.extraData['rssi'] = %s" %type(self.detectedClient.extraData['rssi']))
#self.clientEventLogger.debug("type of self.collectionPointConfig['btleRssiClientInThreshold'] = %s " %type(self.collectionPointConfig['btleRssiClientInThreshold']))
#self.clientEventLogger.debug("type of self.__clientOutThresholdMin = %s " %type(self.__clientOutThresholdMin))
if self.collectionPointConfig['gatewayType'] == 'proximity':
#check threshold type
if self.collectionPointConfig[
'btleRssiClientInThresholdType'] == 'rssi':
#are they in or are they out of range --- increament internal count. we use the count to normalize the events even more
#self.logger.debug("rssi average %i > btleRssi threshold %i: %s" %(self.getRssiAverage(),self.collectionPointConfig['btleRssiClientInThreshold'],self.getRssiAverage() > self.collectionPointConfig['btleRssiClientInThreshold']))
self.clientEventLogger.debug("Registered Client Event")
self.clientEventLogger.debug("UDID is %s " % self.getUdid())
self.clientEventLogger.debug("Beacon ID is %s " %
self.beaconId)
self.clientEventLogger.debug(
"RSSI %i" % self.detectedClient.extraData['rssi'])
self.clientEventLogger.debug(
"BTLE RSSI client in threshold %i" %
self.collectionPointConfig['BtleRssiClientInThreshold'])
self.clientEventLogger.debug(
"BTLE RSSI client out threshold %i" %
self.__clientOutThresholdMin)
if self.detectedClient.extraData[
'rssi'] >= self.collectionPointConfig[
'BtleRssiClientInThreshold']:
self.__countClientInRange = self.__countClientInRange + 1
self.__countClientOutOfRange = 0
self.clientEventLogger.debug("CLIENT IN RANGE>>>>>>>>>>>")
else:
if self.detectedClient.extraData[
'rssi'] <= self.__clientOutThresholdMin:
self.__countClientOutOfRange = self.__countClientOutOfRange + 1
#self.__countClientInRange = 0
self.clientEventLogger.debug(
"CLIENT OUT OF RANGE<<<<<<<<<<<")
else:
self.clientEventLogger.debug(
"CLIENT IN BUFFER AREA==========")
self.clientEventLogger.debug(
"Counts after inCount %i : outCount %i" %
(self.__countClientInRange, self.__countClientOutOfRange))
self.clientEventLogger.debug(
"==================================== EVENT COUNTS DATA END ===================================="
)
self.clientEventLogger.debug("")
#part of interface for Registered Client
def shouldSendClientInEvent(self):
if self.collectionPointConfig['gatewayType'] == 'proximity':
#we compare on seconds so we need to adjust this to seconds
proximityEventIntervalInSeconds = (
self.
collectionPointConfig['ProximityEventIntervalInMilliseconds'] /
1000)
timeDiff = math.trunc(
time.time() - self.lastTimeMessageClientInWasSentToController)
self.logger.debug("shouldSendClientInEvent timeDiff %f > %s" %
(timeDiff, proximityEventIntervalInSeconds))
if timeDiff > proximityEventIntervalInSeconds:
if self.__countClientInRange > self.clientInRangeTrigerCount:
self.logClientEventSend(
"SHOULD ClientIN event to controller for")
self.zeroEventRangeCounters()
return True
#TODO add in other types of gateway types
return False
#part of interface for Registered Client
def shouldSendClientOutEvent(self):
if self.collectionPointConfig['gatewayType'] == 'proximity':
#we compare on seconds so we need to adjust this to seconds
proximityEventIntervalInSeconds = (
self.
collectionPointConfig['ProximityEventIntervalInMilliseconds'] /
1000)
#check the time to see if we need to send a message
#have we ever sent an IN event? if not we dont need to send an out event
if self.lastTimeMessageClientInWasSentToController > 0:
#check timing on last event sent
#self.logger.debug("shouldSendClientOutEvent lastTimeMessageClientOutWasSentToController=%f"%self.lastTimeMessageClientOutWasSentToController)
timeDiff = time.time(
) - self.lastTimeMessageClientOutWasSentToController
#have we sent a client out since the last client in? if so we dont need to throw another
if self.lastTimeMessageClientOutWasSentToController < self.lastTimeMessageClientInWasSentToController:
#do we have enought qualifying out events. we dont want to throw one too soon
if self.__countClientOutOfRange >= self.collectionPointConfig[
'BtleClientOutCountThreshold']:
self.logClientEventSend(
"SHOULD ClientOUT event to controller for")
self.zeroEventRangeCounters()
return True
#lets check to see if we need to clean up the out count --- not sure this is the best idea
else:
if self.__countClientOutOfRange > self.collectionPointConfig[
'BtleClientOutCountThreshold']:
self.clientEventLogger.debug(
"Client out count %i is past max. Resetting." %
self.__countClientOutOfRange)
self.__countClientOutOfRange = 0
else:
#lets check to see if we need to clean up the out count --- not sure this is the best idea
if self.__countClientOutOfRange > self.collectionPointConfig[
'BtleClientOutCountThreshold']:
self.clientEventLogger.debug(
"Client out count %i is past max. Resetting." %
self.__countClientOutOfRange)
self.__countClientOutOfRange = 0
#TODO add in other types of gateway types
return False
#part of interface for Registered Client
def sweepShouldSendClientOutEvent(self):
if self.collectionPointConfig['gatewayType'] == 'proximity':
#has an out event already been sent? if so we dont need to throw another on sweep
if self.lastTimeMessageClientOutWasSentToController > 0:
#was there a in event sent after the last out?
if self.lastTimeMessageClientInWasSentToController > self.lastTimeMessageClientOutWasSentToController:
self.logClientEventSend(
"Sweep case a is sending ClientOUT on")
self.zeroEventRangeCounters()
return True
else:
return False
else:
self.logClientEventSend("Sweep case b is sending ClientOUT on")
self.zeroEventRangeCounters()
return True
#TODO add in other types of gateway types
return True
#part of interface for Registered Client
def getUdid(self):
return self.detectedClient.extraData["beaconMac"]
def getTxPower(self):
return self.txPower
#zero out the BTLE event counters
def zeroEventRangeCounters(self):
self.__countClientOutOfRange = 0
self.__countClientInRange = 0
def logClientEventSend(self, message):
self.clientEventSendLogger.debug("")
self.clientEventSendLogger.debug(
"%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%"
)
self.clientEventSendLogger.debug(
"%%%%%%%%%%%%%%%%%% %s %%%%%%%%%%%%%%%%%%" % message)
self.clientEventSendLogger.debug("UDID is %s " % self.getUdid())
self.clientEventSendLogger.debug("Beacon ID is %s " % self.beaconId)
self.clientEventSendLogger.debug("RSSI %i" %
self.detectedClient.extraData['rssi'])
self.clientEventSendLogger.debug(
"BTLE RSSI client in threshold %i" %
self.collectionPointConfig['BtleRssiClientInThreshold'])
self.clientEventSendLogger.debug("BTLE RSSI client out threshold %i" %
self.__clientOutThresholdMin)
self.clientEventSendLogger.debug(
"inCount %i : outCount %i" %
(self.__countClientInRange, self.__countClientOutOfRange))
self.clientEventSendLogger.debug(
"%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%"
)
self.clientEventSendLogger.debug("")
#part of interface for Registered Client
def getExtenedDataForEvent(self):
extraData = {}
extraData['lastRegisteredTime'] = self.lastRegisteredTime
extraData['firstRegisteredTime'] = self.firstRegisteredTime
extraData[
'lastTimeMessageClientInWasSentToController'] = self.lastTimeMessageClientInWasSentToController
extraData[
'lastTimeMessageClientOutWasSentToController'] = self.lastTimeMessageClientOutWasSentToController
extraData[
'timeInCollectionPointInMilliseconds'] = self.timeInCollectionPointInMilliseconds
extraData['rssi'] = self.detectedClient.extraData['rssi']
extraData['averageRssi'] = self.detectedClient.extraData['rssi']
extraData['txPower'] = self.getTxPower()
#TODO INSTALL FIX
extraData['beaconId'] = self.beaconId
return extraData
#part of interface for Registered Client
def setClientInMessageSentToController(self):
self.lastTimeMessageClientInWasSentToController = time.time()
self.__countClientInRange = 0
#part of interface for Registered Client
def setClientOutMessageSentToController(self):
self.lastTimeMessageClientOutWasSentToController = time.time()
self.__countClientOutOfRange = 0
import time
from loggingEngine import LoggingEngine
from threadsafeLogger import ThreadsafeLogger
import msvcrt
from select import select
import configLoader
# List of threads to handle
threads = []
# Dict of threadsafe queues to handle
queues = {}
# Logging queue setup
loggingQueue = mp.Queue()
logger = ThreadsafeLogger(loggingQueue, "main")
# Logging output engine
loggingEngine = LoggingEngine(loggingQueue=loggingQueue)
threads.append(loggingEngine)
loggingEngine.start()
# Config
baseConfig = configLoader.load(logger)
_collectionModuleNames = baseConfig['CollectionModules']
_communicationModuleNames = baseConfig['CommunicationModules']
_collectionModules = {}
_communicationModules = {}
# Collection point queues