def audioThread():
firstAudio = True
audioStream = None
audioDevice = pyaudio.PyAudio()
# Activate the audio stream
audioPort = ManifoldPython.addMulticastSink(audioTopic)
if (audioPort == -1):
print("Failed to activate audio stream")
ManifoldPython.stop()
sys.exit()
while not audioThreadExit:
ret, data, samples, timestamp = ManifoldPython.getMulticastData(
audioPort)
if not ret:
time.sleep(0.001)
continue
try:
jsonObj = json.loads(data)
if firstAudio:
firstAudio = False
audioStream = audioDevice.open(format=pyaudio.paInt16,
channels=int(
jsonObj[adefs.CHANNELS]),
rate=int(jsonObj[adefs.RATE]),
output=True)
audioStream.write(samples)
except:
print("audio data error", sys.exc_info()[0], sys.exc_info()[1])
try:
audioStream.stop_stream()
audioStream.close()
except:
pass
audioDevice.terminate()
ManifoldPython.removeService(audioPort)
serialPort = serial.Serial(ttyPort, ttyRate, timeout=0)
try:
while True:
processReceivedText()
readBytes = serialPort.read(256)
if len(readBytes) > 0:
timestamp = time.time()
inMessage = rdf.newPublishMessage('tty', ttyInTopic, 'tty',
timestamp)
if ManifoldPython.isServiceActive(
ttyInPort) and ManifoldPython.isClearToSend(ttyInPort):
ManifoldPython.sendMulticastData(ttyInPort,
json.dumps(inMessage),
readBytes, timestamp)
time.sleep(0.001)
except:
print("Main loop error", sys.exc_info()[0], sys.exc_info()[1])
# Exiting so clean everything up.
ManifoldPython.removeService(ttyInPort)
ManifoldPython.removeService(ttyOutPort)
serialPort.close()
ManifoldPython.stop()
print("Exiting")
topicMap[inTopic] = srecs.SensorRecords(inTopic, plotInterval)
# start up the plotter
sensorPlot = splot.sensorplot()
# lastPlotTime is used to control plot updates
lastPlotTime = time.time() - plotInterval
# Activate the sensor stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate sensor stream")
ManifoldPython.stop()
sys.exit()
try:
while True:
processReceivedMessage()
if (time.time() - lastPlotTime) >= plotInterval:
lastPlotTime = time.time()
sensorPlot.plot(topicMap.values())
time.sleep(0.05)
except:
pass
# Exiting so clean everything up.
ManifoldPython.removeService(inPort)
ManifoldPython.stop()
if (jpeg):
ManifoldPython.displayJpegImage(frame, "")
else:
ManifoldPython.displayImage(frame, width, height, "")
timestamp = time.time()
message = rdf.newPublishMessage('uvccam', outTopic, vdefs.DATATYPE,
timestamp)
message[vdefs.WIDTH] = width
message[vdefs.HEIGHT] = height
message[vdefs.RATE] = rate
if jpeg:
message[vdefs.FORMAT] = 'mjpeg'
else:
message[vdefs.FORMAT] = 'raw'
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort,
json.dumps(message), frame,
timestamp)
except:
print("Main loop error ", sys.exc_info()[0], sys.exc_info()[1])
break
# Exiting so clean everything up.
ManifoldPython.vidCapClose(cameraIndex)
ManifoldPython.removeService(sourcePort)
ManifoldPython.stop()
audioThreadObject = threading.Thread(target=audioThread)
audioThreadObject.start()
# Activate the video stream
videoPort = ManifoldPython.addMulticastSink(videoTopic)
if (videoPort == -1):
print("Failed to activate video stream")
ManifoldPython.stop()
sys.exit()
lastTime = time.time()
try:
while True:
delta = time.time() - lastTime
if (delta) >= 1.0:
lastTime = time.time()
frameRate = int(float(frameCount) / (delta - 0.01))
frameCount = 0
processVideoMessage()
time.sleep(0.001)
except:
pass
# Exiting so clean everything up.
audioThreadExit = True
audioThreadObject.join(0.1)
ManifoldPython.removeService(videoPort)
ManifoldPython.stop()
if gotCompletion:
try:
jsonObj = json.loads(completionToProcess)
finished = jsonObj[ttscompletedefs.COMPLETE]
print('Completion status: ' + str(finished))
if finished:
waitForComplete = False
gotCompletion = False
except:
print ("JSON error", sys.exc_info()[0],sys.exc_info()[1])
continue
now = time.time()
if (now - lastSendTime) >= 10.0:
waitForComplete = False
if not waitForComplete:
sendMessage()
lastSendTime = now
finally:
pass
# Exiting so clean everything up.
ManifoldPython.removeService(clientPort)
ManifoldPython.removeService(sinkPort)
ManifoldPython.stop()
print("ttstest exiting")
def forwardThread():
global processingForward, forwardMessage, forwardImage, forwardTS, forwardThreadExit, inPort
# start ManifoldPython running
ManifoldPython.start("facerec", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
while not forwardThreadExit:
time.sleep(0.01)
processReceivedMessage()
if not processingForward:
continue
try:
image = forwardImage
inJpeg = np.frombuffer(image, dtype=np.uint8)
cv2Image = cv2.imdecode(inJpeg, cv2.IMREAD_COLOR)
except:
print ("Forward jpeg error", sys.exc_info()[0],sys.exc_info()[1])
try:
dataLock.acquire()
for detectedData in globalDetectedData:
name = detectedData['name']
namepos = detectedData['namepos']
cv2.putText(cv2Image, name, namepos,
cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.75,
color=(152, 255, 204), thickness=2)
landMarks = detectedData['landmarks']
for landMark in landMarks:
cv2.circle(cv2Image, center=landMark, radius=3,
color=(102, 204, 255), thickness=-1)
except:
pass
dataLock.release()
# generate the output jpeg
retVal, outJpeg = cv2.imencode('.jpeg', cv2Image)
forwardMessage[rtndefs.TOPIC] = outTopic
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(forwardMessage), outJpeg, forwardTS)
processingForward = False
ManifoldPython.removeService(inPort)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()
imu.setCompassEnable(True)
if (not pressure.pressureInit()):
print("Pressure sensor Init Failed")
else:
print("Pressure sensor Init Succeeded")
if (not humidity.humidityInit()):
print("Humidity sensor Init Failed")
else:
print("Humidity sensor Init Succeeded")
poll_interval = imu.IMUGetPollInterval()
print("Recommended Poll Interval: %dmS\n" % poll_interval)
while True:
time.sleep(poll_interval*1.0/1000.0)
if imu.IMURead():
timestamp = time.time()
message = rdf.newPublishMessage('imu', outTopic, idefs.DATATYPE, timestamp)
data = imu.getIMUData()
(data["pressureValid"], data["pressure"], data["pressureTemperatureValid"], data["pressureTemperature"]) = pressure.pressureRead()
(data["humidityValid"], data["humidity"], data["humidityTemperatureValid"], data["humidityTemperature"]) = humidity.humidityRead()
message[idefs.DATA] = data
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(message), '', timestamp)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()