def __init__(self, camera, settings_file = None):
# Gettings settings from settings file
if not settings_file:
try:
self.settings = json.load (open (proto_base_path + "/src/communication/Video_Settings.json", "r"))
except:
self.debug.print_d ("Video_settings.json is not in json format!")
sys.exit ()
else:
try:
self.settings = json.load (open (settings_file, "r"))
except:
self.debug.print_d ("Specified file [{sfile}] doesn't exist or is not in json format!".format (sfile = settings_file))
sys.exit ()
context = zmq.Context ()
self.debug = debugging ()
# ZMQ Settings
self.confirmer = context.socket (zmq.PUB)
#self.confirmer.setsockopt (zmq.SNDTIMEO, 5000)
self.confirmer.bind ("tcp://" + self.settings["Reciever_IP"] + ":" + self.settings["Reciever_Port"])
self.reciever = context.socket (zmq.SUB)
self.reciever.setsockopt (zmq.SUBSCRIBE, "")
#self.reciever.setsockopt (zmq.RCVTIMEO, 5000)
self.reciever.connect ("tcp://" + self.settings["Server_IP"] + ":" + self.settings["Server_Port"])
com = communicator ("Pinger_Base")
self.pinger = passive_pinger (communicator=com)
self.pinger.daemon = True
self.pinger.start ()
def __init__(self, communicator, _ping_threshold=5, _ping_frequency=1):
threading.Thread.__init__(self)
self.com = communicator
self.ping_frequency = _ping_frequency
self.ping_threshold = _ping_threshold
self.debug = debugging ()
self.current_timestamp = None
self.listening_to = communicator.get_listening_to ()
self.listening_to = self.listening_to[-1] # This only works if the pinger is only listening to a single other module (the other pinger)
self.CONNECTED = False
def __init__(self, module_name, settings_file=None):
self.debug = debugging ()
# Gettings settings from settings file
if not settings_file:
try:
self.settings = json.load (open (proto_base_path + "/src/communication/Communication_Settings.json", "r"))
except:
self.debug.print_d ("Communication_Settings.json is not in json format!")
sys.exit ()
else:
try:
self.settings = json.load (open (settings_file, "r"))
except:
self.debug.print_d ("Specified file [{sfile}] doesn't exist or is not in json format!".format (sfile = settings_file))
sys.exit ()
# Setting up publisher
self.publisher = {}
self.publisher["mname"] = module_name
# TODO: Make a single context for all subscribers and one for publisher
self.publisher["context"] = zmq.Context ()
self.publisher["socket"] = self.publisher["context"].socket (zmq.PUB)
self.publisher["socket"].setsockopt (zmq.HWM, 15)
self.publisher["socket"].bind ("tcp://" + self.settings[module_name]["IP"] + ":" + self.settings[module_name]["Port"])
# Setting up subscribers
self.listening_to = []
for module in self.settings[self.publisher["mname"]]["Listening"]:
self.listening_to.append (module)
# TODO: Make a single context for all subscribers and one for publisher
self.subscriber = {}
for module in self.listening_to:
self.subscriber[module] = {}
self.subscriber[module]["context"] = zmq.Context ()
self.subscriber[module]["socket"] = self.subscriber[module]["context"].socket (zmq.SUB)
self.subscriber[module]["socket"].setsockopt (zmq.SUBSCRIBE, "")
self.subscriber[module]["socket"].setsockopt (zmq.HWM, 15)
self.subscriber[module]["socket"].connect ("tcp://" + self.settings[module]["IP"] + ":" + self.settings[module]["Port"])
self.subscriber[module]["msg"] = None
# Setting up refresher system
self.refresher = self.updater (communicator=self, update_frequency=self.settings[module_name]["Update_Frequency"])
self.refresher.daemon = True
self.refresher.start()
def __init__(self, camera, settings_file = None):
# Gettings settings from settings file
if not settings_file:
try:
self.settings = json.load (open (proto_base_path + "/src/communication/Video_Settings.json", "r"))
except:
self.debug.print_d ("Video_Settings.json is not in json format!")
sys.exit ()
else:
try:
self.settings = json.load (open (settings_file, "r"))
except:
self.debug.print_d ("Specified file [{sfile}] doesn't exist or is not in json format!".format (sfile = settings_file))
sys.exit ()
context = zmq.Context ()
self.debug = debugging ()
# Camera Settings
self.cap = cv2.VideoCapture (self.settings[camera]["Index"])
self.cap.set (cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, self.settings[camera]["Height"])
self.cap.set (cv2.cv.CV_CAP_PROP_FRAME_WIDTH, self.settings[camera]["Width"])
self.cap.set (cv2.cv.CV_CAP_PROP_FPS, self.settings[camera]["FPS"])
self.cap.set (cv2.cv.CV_CAP_PROP_FOURCC, cv2.cv.CV_FOURCC (str (self.settings[camera]["Codec"][0]), str (self.settings[camera]["Codec"][1]), str (self.settings[camera]["Codec"][2]), str (self.settings[camera]["Codec"][3])))
# ZMQ Settings
self.server = context.socket (zmq.PUB)
self.server.setsockopt (zmq.HWM, self.settings[camera]["HWM"])
#self.server.setsockopt (zmq.SNDTIMEO, 5000)
self.server.bind ("tcp://" + self.settings["Server_IP"] + ":" + self.settings["Server_Port"])
self.confirmer = context.socket (zmq.SUB)
self.confirmer.setsockopt (zmq.SUBSCRIBE, "")
#self.confirmer.setsockopt (zmq.RCVTIMEO, 5000)
self.confirmer.connect ("tcp://" + self.settings["Reciever_IP"] + ":" + self.settings["Reciever_Port"])
com = communicator ("Pinger_Copter")
self.pinger = passive_pinger (communicator=com)
self.pinger.daemon = True
self.pinger.start ()
self.msg = "Ready!"