def main():
print("Waiting for boot signal")
print(s.read())
print("Writing sway command")
s.write("".join(map(chr, [0x55, 0x0, 0x3, 0, 2, 72]))) # equivalent to .join['U', '\x00', '\x03', '\x00', '\x02', 'H']
# between every elements in the list, put ""
# that will convert it as one string ''Ux00x03x00x02H''
print(s.read())
# print("Reading motor encoders")
# s.write("".join(map(chr, [0x55, 0x1, 0x12])))
# print(["0x%.02x " % ord(x) for x in s.read(12)])
server = OSCServer( ("192.168.123.75", 10000) )
server.timeout = 0
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler( "/rotate", rotate_callback )
server.addMsgHandler( "/bf", bf_callback )
try:
while 1:
server.handle_request()
except KeyboardInterrupt:
pass
server.close()
def main():
print("Waiting for boot signal")
print(s.read())
print("Writing sway command")
s.write("".join(map(chr, [0x55, 0x0, 0x3, 0, 2, 72])))
print(s.read())
# print("Reading motor encoders")
# s.write("".join(map(chr, [0x55, 0x1, 0x12])))
# print(["0x%.02x " % ord(x) for x in s.read(12)])
server = OSCServer( ("192.168.123.75", 10000) )
server.timeout = 0
# funny python's way to add a method to an instance of a class
import types
server.handle_timeout = types.MethodType(handle_timeout, server)
server.addMsgHandler( "/rotate", rotate_callback )
server.addMsgHandler( "/bf", bf_callback )
try:
while 1:
server.handle_request()
except KeyboardInterrupt:
pass
server.close()
class OSCServerClass:
def __init__(self, id, ip, port):
self.robot = id
self.bridge = MeccaBridge()
self.server = OSCServer((ip, port))
self.server.timeout = 0
self.active = True
self.server.handle_timeout = types.MethodType(handle_timeout, self.server)
self.server.addMsgHandler("/" + self.robot + "/pinMove" , self.pinMoveHandler )
self.server.addMsgHandler("/" + self.robot + "/pinLight" , self.pinLightHandler )
self.server.addMsgHandler("/" + self.robot + "/init" , self.initHandler )
self.server.addMsgHandler("/" + self.robot + "/headLight", self.headLightHandler)
self.gotMessage = False
#######################################################################
def run(self):
print("serving on {}".format(self.server.server_address))
self.server.running = True
while self.server.running:
while True:
self.server.handle_request()
if not self.gotMessage:
break
self.gotMessage = False
self.bridge.sendMessages()
time.sleep(0.01);
######################################################################
def pinMoveHandler(self, path, tags, args, source):
#print(path + "\n")
#print ', '.join(map(str, args))
self.bridge.sendServoPosition(args[0], args[1], args[2], args[3])
self.gotMessage = True
######################################################################
def pinLightHandler(self, path, tags, args, source):
self.bridge.sendPinLight(args[0], args[1], args[2])
self.gotMessage = True
######################################################################
def initHandler(self, path, tags, args, source):
self.bridge.sendInit(args[0], args[1])
self.gotMessage = True
######################################################################
def headLightHandler(self, path, targs, args, source):
self.bridge.sendHeadLight(args[0], args[1], args[2], args[3])
self.gotMessage = True
class OSCPlotter(object):
"""Set up OSC server and other handlers."""
def __init__(self, port, scope):
host="localhost"
logger.info( "Initializing server at %s:%d"%(host,port))
try:
self.m_oscserver = OSCServer( (host, port) )
except:
logger.fatal("System:Unable to create OSC handler at %s:%d"%(host,port),exc_info=True)
sys.exit(1)
self.m_oscserver.timeout = 0
self.m_oscserver.print_tracebacks = True
self.m_scope = scope
self.m_fnum = 0
# add a method to an instance of the class
self.m_oscserver.handle_timeout = types.MethodType(handle_timeout,self.m_oscserver)
# this registers a 'default' handler (for unmatched messages),
# an /'error' handler, an '/info' handler.
# And, if the client supports it, a '/subscribe' &
# '/unsubscribe' handler
self.m_oscserver.addDefaultHandlers()
self.m_oscserver.addMsgHandler("default", self.default_handler)
self.m_oscserver.addMsgHandler("/pf/frame", self.pf_frame)
# self.m_oscserver.addMsgHandler("/pf/update", self.pf_update)
self.m_oscserver.addMsgHandler("/conductor/attr", self.cond_attr)
def handle(self):
self.m_oscserver.handle_request()
def cond_attr(self, path, tags, args, source):
attr=args[0]
uid=args[1]
value=args[2]
logger.info("%d.%s=%f"%(uid,attr,value))
if attr=="kinetic":
self.m_scope.append(uid,self.m_fnum,value)
def pf_update(self, path, tags, args, source):
t=args[1]
uid=args[2]
x=args[3]
logger.debug("uid=%d,t=%f, x=%f"%(uid,t,x))
# self.m_scope.append(uid,t,x)
def pf_frame(self, path, tags, args, source):
self.m_fnum=args[0]
if self.m_fnum%5==0:
self.m_scope.update(self.m_fnum)
def default_handler(self, path, tags, args, source):
# logger.debug("got message for "+path+" with tags "+tags)
return None
class Manta(object):
def __init__(self, receive_port=31416, send_port=31417, send_address='127.0.0.1'):
self.osc_client = OSCClient()
self.osc_server = OSCServer(('127.0.0.1', receive_port))
self.osc_client.connect(('127.0.0.1', send_port))
# set the osc server to time out after 1ms
self.osc_server.timeout = 0.001
self.event_queue = []
self.osc_server.addMsgHandler('/manta/continuous/pad',
self._pad_value_callback)
self.osc_server.addMsgHandler('/manta/continuous/slider',
self._slider_value_callback)
self.osc_server.addMsgHandler('/manta/continuous/button',
self._button_value_callback)
self.osc_server.addMsgHandler('/manta/velocity/pad',
self._pad_velocity_callback)
self.osc_server.addMsgHandler('/manta/velocity/button',
self._button_velocity_callback)
def process(self):
self.osc_server.handle_request()
ret_list = self.event_queue
self.event_queue = []
return ret_list
def _pad_value_callback(self, path, tags, args, source):
self.event_queue.append(PadValueEvent(args[0], args[1]))
def _slider_value_callback(self, path, tags, args, source):
touched = False if args[1] == 0xffff else True
scaled_value = args[1] / 4096.0
self.event_queue.append(SliderValueEvent(args[0], touched, scaled_value))
def _button_value_callback(self, path, tags, args, source):
pass
def _pad_velocity_callback(self, path, tags, args, source):
self.event_queue.append(PadVelocityEvent(args[0], args[1]))
def _button_velocity_callback(self, path, tags, args, source):
self.event_queue.append(ButtonVelocityEvent(args[0], args[1]))
def _send_osc(self, path, *args):
msg = OSCMessage(path)
msg.append(args)
self.osc_client.send(msg)
def set_led_enable(self, led_type, enabled):
self._send_osc('/manta/ledcontrol', led_type, 1 if enabled else 0)
def set_led_pad(self, led_state, pad_index):
self._send_osc('/manta/led/pad', led_state, pad_index)
class OscServerThread(Thread): def __init__(self, host, stopEvent): Thread.__init__(self) self.server = OSCServer(host) self.stopEvent = stopEvent def setCallBacks(self, callBacks): for callBack in callBacks: self.server.addMsgHandler(callBack[0], callBack[1]) def run(self): while not self.stopEvent.is_set(): self.server.handle_request() self.server.close()
class OscServerThread(Thread):
def __init__(self, host, stopEvent):
Thread.__init__(self)
self.server = OSCServer(host)
self.stopEvent = stopEvent
def setCallBacks(self, callBacks):
for callBack in callBacks:
self.server.addMsgHandler(callBack[0], callBack[1])
def run(self):
while not self.stopEvent.is_set():
self.server.handle_request()
self.server.close()
class OSC(threading.Thread):
def __init__(self):
global run
threading.Thread.__init__(self)
self.daemon = True
self.server = OSCServer(("localhost", 15000))
self.server.timeout = 0
def handle_timeout(self):
self.time_out = True
self.server.handle_timeout = types.MethodType(handle_timeout,
self.server)
def user_callback(path, tags, args, source):
global RGB
global BRIGHTNESS
#print "here"
RGB[0] = args[0]
RGB[1] = args[1]
RGB[2] = args[2]
BRIGHTNESS = args[3]
def quit_callback(path, tags, args, source):
global run
run = False
self.server.addMsgHandler("/colors", user_callback)
self.server.addMsgHandler("/quit", quit_callback)
def each_frame(self):
self.server.timed_out = False
while not self.server.timed_out:
self.server.handle_request()
def run(self):
global run
while run:
sleep(1)
self.each_frame()
def app():
global dxlIO, server, client
ports = pypot.dynamixel.get_available_ports()
if not ports:
raise IOError('No port available.')
dxlIO = pypot.dynamixel.DxlIO(ports[0])
availableIDs = dxlIO.scan()
server = OSCServer(('0.0.0.0', 8000))
for motorID in availableIDs:
server.addMsgHandler('/motor/' + str(motorID), motorHandler) # Register OSC handlers for each found ID
client = OSCClient()
client.connect(('localhost', 8001))
print 'Ready. Found ID(s) ' + str(availableIDs)
while True:
server.handle_request()
sleep(0.01)
class ServerLighthouse(object):
def __init__(self, address='192.168.1.145', recvPort=recvPort):
self.address = address
self.recvPort = recvPort
# Setup a reciever for OSC.
self.server = OSCServer((self.address, self.recvPort))
self.server.timeout = 0
self.server.handleTimeout = types.MethodType(self.handleTimeout, self.server)
# Startup light
self.intitializeLight()
def handleTimeout(self):
self.timedOut = True
def eachFrame(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
def handleEvent(self, address, functionToCall):
def internalFunction(path, tags, args, source):
arg = int(args[0])
functionToCall(arg)
def internalFunctionZ(path, tags, args, source):
pass
self.server.addMsgHandler(address, internalFunction)
self.server.addMsgHandler('%s/z' % address, internalFunctionZ)
def main(robotIP, PORT = 9559):
myBroker = ALBroker("myBroker", #needed for subscribers and to construct naoqi modules
"0.0.0.0",
0,
robotIP,
PORT)
meanx = 0.21835
meany = 0.035625
global ReactToTouch, go_to_center, global_time
global server, client
client = OSCClient()
client.connect(("192.168.0.5",1234))
global motionProxy, jointNames
motionProxy = ALProxy("ALMotion", robotIP, PORT)
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
motionProxy.setStiffnesses("Body",0)
motionProxy.setStiffnesses(jointNames,1)
#motionProxy.openHand("LHand")
#motionProxy.closeHand("LHand")
maxSpeedFraction = 0.3
for i in range(1):
motionProxy.angleInterpolationWithSpeed(jointNames, p[i], maxSpeedFraction)
time.sleep(1.0)
minx = -999
maxx = 999
miny = -999
maxy = 999
# Copy from inverse kinematics
effector = "LArm"
space = motion.FRAME_ROBOT
axisMask = almath.AXIS_MASK_VEL # just control position
isAbsolute = False
# Since we are in relative, the current position is zero
currentPos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
center = currentPos
# Define the changes relative to the current position
dx = 0.03 # translation axis X (meters)
dy = -0.04 # translation axis Y (meters)
dz = 0.03 # translation axis Z (meters)
dwx = 0.00 # rotation axis X (radians)
dwy = 0.00 # rotation axis Y (radians)
dwz = 0.00 # rotation axis Z (radians)
targetPos = [dx, dy, dz, dwx, dwy, dwz]
# Go to the target and back again
path = [targetPos]
times = [1.5] # seconds
motionProxy.positionInterpolation(effector, space, path,
axisMask, times, isAbsolute)
dz=0.00
currentPos = motionProxy.getPosition(effector, space, True)
offx = 0.034
offy = 0.02
xy=[1345+103-(currentPos[0]+offx)*400/(0.07), (currentPos[1]+offy)*400/(0.07)+11-87-45]
#print xy
input('Press 1 to begin: ')
k=2.5
L=0.5
n=10
speed = 0.15
#Initialize listener
ReactToTouch = ReactToTouch("ReactToTouch")
center = motionProxy.getPosition(effector, space, True)
print "center: " + str(center[0]) + ", " + str(center[1])
try:
while 1:#for i in range(n):
if go_to_center:
if random.random()<0.95:
k=max(0.9,k-0.15)
speed = 0.4
go_to_center = False
#print 'going to center!'
# Get current Position & define target position
if random.random()<0.8:
currentPos = motionProxy.getPosition(effector, space, True)
maxx = min(maxx,abs(currentPos[0]-meanx))
maxy = min(maxy,abs(currentPos[1]-meany))
#targetPos = currentPos
targetPos[0] = center[0]
targetPos[1] = center[1]
targetPos[2] = center[2]
#print 'new target'
#print targetPos
# Move to position, being able to interrupt
motionProxy.setPosition(effector, space, targetPos, speed, axisMask)
#Try it twice, because it doesn't seem to get there
'''currentPos = motionProxy.getPosition(effector, space, True)
motionProxy.positionInterpolation(effector, space, [currentPos],
axisMask, [0.51], isAbsolute)
targetPos = [currentPos[0]-center[0], currentPos[1]-center[1], currentPos[2]-center[2], 0.0, 0.0, 0.0]
path = [targetPos]
print targetPos
motionProxy.positionInterpolation(effector, space, path,
axisMask, [0.51], isAbsolute)
print "sleeping 2 seconds"'''
global_time = time.time()
else:
speed = 0.18
# False learning
if random.random()<0.15:
k=max(0.85,k-0.15)
# Generate next target x,y
x = k*random.random()*L-L/2 + center[0]
y = k*random.random()*L-L/2 + center[1]
# Get current Position & define target position
#currentPos = motionProxy.getPosition(effector, space, True)
#targetPos = currentPos
targetPos[0] = x#min(max(x,meanx-maxx),meanx+maxx)
targetPos[1] = y#min(max(y,meany-maxy),meany+maxy)
targetPos[2] = center[2]
#print 'new target'
#print targetPos
# Move to position, being able to interrupt
motionProxy.setPosition(effector, space, targetPos, speed, axisMask)
now = time.time()
go_to_center = False
while time.time()-now < times[0] and not go_to_center:
#time.sleep(0.1)
currentPos = motionProxy.getPosition(effector, space, True)
offx = 0.034
offy = 0.04
xy=[1345+97-(currentPos[0]+offx)*400/(0.07), (currentPos[1]+offy)*400/(0.07)+107-87-45]
#print xy
sendOSC('/xy',xy)
time.sleep(0.01)
print 'out of the loop'
"""else:
#currentPos = motionProxy.getPosition(effector, space, True)
#center[0] -= targetPos[0]
#center[1] -= targetPos[1]
"""
print 'Done!'
server = OSCServer( ("" , 2222) )
server.addMsgHandler("/move", move)
while 1:
server.handle_request()
except KeyboardInterrupt:
print "closing all OSC connections... and exit"
motionProxy.rest()
myBroker.shutdown()
server.close()
motionProxy.rest()
class Matrix(object):
server = None
driver = None
led = None
modes = []
running = False
color = None
wheel = None
pong = None
scope = None
mode = 0;
joysticks = []
pong_running = False
scope_running = False
def __init__(self):
self.server = OSCServer( ("192.168.2.122", 5005) )
self.server.timeout = 0
self.driver = DriverAdaMatrix(rows=32, chain=2)
self.driver.SetPWMBits(6)
self.led = LEDMatrix(self.driver, 64, 32, serpentine=False)
self.modes = [self.mode_presets, self.color_presets,
self.color_gradient, self.white_gradient,
self.direct_control, self.arcade, self.mindfuck]
self.color = colors.Salmon
self.wheel = ColorWheel()
self.running = True
self.joysticks = [0] * 5
self.pong = Pong(self.led)
self.scope = Scope(self.led, self.wheel)
self.scheme = []
# funny python's way to add a method to an instance of a class
# import types
# self.server.handle_timeout = types.MethodType(lambda: self.handle_timeout(self), self.server)
self.server.addMsgHandler("/mode", self.mode_callback)
self.server.addMsgHandler("/coin", self.coin_callback)
self.server.addMsgHandler("/js", self.joystick_callback)
self.server.addMsgHandler("/pot", self.pot_callback)
self.server.addMsgHandler("/fad", self.fader_callback)
self.server.addMsgHandler("/beam", self.beam_callback)
self.server.addMsgHandler("/scheme", self.scheme_callback)
self.server.addMsgHandler("/sleep", self.sleep_callback)
# this method of reporting timeouts only works by convention
# that before calling handle_request() field .timed_out is
# set to False
def handle_timeout(self):
self.timed_out = True
# TODO: update this to take all the joysticks and send them off selectively
def joystick_callback(self, path, tags, args, source):
if self.pong_running:
self.pong.update_sticks(args[0], args[4])
elif self.scope_running:
self.scope.update_sticks(args)
def pot_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_pots(args)
def fader_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_faders(args)
def beam_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_beam(args[0])
def mode_callback(self, path, tags, args, source):
self.scope_running = True
self.led.all_off()
if (self.mode == 5 and int(args[0]) != 5):
self.pong_running = False
self.mode =int(args[0])
self.modes[self.mode]()
self.led.update()
sleep(1)
def coin_callback(self, path, tags, args, source):
self.led.all_off()
self.led.update()
count = 0
while count < 5:
self.led.drawText("Thank You!!", 4, 10, size=1, color=colors.Lavender)
self.led.update()
sleep(1)
self.led.all_off()
self.led.update()
sleep(0.5)
count += 1
self.modes[self.mode]()
self.led.update()
def scheme_callback(self, path, tags, args, source):
self.scheme = []
for i in xrange(0, len(args), 3):
self.scheme.append(args[i:i+3])
self.wheel.setScheme(self.scheme)
def sleep_callback(self, path, tags, args, source):
print("sleep plz")
self.scope_running = False
self.pong_running = False
self.led.all_off()
self.led.update()
# user script that's called by the game engine every frame
def each_frame(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
if self.pong_running:
self.led.all_off()
self.pong.step()
self.led.update()
sleep(0.05)
elif self.scope_running:
self.led.all_off()
self.scope.step()
self.led.update()
sleep(0.05)
def mode_presets(self):
self.led.drawText("Mode", 6, 5, size=1, color=self.color)
self.led.drawText("Presets", 6, 15, size=1, color=self.color)
def color_presets(self):
self.led.drawText("Color", 6, 5, size=1, color=self.color)
self.led.drawText("Presets", 6, 15, size=1, color=self.color)
def color_gradient(self):
self.led.drawText("Color", 6, 5, size=1, color=self.color)
self.led.drawText("Gradients", 6, 15, size=1, color=self.color)
def white_gradient(self):
self.led.drawText("White", 6, 5, size=1, color=self.color)
self.led.drawText("Gradients", 6, 15, size=1, color=self.color)
def direct_control(self):
self.led.drawText("Direct", 6, 5, size=1, color=self.color)
self.led.drawText("Control", 6, 15, size=1, color=self.color)
def arcade(self):
# self.led.drawText("Arcade", 6, 5, size=1, color=self.color)
# self.led.drawText("Mode!!!", 6, 15, size=1, color=self.color)
anim = ScrollText(self.led, "Arcade Mode!!!!!", 64, 13, size=1, color=self.color)
anim.run(fps=30, untilComplete=True, max_cycles=1)
self.pong.reset()
self.scope_running = False
self.pong_running = True
def mindfuck(self):
self.led.drawText("Y U NO", 6, 5, size=1, color=self.color)
self.led.drawText("LISTEN?!", 6, 15, size=1, color=self.color)
self.scope_running = False
def run(self):
while self.running:
sleep(1)
self.each_frame()
class Main:
roll = 0.0
pitch = 0.0
yawrate = 0
thrust = 10001
def __init__(self):
self.server = OSCServer (("0.0.0.0", 8000))
self.server.addMsgHandler("/1/rollpitch", self.roll_pitch_callback)
self.server.addMsgHandler("/1/yawthrust", self.yaw_thrust_callback)
self.server.addMsgHandler("/1/stop", self.stop_callback)
self.server.addMsgHandler("/1/hovermode", self.hovermode_callback)
self.crazyflie = Crazyflie()
cflib.crtp.init_drivers()
available_radios = cflib.crtp.scan_interfaces()
print available_radios
#For now assume we want the 1st radio
radio = available_radios[0][0]
#Connect to the flie
self.crazyflie.open_link(radio)
self.crazyflie.connectSetupFinished.add_callback(self.connectSetupFinished)
self.crazyflie.connectionFailed.add_callback(self.connectionLost)
self.crazyflie.connectionLost.add_callback(self.connectionLost)
def connectSetupFinished(self, linkURI):
Thread(target=self.send_setpoint_loop).start()
Thread(target=self.osc_loop).start()
self.crazyflie.param.set_value("stabilizer.debug", "0")
self.crazyflie.param.add_update_callback("stabilizer.debug", self.paramUpdateCallback)
self.crazyflie.param.add_update_allback("stabilizer.mode", self.paramUpdateCallback)
def paramUpdateCallback(self, name, value):
print "%s has value %d" % (name, value)
def accel_log_callback(self, data):
logging.info("Accelerometer: x+%.2f, y=%.2f, z=%.2f" % (data["acc.x"], data["acc.y"], data["acc.z"]))
def osc_loop(self):
while True:
self.server.handle_request()
def roll_pitch_callback(self, path, tags, args, source):
#print ("path", path)
#print ("args", args)
#print ("source", source)
print "ROLL", args[0]
#self.roll=(args[0]*180)-90
self.roll=(args[0]*90)-45
print "PITCH", args[1]
#self.pitch=(180*args[1])-90
self.pitch=(args[1]*90)-45
def yaw_thrust_callback(self, path, tags, args, source):
#print ("path", path)
#print ("args", args)
#print ("source", source)
print "YAW", (180*args[1])-90
print "THRUST", (49999*args[0])+10001
self.thrust = (49999*args[0]) + 10001
self.yawrate = (args[1]*90)-45
def stop_callback(self, path, tags, args, source):
self.crazyflie.param.set_value("stabilizer.debug", "1")
self.thrust = 0
self.send_setpoint()
self.crazyflie.close_link()
exit()
def hovermode_callback(self, path, tags, args, source):
if args[0]:
logging.info("Entering hover mode.")
self.crazyflie.param.set_value("stabilizer.mode", "1")
else:
logging.info("Exiting hover mode.")
self.crazyflie.param.set_value("stabilizer.mode", "0")
def send_setpoint_loop(self):
while True:
self.send_setpoint()
time.sleep(0.1)
def send_setpoint(self):
self.crazyflie.commander.send_setpoint(self.roll, self.pitch, self.yawrate, self.thrust)
def connectionLost(self, linkURI):
print "CONNECTION LOST!"
exit()
print args
print source
print mDirection
print '-----------'
if mDirection == 'forward' and msgVal == 1:
moveRover.forward(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'backward' and msgVal == 1:
moveRover.backward(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'right' and msgVal == 1:
moveRover.right(config.getint('motor_params', 'DEFAULT_SPEED'))
elif mDirection == 'left' and msgVal == 1:
moveRover.left(config.getint('motor_params', 'DEFAULT_SPEED'))
else:
moveRover.stop()
directions = ['forward', 'backward', 'right', 'left']
#Message Handlers and Callback functions
for direction in directions:
oscSrv.addMsgHandler("/move/" + direction, move)
print "\n listening on port: %s" % config.get('osc_srv', 'PORT')
try:
while True:
oscSrv.handle_request()
except KeyboardInterrupt:
print "Quit"
oscSrv.close()
class MuseIO():
def __init__(self,
port=DEFAULT_MUSEIO_PORT,
signal=None,
ip=DEFAULT_MUSEIO_IP):
self.signal = signal
self.port = port
self.udp_ip = ip
if not has_oscserver:
raise Exception('ERROR: OSC not found')
self.server = OSCServer((self.udp_ip, self.port))
self.server.timeout = 0
self.current_sample_id = 0
# funny python's way to add a method to an instance of a class
self.server.handle_timeout = types.MethodType(handle_timeout,
self.server)
# add message handlers
if 'eeg' in self.signal:
self.server.addMsgHandler('/muse/eeg', self.callback_eeg_raw)
if 'concentration' in self.signal:
self.server.addMsgHandler('/muse/elements/beta_relative/',
self.callback_concentration)
def callback_eeg_raw(self, path, tags, args, source):
if 'eeg' in self.signal:
self.signal['eeg'].lock.acquire()
self.signal['eeg'].id = self.current_sample_id
self.signal['eeg'].add_data(args, add_time=False)
self.signal['eeg'].add_time(time.time())
self.signal['eeg'].add_datetime(datetime.now())
self.signal['eeg'].lock.release()
def callback_concentration(self, path, tags, args, source):
if 'concentration' in self.signal:
self.signal['concentration'].lock.acquire()
self.signal['concentration'].id = self.current_sample_id
self.signal['concentration'].add_data(args, add_time=False)
self.signal['concentration'].add_time(time.time())
self.signal['concentration'].add_datetime(datetime.now())
self.signal['concentration'].lock.release()
def handle_request(self):
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
def start(self, freq=DEFAULT_FREQ):
update_timing = 1.0 / float(freq)
while True:
try:
time.sleep(update_timing)
self.handle_request()
except KeyboardInterrupt:
print('KeyboardInterrupt on line {}'.format(
sys.exc_info()[-1].tb_lineno))
sys.exit(2)
except Exception as e:
print('Error on line {}'.format(sys.exc_info()[-1].tb_lineno))
print(str(e))
sys.exit(2)
class OSCHandler(object):
"""Set up OSC server and other handlers."""
def __init__(self, field):
self.m_field = field
self.m_server = OSCServer( (OSCHOST, OSCPORT) )
self.m_server.timeout = OSCTIMEOUT
self.m_run = True
self.m_xmin = 0
self.m_ymin = 0
self.m_xmax = 0
self.m_ymax = 0
self.eventfunc = {
'ping': self.event_tracking_ping,
'ack': self.event_tracking_ack,
'start': self.event_tracking_start,
'entry': self.event_tracking_entry,
'exit': self.event_tracking_exit,
'frame': self.event_tracking_frame,
'stop': self.event_tracking_stop,
'minx': self.event_tracking_set,
'miny': self.event_tracking_set,
'maxx': self.event_tracking_set,
'maxy': self.event_tracking_set,
'npeople': self.event_tracking_set,
'groupdist': self.event_tracking_set,
'ungroupdist': self.event_tracking_set,
'fps': self.event_tracking_set,
'update': self.event_tracking_update,
'leg': self.event_tracking_leg,
'body': self.event_tracking_body,
}
# add a method to an instance of the class
self.m_server.handle_timeout = types.MethodType(handle_timeout, self.m_server)
for i in self.eventfunc:
self.m_server.addMsgHandler(OSCPATH[i], self.eventfunc[i])
# this registers a 'default' handler (for unmatched messages),
# an /'error' handler, an '/info' handler.
# And, if the client supports it, a '/subscribe' &
# '/unsubscribe' handler
self.m_server.addDefaultHandlers()
self.m_server.addMsgHandler("default", self.default_handler)
# TODO: Handle errors from OSCServer
#self.m_server.addErrorHandlers()
#self.m_server.addMsgHandler("error", self.default_handler)
self.honey_im_home()
def honey_im_home(self):
"""Broadcast a hello message to the network."""
# TODO: Broadcast hello message
return True
def each_frame(self):
# clear timed_out flag
self.m_server.timed_out = False
# handle all pending requests then return
while not self.m_server.timed_out:
self.m_server.handle_request()
def user_callback(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
user = ''.join(path.split("/"))
# tags will contain 'fff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
if dbug.LEV & dbug.MSGS: print ("Now do something with", user,args[2],args[0],1-args[1])
def quit_callback(self, path, tags, args, source):
# don't do this at home (or it'll quit blender)
self.m_run = False
# Event handlers
def default_handler(self, path, tags, args, source):
if dbug.LEV & dbug.MORE: print "OSC:default_handler:No handler registered for ", path
return None
def event_tracking_ping(self, path, tags, args, source):
if dbug.LEV & dbug.MSGS: print "OSC:event_ping:code",args[0]
return None
def event_tracking_ack(self, path, tags, args, source):
if dbug.LEV & dbug.MSGS: print "OSC:event_ack:code",args[0]
return None
def event_tracking_start(self, path, tags, args, source):
"""Tracking system is starting.
Sent before first /pf/update message for that target
args:
[ aparently no params now]
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
channel - channel number assigned
"""
#samp = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_start"
def event_tracking_set(self, path, tags, args, source):
"""Tracking subsystem is setting params.
Send value of various parameters.
args:
minx, miny, maxx, maxy - bounds of PF in units
npeople - number of people currently present
"""
if dbug.LEV & dbug.MSGS: print "OSC:event_set:",path,args,source
if path == OSCPATH['minx']:
self.m_xmin = int(100*args[0])
if dbug.LEV & dbug.MSGS: print "OSC:event_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmin_field=(self.m_xmin,self.m_field.m_ymin_field))
elif path == OSCPATH['miny']:
self.m_ymin = int(100*args[0])
if dbug.LEV & dbug.MSGS: print "OSC:event_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmin_field=(self.m_field.m_xmin_field,self.m_ymin))
elif path == OSCPATH['maxx']:
self.m_xmax = int(100*args[0])
if dbug.LEV & dbug.MSGS: print "OSC:event_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmax_field=(self.m_xmax,self.m_field.m_ymax_field))
elif path == OSCPATH['maxy']:
self.m_ymax = int(100*args[0])
if dbug.LEV & dbug.MSGS: print "OSC:event_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmax_field=(self.m_field.m_xmax_field,self.m_ymax))
elif path == OSCPATH['npeople']:
self.m_field.check_people_count(args[0])
return
elif path == OSCPATH['groupdist']:
self.m_field.update(groupdist=args[0])
return
elif path == OSCPATH['ungroupdist']:
self.m_field.update(ungroupdist=args[0])
return
elif path == OSCPATH['fps']:
self.m_field.update(oscfps=args[0])
return
#if self.m_xmin and self.m_ymin and self.m_xmax and self.m_ymax:
#print "set_scaling(",(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
#self.m_field.set_scaling((self.m_xmin,self.m_ymin),(self.m_xmax,self.m_ymax))
#self.m_field.updateScreen()
def event_tracking_entry(self, path, tags, args, source):
"""Event when person enters field.
Sent before first /pf/update message for that target
args:
samp - sample number
t - time of sample (elapsed time in seconds since
beginning of run)
target - UID of target
channel - channel number assigned
"""
#print "OSC:event_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
samp = args[0]
time = args[1]
id = args[2]
if dbug.LEV & dbug.MSGS: print "OSC:event_entry:cell:",id
self.m_field.create_cell(id)
def event_tracking_exit(self, path, tags, args, source):
"""Event when person exits field.
args:
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
"""
#print "OSC:event_exit:",path,args,source
samp = args[0]
time = args[1]
id = args[2]
if dbug.LEV & dbug.MSGS: print "OSC:event_exit:cell:",id
#print "BEFORE: cells:",self.m_field.m_cell_dict
#print "BEFORE: conx:",self.m_field.m_connector_dict
self.m_field.del_cell(id)
#print "AFTER: cells:",self.m_field.m_cell_dict
#print "AFTER: conx:",self.m_field.m_connector_dict
def event_tracking_body(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
samp - sample number
target - UID of target
x,y - position of person within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of person in m/s, heading in degrees
espd, eheading - SEM of spd, heading
facing - direction person is facing in degees
efacing - SEM of facing direction
diam - estimated mean diameter of legs
sigmadiam - estimated sigma (sqrt(variance)) of diameter
sep - estimated mean separation of legs
sigmasep - estimated sigma (sqrt(variance)) of sep
leftness - measure of how likely leg 0 is the left leg
visibility - number of frames since a fix was found for either leg
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = 0
samp = args[0]
id = args[1]
x = int(100*args[2]) # comes in meters, convert to cm
y = int(100*args[3])
ex = int(100*args[4])
ey = int(100*args[5])
spd = int(100*args[6])
heading = args[7]
espd = int(100*args[8])
eheading = args[9]
facing = args[10]
efacing = args[11]
diam = int(100*args[12])
sigmadiam = int(100*args[13])
sep = int(100*args[14])
sigmasep = int(100*args[15])
leftness = args[16]
vis = args[17]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS: print "OSC:event_body:no id",id,"in registered id list"
if samp%FREQ_REG_REPORT == 0:
if dbug.LEV & dbug.MSGS: print " OSC:event_body:id:",id,"pos:",(x,y)
self.m_field.update_body(id, x, y, ex, ey, spd, espd, facing, efacing,
diam, sigmadiam, sep, sigmasep, leftness, vis)
def event_tracking_leg(self, path, tags, args, source):
"""Information about individual leg movement within field.
Update position of leg.
args:
samp - sample number
id - UID of target
leg - leg number (0..nlegs-1)
nlegs - number of legs target is modeled with
x,y - position within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of leg in m/s, heading in degrees
espd, eheading - SEM of spd, heading
visibility - number of frames since a positive fix
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = 0
samp = args[0]
id = args[1]
leg = args[2]
nlegs = args[3]
x = int(100*args[4]) # comes in meters, convert to cm
y = int(100*args[5])
ex = int(100*args[6])
ey = int(100*args[7])
spd = int(100*args[8])
heading = args[9]
espd = int(100*args[10])
eheading = args[11]
vis = args[12]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS: print "OSC:event_leg:no id",id,"in registered id list"
if samp%FREQ_REG_REPORT == 0:
if dbug.LEV & dbug.MSGS: print " OSC:event_leg:id:",id,"leg:",leg,"pos:",(x,y)
self.m_field.update_leg(id, leg, nlegs, x, y, ex, ey, spd, espd,
heading, eheading, vis)
def event_tracking_update(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
x,y - position within field in units - increasing in value towards right and down
vx,vy - estimate of velocity in m/s
major,minor - major/minor axis size in m
groupid - id number of group
groupsize - number of people in group
channel - channel number assigned
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = 0
samp = args[0]
time = args[1]
id = args[2]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS: print "OSC:event_update:no id",id,"in registered id list"
x = int(100*args[3]) # comes in meters, convert to cm
y = int(100*args[4])
vx = int(100*args[5])
vy = int(100*args[6])
major = int(100*args[7]/2)
minor = int(100*args[8]/2)
gid = args[9]
gsize = args[10]
channel = args[11]
#print "OSC:event_update:",path,args,source
if samp%FREQ_REG_REPORT == 0:
#print "OSC:event_update:",path,args,source
if dbug.LEV & dbug.MSGS: print " OSC:event_update:id:",id,"pos:",(x,y),"axis:",major
#print "field.update_cell(",id,",",(x,y),",",major,")"
self.m_field.update_cell(id,(x,y),major)
#print "OSC:event_update: Done"
def event_tracking_frame(self, path, tags, args, source):
"""New frame event.
args:
samp - sample number
"""
#print "OSC:event_frame:",path,args,source
samp = args[0]
if samp%FREQ_REG_REPORT == 0:
#print "OSC:event_update:",path,args,source
if dbug.LEV & dbug.MSGS: print " OSC:event_frame::",samp
return None
def event_tracking_stop(self, path, tags, args, source):
"""Tracking has stopped."""
if dbug.LEV & dbug.MSGS: print "OSC:event_stop:",path,args,source
return None
class Osc(object):
def __init__(self, listen_port=7331, timeout=4, timeout_fade_duration=4):
# create an OSC server and bind it to listen on port 7331
self.server = OSCServer(("", listen_port))
self.server.timeout = 0
self.server.handle_timeout = types.MethodType(
lambda x: self.handle_timeout(), self.server)
# Create handlers for "/rgb" and "/hsv". This causes a packet to "/rgb" to call self.set_rgb()
# and a packet to "/hsv" to call self.set_hsv(), with the arguments path, tags, args, source
self.server.addMsgHandler("/rgbw",
lambda p, t, a, s: self.set_rgbw(p, t, a, s))
self.server.addMsgHandler("/rgb",
lambda p, t, a, s: self.set_rgb(p, t, a, s))
self.server.addMsgHandler("/r",
lambda p, t, a, s: self.set_r(p, t, a, s))
self.server.addMsgHandler("/g",
lambda p, t, a, s: self.set_g(p, t, a, s))
self.server.addMsgHandler("/b",
lambda p, t, a, s: self.set_b(p, t, a, s))
self.server.addMsgHandler("/w",
lambda p, t, a, s: self.set_w(p, t, a, s))
self.server.addMsgHandler("/hsv",
lambda p, t, a, s: self.set_hsv(p, t, a, s))
self.server.addMsgHandler("/h",
lambda p, t, a, s: self.set_h(p, t, a, s))
self.server.addMsgHandler("/s",
lambda p, t, a, s: self.set_s(p, t, a, s))
self.server.addMsgHandler("/v",
lambda p, t, a, s: self.set_v(p, t, a, s))
# Initialize variables
self.color = Color(0.0, 0.0, 0.0, 0.0)
self.opacity = 0.0
self.timeout = timeout
self.timeout_fade_duration = timeout_fade_duration
# Setup our animation queue
self.anim_queue = AnimationQueue()
# The last time we got a message on our socket
self.last_msg_time = time.time()
# Close the socket on exit
def cleanup(self):
self.server.close()
def got_a_packet(self):
self.opacity = 1.0
self.last_msg_time = time.time()
self.anim_queue.clear()
# Set the current color in either RGB or HSV colorspace
def set_rgbw(self, path, tags, args, source):
self.color.setRGBW(*args)
self.got_a_packet()
def set_rgb(self, path, tags, args, source):
self.color.setRGB(*args)
self.got_a_packet()
def set_r(self, path, tags, args, source):
print path, tags, args, source
self.color.setR(args[0])
self.got_a_packet()
def set_g(self, path, tags, args, source):
self.color.setG(args[0])
self.got_a_packet()
def set_b(self, path, tags, args, source):
self.color.setB(args[0])
self.got_a_packet()
def set_w(self, path, tags, args, source):
self.color.setB(args[0])
self.got_a_packet()
def set_hsv(self, path, tags, args, source):
self.color.setHSV(*args)
self.got_a_packet()
def set_h(self, path, tags, args, source):
self.color.setH(args[0])
self.got_a_packet()
def set_s(self, path, tags, args, source):
self.color.setS(args[0])
self.got_a_packet()
def set_v(self, path, tags, args, source):
self.color.setV(args[0])
self.got_a_packet()
# This gets called when we have no more packets waiting to be processed
def handle_timeout(self):
self.timed_out = True
# This function retrieves the next color from the Audio object
def next(self, color_in):
# process any messages we might have waiting for us. We do this by calling handle_request() until
# handle_timeout() gets called, at which point we stop:
self.timed_out = False
while not self.timed_out:
self.server.handle_request()
# If we've not received a message for `timeout` seconds, slowly ease back to 1.0 power
if self.last_msg_time + self.timeout < time.time(
) and self.opacity != 0.0:
# Ease slowly from the current value of self.opacity to 0.0
self.anim_queue.push(
ease(self.opacity, 0.0, self.timeout_fade_duration, sin_ease))
# This ensures that once the animation is done, we stay at 0.0, and also that we
# don't keep on animating over and over again (e.g. the if statement directly above
# doesn't keep on activating over and over again)
self.opacity = 0.0
# If we're easing back to 0.0 after a client disconnect, then this animation does something.
# If we're receiving packets like normal, this animation does nothing, it just returns self.opacity
animated_opacity = self.anim_queue.animate(default_value=self.opacity)
# Mix between color_in and our stored self.color
return color_in * (1.0 -
animated_opacity) + animated_opacity * self.color
class LiveRawAPI(object):
"""
This is close to live's API objects as possible
Of course, they are designed to be manipulated from a patcher,
not real code, so a bit more wrapping is in order.
To keep everything minimal, this is done in a subclass.
"""
_incoming = None
_handled = True
_received = False
debug = False
def __init__(self,
there_host="localhost",
there_port=7400,
here_host="localhost",
here_port=7401,
debug=False,
*args, **kwargs):
super(LiveRawAPI, self).__init__(*args, **kwargs)
self.oscserver = OSCServer((here_host, here_port))
self.oscclient = OSCClient()
self.oscclient.connect((there_host, there_port))
self.oscserver.addMsgHandler('/response', self._handle_response)
self._incoming = []
def raw_query(self, *args):
"""Posts a query, waits for a response. Returns it.
Note that state is fragile here, so you'd better be sure that there
will be a response, or it will hang waiting."""
self.oscclient.send(OSCMessage('/query', args))
return self.handle_request()
def raw_call(self, *args):
"""Posts a call, returns nothing.
Note that state is fragile here, so you'd better be sure that there
will be no response, or you won't know what returned what."""
self.oscclient.send(OSCMessage('/query', ['path', 'getpath']))
def _handle_response(self, path, tags, args, source):
"""private callback to handle OSC responses. Sets state."""
if self.debug: print "callback", path, args, source
self._incoming.append(args)
self._received = True
def handle_request(self):
"""hack to handle asynchronous calls:
1 try to get something returned and tacked onto the class.
2 Return it and reset.
This is completely f****d at the momenl I can't make timeouts work in any usable fashion."""
try:
self.oscserver.handle_request()
while self._received:
self._received = False
self.oscserver.handle_request()
_incoming = self._incoming
return _incoming
finally:
self._incoming = []
self._received = False
def close(self):
self.oscserver.close()
### more structured access involves navigating places with the path object
def goto(self, *args):
resp = self.raw_query('path', 'goto', *args)
prefix, path = resp[1], resp[2:]
#sanity check that we are getting the right message
assert prefix=='path'
self.path = path
def path(self, *args):
return self.goto(*args)
def getchildren(self):
resp = self.raw_query('path', 'getchildren')
return resp[1:]
def getcount(self):
resp = self.raw_query('path', 'getcount')
return resp[1:]
class Server():
"""Listener to collect results of Keykit server.
(Adaption of OSC package example.)
"""
def __init__(self, server_adr):
self.server = OSCServer(server_adr)
self.server.socket.settimeout(3)
self.run = True
self.timed_out = False
# funny python's way to add a method to an instance of a class
# import types
# self.server.handle_timeout = types.MethodType(
# self.handle_timeout, self.server)
# or
self.server.handle_timeout = self.handle_timeout
# Handler
self.server.addMsgHandler("/quit", self.quit_callback)
self.server.addMsgHandler("/keykit/pyconsole/out", self.print_callback)
self.server.addMsgHandler("/keykit/pyconsole/err", self.err_callback)
self.server.addMsgHandler(
"/keykit/pyconsole/start",
self.print_callback)
self.server.addMsgHandler("/keykit/pyconsole/lsdir", self.dir_callback)
def handle_timeout(self, server=None):
self.timed_out = True
def each_frame(self):
# clear timed_out flag
self.timed_out = False
# handle all pending requests then return
while not self.timed_out and self.run:
self.server.handle_request()
# Line reached after each socket read
sleep(.05)
def start(self):
# print("Wait on client input...")
sys.stdout.write("%s" % (MY_PROMPT))
sys.stdout.flush()
while self.run:
self.each_frame()
# Line reached after each socket timeout
sleep(1)
def stop(self):
self.run = False
# Invoke shutdown. Socket still wait on timeout...
try:
import socket
self.server.socket.shutdown(socket.SHUT_RDWR)
except socket.error:
pass
self.server.close()
# Callbacks
def quit_callback(self, path, tags, args, source):
self.run = False
def print_callback(self, path, tags, args, source, textColor=ColorOut):
current_input = readline.get_line_buffer()
# Add Tab at every input line
out = args[0].replace("\n", "\n\t")
# Delete current input, insert output and add input again.
# \r : Carriage return, \033[K : Delete everything after the cursor.
sys.stdout.write("\r\033[K")
sys.stdout.write(
"\t%s%s%s\n%s%s" %
(textColor,
out,
ColorReset,
MY_PROMPT,
current_input))
sys.stdout.flush()
def err_callback(self, path, tags, args, source):
""" Same as print_callback but mark output as error. """
self.print_callback(path, tags, args, source, ColorWarn)
def dir_callback(self, path, tags, args, source):
""" Store current working dir for tab completion.
This is mainly releated to chdir() and lsdir().
"""
lsdir_string_part = args[0]
if lsdir_string_part[0] == "^":
self.keykit_lsdir_string = lsdir_string_part
else:
self.keykit_lsdir_string += lsdir_string_part
if self.keykit_lsdir_string[-1] == "$":
try:
lsdir = []
# Convert string into list of files. Second argument flags
# directories.
# Example string: ^["foldername"=1,"filename"=0]$
re_entries = '".+?"=[01][,\]]'
entries = re.finditer(re_entries, self.keykit_lsdir_string)
for entry in entries:
sname = entry.group()[1:-4]
bFolder = entry.group()[-2] == "1"
lsdir.append((sname, bFolder))
self.keykit_lsdir = lsdir
except:
sys.stderr.write("(dir_callback) Unable to fetch folder content.")
self.keykit_lsdir = []
class OscReader:
def __init__(self,
host="127.0.0.1",
port=8080,
manager=None,
threaded=False,
autoStart=True):
# params
self.manager = manager
self.host = host
self.port = port
self.threaded = threaded
# attrs
self._kill = False
self.oscServer = None
self.thread = None
if autoStart:
self.start()
def setup(self):
if self.oscServer != None:
self.destroy()
ColorTerminal().output(
"Starting OSC server with host {0} and port {1}".format(
self.host, self.port))
self.oscServer = OSCServer((self.host, self.port))
self.oscServer.handle_timeout = self.handleTimeout
self.oscServer.addMsgHandler('/marker', self.oscMarkerHandler)
self.oscServer.addMsgHandler('/rigidbody', self.oscRigidBodyHandler)
ColorTerminal().success("Server running")
def destroy(self):
if self.oscServer == None:
return
self.oscServer.close()
self.oscServer = None
def update(self):
if self.oscServer == None:
return
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 10
count = 0
# clear timed_out flag
self.oscServer.timed_out = False
# handle all pending requests then return
while not self.oscServer.timed_out and count < limit:
self.oscServer.handle_request()
count += 1
def oscMarkerHandler(self, addr, tags, data, client_address):
if self.manager:
self.manager.processMarkersData([data[0]])
def oscRigidBodyHandler(self, addr, tags, data, client_address):
# readers can interface with the mocap data manager directly (most efficient)
if self.manager:
self.manager.processRigidBodyJson(data[0])
def handleTimeout(self):
if self.oscServer != None:
self.oscServer.timed_out = True
def start(self):
if not self.threaded:
self.setup()
return
if self.thread and self.thread.isAlive():
ColorTerminal().warn(
"OscReader - Can't start while a thread is already running")
return
self._kill = False
# threaded loop method will call setup
self.thread = threading.Thread(target=self.threaded_loop)
self.thread.start()
def stop(self):
if self.threaded:
# threaded loop method will call destroy
self._kill = True
else:
self.destroy()
def threaded_loop(self):
self.setup()
while not self._kill:
self.update()
self.destroy()
sys.stdout.write(RED)
print '\n waiting for Phone TouchOSC App...\n'
sys.stdout.write(RESET)
# Create virtual environment -------------------------------------------------------------------------------------------
# first we create the arrow to show current position of the servo
measuringArrow = arrow(pos=(0, -10, 0),
axis=(0, 10, 0),
shaftwidth=0.4,
headwidth=0.6)
# and now the labels
angleLabel = label(text='angle: 90', pos=(0, 5, 0), height=15, box=false)
angle0 = label(text='0', pos=(-10, -10, 0), height=15, box=false)
angle45 = label(text='45', pos=(-7.5, -2.5, 0), height=15, box=false)
angle90 = label(text='90', pos=(0, 1, 0), height=15, box=false)
angle135 = label(text='135', pos=(7.5, -2.5, 0), height=15, box=false)
angle180 = label(text='180', pos=(10, -10, 0), height=15, box=false)
# Main -----------------------------------------------------------------------------------------------------------------
while True:
Conrol = get_Conrol() # get path control string from Phone touchOSC
server = OSCServer(
(serverAdr, serverPort)) # define OSC server on computer
client = OSCClient() # define OSC client on Phone touchOSC
client.connect((clientAdr, clientPort)) # connect to client
server.addMsgHandler(
Conrol, servo_call) # use the control path and process message
server.handle_request() # handle request
rate(20) # refresh rate required for VPython
server.close() # close the server, start over again and again.
class Matrix(object):
server = None
driver = None
led = None
modes = []
running = False
color = None
wheel = None
pong = None
scope = None
mode = 0
joysticks = []
pong_running = False
scope_running = False
def __init__(self):
self.server = OSCServer(("192.168.2.122", 5005))
self.server.timeout = 0
self.driver = DriverAdaMatrix(rows=32, chain=2)
self.driver.SetPWMBits(6)
self.led = LEDMatrix(self.driver, 64, 32, serpentine=False)
self.modes = [
self.mode_presets, self.color_presets, self.color_gradient,
self.white_gradient, self.direct_control, self.arcade,
self.mindfuck
]
self.color = colors.Salmon
self.wheel = ColorWheel()
self.running = True
self.joysticks = [0] * 5
self.pong = Pong(self.led)
self.scope = Scope(self.led, self.wheel)
self.scheme = []
# funny python's way to add a method to an instance of a class
# import types
# self.server.handle_timeout = types.MethodType(lambda: self.handle_timeout(self), self.server)
self.server.addMsgHandler("/mode", self.mode_callback)
self.server.addMsgHandler("/coin", self.coin_callback)
self.server.addMsgHandler("/js", self.joystick_callback)
self.server.addMsgHandler("/pot", self.pot_callback)
self.server.addMsgHandler("/fad", self.fader_callback)
self.server.addMsgHandler("/beam", self.beam_callback)
self.server.addMsgHandler("/scheme", self.scheme_callback)
self.server.addMsgHandler("/sleep", self.sleep_callback)
# this method of reporting timeouts only works by convention
# that before calling handle_request() field .timed_out is
# set to False
def handle_timeout(self):
self.timed_out = True
# TODO: update this to take all the joysticks and send them off selectively
def joystick_callback(self, path, tags, args, source):
if self.pong_running:
self.pong.update_sticks(args[0], args[4])
elif self.scope_running:
self.scope.update_sticks(args)
def pot_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_pots(args)
def fader_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_faders(args)
def beam_callback(self, path, tags, args, source):
if self.scope_running:
self.scope.update_beam(args[0])
def mode_callback(self, path, tags, args, source):
self.scope_running = True
self.led.all_off()
if (self.mode == 5 and int(args[0]) != 5):
self.pong_running = False
self.mode = int(args[0])
self.modes[self.mode]()
self.led.update()
sleep(1)
def coin_callback(self, path, tags, args, source):
self.led.all_off()
self.led.update()
count = 0
while count < 5:
self.led.drawText("Thank You!!",
4,
10,
size=1,
color=colors.Lavender)
self.led.update()
sleep(1)
self.led.all_off()
self.led.update()
sleep(0.5)
count += 1
self.modes[self.mode]()
self.led.update()
def scheme_callback(self, path, tags, args, source):
self.scheme = []
for i in xrange(0, len(args), 3):
self.scheme.append(args[i:i + 3])
self.wheel.setScheme(self.scheme)
def sleep_callback(self, path, tags, args, source):
print("sleep plz")
self.scope_running = False
self.pong_running = False
self.led.all_off()
self.led.update()
# user script that's called by the game engine every frame
def each_frame(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
if self.pong_running:
self.led.all_off()
self.pong.step()
self.led.update()
sleep(0.05)
elif self.scope_running:
self.led.all_off()
self.scope.step()
self.led.update()
sleep(0.05)
def mode_presets(self):
self.led.drawText("Mode", 6, 5, size=1, color=self.color)
self.led.drawText("Presets", 6, 15, size=1, color=self.color)
def color_presets(self):
self.led.drawText("Color", 6, 5, size=1, color=self.color)
self.led.drawText("Presets", 6, 15, size=1, color=self.color)
def color_gradient(self):
self.led.drawText("Color", 6, 5, size=1, color=self.color)
self.led.drawText("Gradients", 6, 15, size=1, color=self.color)
def white_gradient(self):
self.led.drawText("White", 6, 5, size=1, color=self.color)
self.led.drawText("Gradients", 6, 15, size=1, color=self.color)
def direct_control(self):
self.led.drawText("Direct", 6, 5, size=1, color=self.color)
self.led.drawText("Control", 6, 15, size=1, color=self.color)
def arcade(self):
# self.led.drawText("Arcade", 6, 5, size=1, color=self.color)
# self.led.drawText("Mode!!!", 6, 15, size=1, color=self.color)
anim = ScrollText(self.led,
"Arcade Mode!!!!!",
64,
13,
size=1,
color=self.color)
anim.run(fps=30, untilComplete=True, max_cycles=1)
self.pong.reset()
self.scope_running = False
self.pong_running = True
def mindfuck(self):
self.led.drawText("Y U NO", 6, 5, size=1, color=self.color)
self.led.drawText("LISTEN?!", 6, 15, size=1, color=self.color)
self.scope_running = False
def run(self):
while self.running:
sleep(1)
self.each_frame()
class OSCHandler(object):
"""Set up OSC server and other handlers."""
def __init__(self, field):
self.m_field = field
self.m_server = OSCServer( (OSCHOST, OSCPORT) )
self.m_server.timeout = OSCTIMEOUT
self.m_run = True
self.m_xmin = 0
self.m_ymin = 0
self.m_xmax = 0
self.m_ymax = 0
self.eventfunc = {
'ping': self.event_tracking_ping,
'start': self.event_tracking_start,
'stop': self.event_tracking_stop,
'entry': self.event_tracking_entry,
'exit': self.event_tracking_exit,
'update': self.event_tracking_update,
'frame': self.event_tracking_frame,
'minx': self.event_tracking_set,
'miny': self.event_tracking_set,
'maxx': self.event_tracking_set,
'maxy': self.event_tracking_set,
'npeople': self.event_tracking_set,
}
# add a method to an instance of the class
import types
self.m_server.handle_timeout = types.MethodType(handle_timeout, self.m_server)
for i in self.eventfunc:
self.m_server.addMsgHandler(OSCPATH[i], self.eventfunc[i])
# user script that's called by the game engine every frame
def each_frame(self):
# clear timed_out flag
self.m_server.timed_out = False
# handle all pending requests then return
while not self.m_server.timed_out:
self.m_server.handle_request()
def user_callback(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
user = ''.join(path.split("/"))
# tags will contain 'fff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
#print ("Now do something with", user,args[2],args[0],1-args[1])
def quit_callback(self, path, tags, args, source):
self.m_run = False
# Event handlers
def event_tracking_ping(self, path, tags, args, source):
"""Ping from tracking system."""
#print "OSC: ping:",args,source
pass
def event_tracking_start(self, path, tags, args, source):
"""Tracking system is starting.
Sent before first /pf/update message for that target
args:
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
channel - channel number assigned
"""
print "OSC: start:",args
def event_tracking_set(self, path, tags, args, source):
"""Tracking subsystem is setting params.
Send value of various parameters.
args:
minx, miny, maxx, maxy - bounds of PF in units
npeople - number of people currently present
"""
split = path.split("/")
param = split.pop()
print "OSC: set:",path,param,args,source
if param == OSCPATH_SET_DICT['minx']:
self.m_field.setparam(xmin=int(100*args[0]))
elif param == OSCPATH_SET_DICT['miny']:
self.m_field.setparam(ymin=int(100*args[0]))
elif param == OSCPATH_SET_DICT['maxx']:
self.m_field.setparam(xmax=int(100*args[0]))
elif param == OSCPATH_SET_DICT['maxy']:
self.m_field.setparam(ymax=int(100*args[0]))
elif param == OSCPATH_SET_DICT['npeople']:
self.m_field.setparam(npeople=args[0])
else:
pass
def event_tracking_entry(self, path, tags, args, source):
"""Event when person enters field.
Sent before first /pf/update message for that target
args:
samp - sample number
t - time of sample (elapsed time in seconds since
beginning of run)
target - UID of target
channel - channel number assigned
"""
print "OSC: entry:",args
sample = args[0]
time = args[1]
id = args[2]
self.m_field.create_cell(id)
def event_tracking_exit(self, path, tags, args, source):
"""Event when person exits field.
args:
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
"""
print "OSC: exit:",args
sample = args[0]
time = args[1]
id = args[2]
self.m_field.del_cell(id)
def event_tracking_update(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
samp - sample number
t - time of sample (elapsed time in seconds since beginning of run)
target - UID of target
x,y - position within field in units - increasing in value towards right and down
vx,vy - estimate of velocity in m/s
major,minor - major/minor axis size in m
groupid - id number of group
groupsize - number of people in group
channel - channel number assigned
"""
#print "OSC: update:",args
for index, item in enumerate(args):
if item == 'nan':
args[index] = 0
samp = args[0]
time = args[1]
id = args[2]
x = int(100*args[3]) # comes in meters, convert to cm
y = int(100*args[4])
vx = int(100*args[5])
vy = int(100*args[6])
major = int(100*args[7]/2)
minor = int(100*args[8]/2)
gid = args[9]
gsize = args[10]
channel = args[11]
# TODO: if gid is not equal to 0 than we have a grouping, we need to
# stop mapping the cell(s) that are not getting updated in new frames
# alternately, we can just turn all cells invisible each frame and then
# make them visible as we get an update
#print "field.update_cell(",id,",",(x,y),",",major,")"
self.m_field.update_cell(id,x,y,vx,vy,major,minor,gid,gsize)
# TODO: What happens to connections when someone joins a group? Oh god.
# In our OSC messages, when two cells become a group, a gid is assigned
# the groupsize is incremented, and only one of the cells gets updated
# Like so:
# /pf/update 410 28.8 2 1.1 -1.4 -1.2 -0.2 nan nan 1 2 2
# /pf/update 410 28.8 4 0.9 -1.0 -0.2 -2.4 nan nan 1 2 4
# /pf/update 411 28.8 4 0.9 -1.0 nan nan nan nan 1 2 4
# /pf/update 412 29.0 4 0.9 -1.0 nan nan nan nan 1 2 4
def event_tracking_frame(self, path, tags, args, source):
"""New frame event.
args:
samp - sample number
"""
self.m_field.m_samp = args[0]
#print "OSC: frame:",args
self.m_field.full_status()
def event_tracking_stop(self, path, tags, args, source):
"""Tracking has stopped."""
print "OSC: stop:",args
class MuseIO():
def __init__(self, port=5001, signal=None):
self.signal = signal
self.port = port
self.udp_ip = '127.0.0.1'
if not has_oscserver:
raise Exception('ERROR: OSC not found')
self.server = OSCServer((self.udp_ip, self.port))
self.server.timeout = 0
# funny python's way to add a method to an instance of a class
self.server.handle_timeout = types.MethodType(handle_timeout, self.server)
# add message handlers
if 'eeg' in self.signal:
self.server.addMsgHandler('/muse/eeg', self.callback_eeg_raw)
if 'concentration' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/concentration', self.callback_concentration)
if 'mellow' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/mellow', self.callback_mellow)
self.server.addMsgHandler("default", self.default_handler)
def default_handler(self, addr, tags, stuff, source):
# nothing to do here. This function is called for all messages that are not supported by the application.
#print "SERVER: No handler registered for ", addr
return None
def callback_eeg_raw(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
# tags will contain 'ffff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
self.signal['eeg'].lock.acquire()
self.signal['eeg'].add_data(args)
self.signal['eeg'].lock.release()
def callback_concentration(self, path, tags, args, source):
if 'concentration' in self.signal:
self.signal['concentration'].add_time()
self.signal['concentration'].add_concentration(args[0])
#self.game.change_velocity(self.signal['concentration'].concentration)
def callback_mellow(self, path, tags, args, source):
if 'mellow' in self.signal:
self.signal['mellow'].add_time()
self.signal['mellow'].add_mellow(args[0])
def handle_request(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
def start(self, freq=220):
update_timing = 1.0/float(freq)
while True:
try:
time.sleep(update_timing)
self.handle_request()
except KeyboardInterrupt:
import sys
print('KeyboardInterrupt on line {}'.format(sys.exc_info()[-1].tb_lineno))
sys.exit(2)
except Exception as e:
import sys
print('Error on line {}'.format(sys.exc_info()[-1].tb_lineno))
print(str(e))
sys.exit(2)
class KinectReceiver(avg.Publisher):
"""Class to process OSC messages from the kinect tracking system.
Subscribers will receive messages for each joint or kill,
containing either [skeleton_id, skeleton_joint] or [skeleton_id, 'kill')
"""
OSC_kinect_MessageID = avg.Publisher.genMessageID()
OSC_kinect_hand_MessageID = avg.Publisher.genMessageID()
def __init__(self, ip):
"""Initialize the server on localhost."""
avg.Publisher.__init__(self)
self.__active_skeleton_ids = []
try:
self.__server = OSCServer((ip, 27015))
self.__server.print_tracebacks = True
# TODO check the ThreadingOSCServer class as possible alternative
except OSCError:
print "############################################"
print "####### could not open OSCServer ###########"
print "############################################"
return
if self.__server is None:
print "OSC KINECT RECEIVER: server is not initialized"
return
print "Kinect receiver: ", self.__server
self.__server.handle_timeout = types.MethodType(
self.__handle_timeout, self.__server)
self.__server.timeout = 0
self.__server.addMsgHandler("/joint",
self.__on_osc_joint_message_received)
self.__server.addMsgHandler("/hand",
self.__on_osc_hand_message_received)
self.__server.addMsgHandler("/kill",
self.__on_osc_kill_message_received)
self.publish(self.OSC_kinect_MessageID)
self.publish(self.OSC_kinect_hand_MessageID)
def __handle_timeout(self, statusnachricht):
"""Handle server timeouts."""
self.__server.timed_out = True
def onFrame(self):
"""Stay active."""
self.__server.timed_out = False
# handle all pending requests than return
while not self.__server.timed_out:
self.__server.handle_request()
def run(self):
"""Start running the server."""
while True:
self.__server.handle_request()
self.__server.close()
def __on_osc_joint_message_received(self, addr, tags, data,
client_address):
"""Receives an OSC message, transforms the data and
notifies subscribers by sending a message (type: list) containing skeleton_id and
skeleton_joint (type: SkeletonJoint)
Args:
addr: the address (str e.g. /joint)
tags: tags (str with i for int32 and f for float, e.g. iiiifff)
data: tracking data, containing
id, convertMode, jointtype, trackingstate, and if trackingstate != OKTS_NOTTRACKED, x,y and z
client_address: client address as (ip, port) tuple
"""
# check if length could actually be a skeleton joint message
if len(data) < 4:
return
# initialize position values
x = 0
y = 0
z = 0
# only if joint is tracked, additional position values are given
if data[3] is not OSCJointTrackingState.OKTS_NOTTRACKED and len(
data) >= 7:
x = data[4]
y = data[5]
z = data[6]
# create the skeleton joint from received data
# joint_type = OSCKinectJoint(data[2])
joint_type = data[2]
skeleton_joint = SkeletonJoint(x, y, z, joint_type)
skeleton_joint.tracking_state = data[3]
# add skeletonID to active skeleton list
if data[0] not in self.__active_skeleton_ids:
self.__active_skeleton_ids.append(data[0])
# message for subscribers consists of skeletonID and joint
message = [data[0], skeleton_joint]
# send new skeleton_joint to subscriber
self.notifySubscribers(self.OSC_kinect_MessageID, [message])
def __on_osc_hand_message_received(self, addr, tags, data, client_address):
"""
received hand state events from oscserver and if this skeleton already exists
it norfies subscribers with message skeleton_id and list["left"/"right", value]
"""
if len(data) < 3:
return
if data[1] != "left" and data[1] != "right":
return
if data[0] in self.__active_skeleton_ids:
message = [data[0], (data[1], data[2])]
self.notifySubscribers(self.OSC_kinect_hand_MessageID, [message])
def __on_osc_kill_message_received(self, addr, tags, data, client_address):
"""
receives the kill event from oscserver and
reacts by sending out a message (list) ONCE that includes skeleton_id and 'kill'
"""
# kill will be received constantly, only send message once
# when skeletonID is still in active skeleton list
if data[0] in self.__active_skeleton_ids:
# message for subscribers consists of skeletonID and 'kill'
message = [data[0], 'kill']
# send message
self.notifySubscribers(self.OSC_kinect_MessageID, [message])
# remove skeletonID from active skeleton list
self.__active_skeleton_ids.remove(data[0])
pass
class LiveRawAPI(object):
"""
This is close to live's API objects as possible
Of course, they are designed to be manipulated from a patcher,
not real code, so a bit more wrapping is in order.
To keep everything minimal, this is done in a subclass.
"""
_incoming = None
_handled = True
_received = False
debug = False
def __init__(self,
there_host="localhost",
there_port=7400,
here_host="localhost",
here_port=7401,
debug=False,
*args,
**kwargs):
super(LiveRawAPI, self).__init__(*args, **kwargs)
self.oscserver = OSCServer((here_host, here_port))
self.oscclient = OSCClient()
self.oscclient.connect((there_host, there_port))
self.oscserver.addMsgHandler('/response', self._handle_response)
self._incoming = []
def raw_query(self, *args):
"""Posts a query, waits for a response. Returns it.
Note that state is fragile here, so you'd better be sure that there
will be a response, or it will hang waiting."""
self.oscclient.send(OSCMessage('/query', args))
return self.handle_request()
def raw_call(self, *args):
"""Posts a call, returns nothing.
Note that state is fragile here, so you'd better be sure that there
will be no response, or you won't know what returned what."""
self.oscclient.send(OSCMessage('/query', ['path', 'getpath']))
def _handle_response(self, path, tags, args, source):
"""private callback to handle OSC responses. Sets state."""
if self.debug: print "callback", path, args, source
self._incoming.append(args)
self._received = True
def handle_request(self):
"""hack to handle asynchronous calls:
1 try to get something returned and tacked onto the class.
2 Return it and reset.
This is completely f****d at the momenl I can't make timeouts work in any usable fashion."""
try:
self.oscserver.handle_request()
while self._received:
self._received = False
self.oscserver.handle_request()
_incoming = self._incoming
return _incoming
finally:
self._incoming = []
self._received = False
def close(self):
self.oscserver.close()
### more structured access involves navigating places with the path object
def goto(self, *args):
resp = self.raw_query('path', 'goto', *args)
prefix, path = resp[1], resp[2:]
#sanity check that we are getting the right message
assert prefix == 'path'
self.path = path
def path(self, *args):
return self.goto(*args)
def getchildren(self):
resp = self.raw_query('path', 'getchildren')
return resp[1:]
def getcount(self):
resp = self.raw_query('path', 'getcount')
return resp[1:]
class MuseIO():
def __init__(self, port=5001, signal=None):
self.signal = signal
self.port = port
self.udp_ip = '127.0.0.1'
if not has_oscserver:
raise Exception('ERROR: OSC not found')
self.server = OSCServer((self.udp_ip, self.port))
self.server.timeout = 0
self.current_sample_id = 0
self.init_time = None
self.sample_rate = 220.0
# funny python's way to add a method to an instance of a class
self.server.handle_timeout = types.MethodType(handle_timeout, self.server)
# add message handlers
if 'eeg' in self.signal:
self.server.addMsgHandler('/muse/eeg', self.callback_eeg_raw)
if 'concentration' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/concentration', self.callback_concentration)
if 'mellow' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/mellow', self.callback_mellow)
self.server.addMsgHandler("default", self.default_handler)
def default_handler(self, addr, tags, stuff, source):
# nothing to do here. This function is called for all messages that are not supported by the application.
#print "SERVER: No handler registered for ", addr
return None
def callback_eeg_raw(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
# tags will contain 'ffff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
self.signal['eeg'].lock.acquire()
self.signal['eeg'].id = self.current_sample_id
self.signal['eeg'].add_data(args, add_time=False)
self.signal['eeg'].add_time(time.time())
self.signal['eeg'].add_datetime(datetime.now())
self.signal['eeg'].lock.release()
def callback_concentration(self, path, tags, args, source):
if 'concentration' in self.signal:
self.signal['concentration'].lock.acquire()
self.signal['concentration'].id = self.current_sample_id
self.signal['concentration'].add_data(args, add_time=False)
self.signal['concentration'].add_time(time.time())
self.signal['concentration'].add_datetime(datetime.now())
self.signal['concentration'].lock.release()
def callback_mellow(self, path, tags, args, source):
if 'mellow' in self.signal:
self.signal['mellow'].lock.acquire()
self.signal['mellow'].id = self.current_sample_id
self.signal['mellow'].add_data(args, add_time=False)
self.signal['mellow'].add_time(time.time())
self.signal['mellow'].add_datetime(datetime.now())
self.signal['mellow'].lock.release()
def handle_request(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
def start(self, freq=220):
update_timing = 1.0/float(freq)
while True:
try:
time.sleep(update_timing)
self.handle_request()
except KeyboardInterrupt:
import sys
print('KeyboardInterrupt on line {}'.format(sys.exc_info()[-1].tb_lineno))
sys.exit(2)
except Exception as e:
import sys
print('Error on line {}'.format(sys.exc_info()[-1].tb_lineno))
print(str(e))
sys.exit(2)
#These are all the add-ons that you can name in the TouchOSC layout designer (you can set the values and directories)
server.addMsgHandler("redfader",faderR)
server.addMsgHandler("greenfader",faderG)
server.addMsgHandler("bluefader",faderB)
server.addMsgHandler("numfader",faderN)
server.addMsgHandler("colorcycle1",ccButton)
server.addMsgHandler("cyclestep",ccStepFader)
server.addMsgHandler("dotOnOff",dotButton)
server.addMsgHandler("dotXY",dotPosition)
# main loop
while True:
# read data
server.handle_request()
if isCycling:
cycleColor()
pixels = [ (0,0,0) ] * maxNum
for i in range(num):
if i == dotIndex:
if isDot:
pixels[i] = (255,255,255)
else:
pixels[i] = (r,b,g)
else:
pixels[i] = (r,b,g)
opcClient.put_pixels(pixels)
print "r:%i g:%i b:%i num:%i " % (r,g,b,num)
class OSCHandler(object):
"""Set up OSC server and other handlers."""
def __init__(self, field=None, conductor=None):
self.m_conductor = conductor
self.cidkeys={}
self.lastcid=1
self.m_field = field
self.m_run = True
self.m_downClients={}
self.m_missingHandlers={}
self.m_xmin = 0
self.m_ymin = 0
self.m_xmax = 0
self.m_ymax = 0
self.m_health = 0
# Setup OSC server and clients
osc_server = []
osc_clients = []
for host in OSC_IPS:
if host == IAM:
logger.info("setting server for %s to %s: %s",host,OSC_IPS[host],OSC_PORTS[host])
osc_server = [('server', OSC_IPS[host], OSC_PORTS[host])]
elif host == 'localhost' or host == 'default':
continue
else:
logger.info("setting client for %s to %s:%s",host,OSC_IPS[host],OSC_PORTS[host])
osc_clients.append((host, OSC_IPS[host], OSC_PORTS[host]))
(name, host, port) = osc_server[0]
self.m_oscserver = OSCServer( (host, port) )
logger.info( "Initializing server at %s:%s",host, port)
self.m_oscserver.timeout = config.osctimeout
self.m_oscserver.print_tracebacks = True
self.m_osc_clients = {}
for i in range(len(osc_clients)):
(name, host, port) = osc_clients[i]
for j in range(i):
(oldname, oldhost, oldport) = osc_clients[j]
if host == oldhost and port == oldport:
self.m_osc_clients[name] = self.m_osc_clients[oldname]
logger.warning( "%s same as %s",name,oldname)
break
if not name in self.m_osc_clients:
try:
self.m_osc_clients[name] = OSCClient()
except socket.error:
logger.error( "Unable to create OSC handler for client %s at %s:%s",name,host,port,exc_info=True)
self.m_osc_clients[name].connect( (host, port) )
logger.info( "Connecting to %s at %s:%s",name,host,port)
self.send_to(name,"/ping",[0])
# common
self.m_oscserver.addMsgHandler("/ping",self.event_ping)
self.m_oscserver.addMsgHandler( "/ack",self.event_ack)
# from tracker
self.m_oscserver.addMsgHandler("/pf/started",self.event_tracking_start)
self.m_oscserver.addMsgHandler("/pf/stopped",self.event_tracking_stop)
self.m_oscserver.addMsgHandler("/pf/entry",self.event_tracking_entry)
self.m_oscserver.addMsgHandler("/pf/exit",self.event_tracking_exit)
self.m_oscserver.addMsgHandler("/pf/frame",self.event_tracking_frame)
self.m_oscserver.addMsgHandler("/pf/set/minx",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/miny",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/maxx",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/maxy",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/npeople",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/groupdist",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/ungroupdist",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/set/fps",self.event_tracking_set)
self.m_oscserver.addMsgHandler("/pf/update",self.event_tracking_update)
self.m_oscserver.addMsgHandler("/pf/leg",self.event_tracking_leg)
self.m_oscserver.addMsgHandler("/pf/body",self.event_tracking_body)
self.m_oscserver.addMsgHandler("/pf/group",self.event_tracking_group)
self.m_oscserver.addMsgHandler("/pf/geo",self.event_tracking_geo)
# to conductor
self.m_oscserver.addMsgHandler( "/conductor/dump",self.event_conduct_dump)
# global sensitivity for conx attr
self.m_oscserver.addMsgHandler( "/ui/condglobal",self.event_ui_condglobal)
# global sensitivity for cell attr
self.m_oscserver.addMsgHandler( "/ui/cellglobal",self.event_ui_cellglobal)
for atype in CELL_ATTR_TYPES + CONX_ATTR_TYPES:
for param in ("trigger", "memory", "maxage","qual","qualmin","qualmax"):
self.m_oscserver.addMsgHandler("/ui/cond/"+atype+"/"+param,self.event_ui_condparam)
# add a method to an instance of the class
self.m_oscserver.handle_timeout = types.MethodType(handle_timeout, self.m_oscserver)
# this registers a 'default' handler (for unmatched messages),
# an /'error' handler, an '/info' handler.
# And, if the client supports it, a '/subscribe' &
# '/unsubscribe' handler
self.m_oscserver.addDefaultHandlers()
self.m_oscserver.addMsgHandler("default", self.default_handler)
# TODO: Handle errors from OSCServer
#self.m_oscserver.addErrorHandlers()
#self.m_oscserver.addMsgHandler("error", self.default_handler)
self.honey_im_home()
def each_frame(self):
# clear timed_out flag
self.m_oscserver.timed_out = False
# handle all pending requests then return
while not self.m_oscserver.timed_out:
self.m_oscserver.handle_request()
def user_callback(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
user = ''.join(path.split("/"))
# tags will contain 'fff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
logger.debug("user_callback( "+str(user)+" "+str(tags)+" "+str(args)+" "+str(source))
def quit_callback(self, path, tags, args, source):
# don't do this at home (or it'll quit blender)
self.m_run = False
#
# General OUTGOING
#
def send_to(self, clientkey, path, args):
"""Send OSC Message to one client."""
try:
self.m_osc_clients[clientkey].send(OSCMessage(path,args))
if args:
logger.debug( "Send to %s: %s %s" ,clientkey,path,args)
except:
lastError=self.m_downClients.get(clientkey,0)
if time()-lastError >30:
logger.warning("send_to: Unable to reach host %s (will suppress this warning for 30 seconds)",clientkey,exc_info=False)
self.m_downClients[clientkey]=time()
return False
return True
def send_laser(self, path, args):
"""Send OSC Message to one client."""
self.send_to('laser', path, args)
self.send_to('recorder', path, args)
def send_downstream(self, path, args):
"""Send OSC Message to one client."""
self.send_to('sound', path, args)
self.send_to('recorder', path, args)
self.send_to('laser', path, args)
def send_to_all_clients(self, path, args):
"""Broadcast to all the clients."""
for clientkey in self.m_osc_clients:
self.send_to(clientkey, path, args)
#
# General INCOMING
#
def default_handler(self, path, tags, args, source):
if not self.m_missingHandlers.get(path,False):
logger.warning( "default_handler:No handler registered for "+path)
self.m_missingHandlers[path]=True
return None
def event_ping(self, path, tags, args, source):
if len(args)<1:
# Possibly ping from touchosc which doesn't include code
return
ping_code = args[0]
source_ip = source[0]
logger.debug( "ping from %s:code:%s", source_ip, ping_code)
for clientkey, client in self.m_osc_clients.iteritems():
target_ip = client.address()[0]
if target_ip == source_ip:
self.send_to(clientkey, "/ack", ping_code)
def event_ack(self, path, tags, args, source):
logger.debug( "event_ack:code "+str(args[0]))
return None
#
# Tracking INCOMING
#
def event_tracking_start(self, path, tags, args, source):
"""Tracking system is starting.
Sent before first /pf/update message for that target
"""
logger.info( "event_track_start")
def event_tracking_set(self, path, tags, args, source):
"""Tracking subsystem is setting params.
Send value of various parameters.
args:
minx, miny, maxx, maxy - bounds of PF in units
npeople - number of people currently present
"""
logger.debug( "event_track_set:"+str(path)+" "+str(args)+" "+str(source))
if path =="/pf/set/minx":
self.m_xmin = args[0]
elif path == "/pf/set/miny":
self.m_ymin = args[0]
elif path == "/pf/set/maxx":
self.m_xmax = args[0]
elif path == "/pf/set/maxy":
self.m_ymax = args[0]
elif path == "/pf/set/npeople":
self.m_field.check_people_count(args[0])
elif path == "/pf/set/groupdist":
self.m_field.update(groupdist=args[0])
elif path == "/pf/set/ungroupdist":
self.m_field.update(ungroupdist=args[0])
elif path == "/pf/set/fps":
self.m_field.update(oscfps=args[0])
def event_tracking_entry(self, path, tags, args, source):
"""Event when person enters field.
Sent before first /pf/update message for that target
args:
frame - frame number
t - time of frame (elapsed time in seconds since
beginning of run)
target - UID of target
channel - channel number assigned
"""
#print "event_track_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
#frame = args[0]
#etime = args[1]
uid = args[2]
logging.getLogger("cells").info("entry of cell "+str(uid))
self.m_field.create_cell(uid)
def event_tracking_exit(self, path, tags, args, source):
"""Event when person exits field.
args:
frame - frame number
t - time of frame (elapsed time in seconds since beginning of run)
target - UID of target
"""
#print "event_track_exit:",path,args,source
#frame = args[0]
#etime = args[1]
uid = args[2]
logging.getLogger("cells").info("exit of cell "+str(uid))
#print "BEFORE: cells:",self.m_field.m_cell_dict
#print "BEFORE: conx:",self.m_field.m_conx_dict
self.m_field.del_cell(uid)
#print "AFTER: cells:",self.m_field.m_cell_dict
#print "AFTER: conx:",self.m_field.m_conx_dict
def event_tracking_body(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
frame - frame number
target - UID of target
x,y - position of person within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of person in m/s, heading in degrees
espd, eheading - SEM of spd, heading
facing - direction person is facing in degees
efacing - SEM of facing direction
diam - estimated mean diameter of legs
sigmadiam - estimated sigma (sqrt(variance)) of diameter
sep - estimated mean separation of legs
sigmasep - estimated sigma (sqrt(variance)) of sep
leftness - measure of how likely leg 0 is the left leg
visibility - number of frames since a fix was found for either leg
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
uid = args[1]
x = args[2] # comes in meters
y = args[3]
ex = args[4]
ey = args[5]
spd = args[6]
#heading = args[7]
espd = args[8]
#eheading = args[9]
facing = args[10]
efacing = args[11]
diam = args[12]
sigmadiam = args[13]
sep = args[14]
sigmasep = args[15]
leftness = args[16]
vis = args[17]
if uid not in self.m_field.m_cell_dict:
logger.info( "event_track_body:no uid "+str(uid)+" in registered cell list")
if frame%config.report_frequency['debug'] == 0:
logger.debug(" ".join([str(msgpart) for msgpart in [ " event_track_body:id:",uid,"pos:", (x, y), "data:",
ex, ey, spd, espd, facing, efacing, diam, sigmadiam,
sep, sigmasep, leftness, vis]]))
self.m_field.update_body(uid, x, y, ex, ey, spd, espd, facing, efacing,
diam, sigmadiam, sep, sigmasep, leftness, vis)
def event_tracking_leg(self, path, tags, args, source):
"""Information about individual leg movement within field.
Update position of leg.
args:
frame - frame number
id - UID of target
leg - leg number (0..nlegs-1)
nlegs - number of legs target is modeled with
x,y - position within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of leg in m/s, heading in degrees
espd, eheading - SEM of spd, heading
visibility - number of frames since a positive fix
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
uid = args[1]
leg = args[2]
nlegs = args[3]
x = args[4] # comes in meters
y = args[5]
ex = args[6]
ey = args[7]
spd = args[8]
heading = args[9]
espd = args[10]
eheading = args[11]
vis = args[12]
if uid not in self.m_field.m_cell_dict:
logger.info( "event_track_leg:no uid "+str(uid)+" in registered cell list")
if frame%config.report_frequency['debug'] == 0:
logger.debug(" ".join([str(msgpart) for msgpart in [" event_track_leg:id:", uid, "leg:", leg, "pos:", (x,y),
"data:", ex, ey, spd, espd, heading, eheading, vis]]))
self.m_field.update_leg(uid, leg, nlegs, x, y, ex, ey, spd, espd,
heading, eheading, vis)
def event_tracking_update(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
/pf/update frame t target x y vx vy major minor groupid groupsize channel
frame - frame number
t - time of frame (elapsed time in seconds)
target - UID of target, always increments
x,y - position within field in meters
vx,vy - estimate of velocity in m/s
major,minor - major/minor axis size in m
groupid - id number of group (0 if not in any group)
groupsize - number of people in group (including this person)
channel - channel number assigned
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
# etime = args[1]
uid = args[2]
if uid not in self.m_field.m_cell_dict:
logger.info( "event_track_update:no uid "+str(uid)+" in registered cell list")
x = args[3] # comes in meters
y = args[4]
vx = args[5]
vy = args[6]
major = args[7]
minor = args[8]
gid = args[9]
gsize = args[10]
#channel = args[11]
#print "event_track_update:",path,args,source
if frame%config.report_frequency['debug'] == 0:
#print "event_track_update:",path,args,source
logger.debug(" ".join([str(msgpart) for msgpart in [ " event_track_update:id:",uid,"pos:", (x, y), "data:", \
vx, vy, major, minor, gid, gsize]]))
self.m_field.update_cell(uid, x, y, vx, vy, major, minor, gid, gsize,
frame=frame)
def event_tracking_group(self, path, tags, args, source):
"""Information about people's movement within field.
Update info about group
/pf/group frame gid gsize duration centroidX centroidY diameter
args:
frame - frame number
gid - group ID
gsize - number of people in group
duration - time since first formed in seconds
centroidX, centroidY - location of centroid of group
diameter - current diameter (mean distance from centroid)
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
#frame = args[0]
gid = args[1]
gsize = args[2] # comes in meters
duration = args[3]
x = args[4]
y = args[5]
diam = args[6]
if gid not in self.m_field.m_group_dict:
logger.info( "event_track_group:no gid "+str(gid)+" in group list")
# if frame%config.report_frequency['debug'] == 0:
logger.debug(" ".join([str(msgpart) for msgpart in [" event_track_group:gid:",gid, "pos:", (x, y), "data:",gsize, duration, diam]]))
self.m_field.update_group(gid, gsize, duration, x, y, diam)
def event_tracking_geo(self, path, tags, args, source):
"""Information about people's movement within field.
Update info about group
/pf/geo frame target fromcenter fromothers fromexit
args:
frame - frame number
uid - UID of target
fromcenter -target's distance from geographic center of everyone
fromnearest - target's distance from the nearest other person (-1 if nobody else)
fromexit - This person's distance from nearest exit from tracked area
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
uid = args[1]
fromcenter = args[2] # comes in meters
fromnearest = args[3]
fromexit = args[4]
if uid not in self.m_field.m_cell_dict:
logger.info("event_track_geo:no uid "+str(uid)+" in registered cell list")
if frame%config.report_frequency['debug'] == 0:
logger.debug(" ".join([str(x) for x in [" event_track_geo:uid:",uid, "data:",
fromcenter, fromnearest, fromexit]]))
self.m_field.update_geo(uid, fromcenter, fromnearest, fromexit)
def event_tracking_frame(self, path, tags, args, source):
"""New frame event.
args:
frame - frame number
"""
#print "event_track_frame:",path,args,source
frame = args[0]
self.m_field.update(frame=frame)
if frame%config.report_frequency['debug'] == 0:
logger.debug( "event_track_frame::"+str(frame))
return None
def event_tracking_stop(self, path, tags, args, source):
"""Tracking has stopped."""
logger.info(" ".join([str(x) for x in ["event_tracking_stop: ",path,args,source]]))
return None
def update(self, field=None, conductor=None):
self.m_field = field
self.m_conductor = conductor
#
# INCOMING to Conductor
#
def event_conduct_dump(self, path, tags, args, source):
source_ip = source[0]
logger.debug( "dump req:from"+str(source_ip))
for clientkey, client in self.m_osc_clients.iteritems():
target_ip = client.address()[0]
if target_ip == source_ip:
#TODO: Decide what we dump and dump it
#self.sendto(clientkey, '/ping', ping_code)
logger.debug( "dump to "+str(clientkey))
def event_ui_condglobal(self, path, tags, args, source):
"""Receive condglobal from UI.
Sent from UI.
args:
frame - frame number
cg - conx global
"""
#print "event_track_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
#frame = args[0]
cg = args[0]
logger.debug("event_ui_condglobal:cg ="+str(cg))
self.m_conductor.update(condglobal=cg)
def event_ui_cellglobal(self, path, tags, args, source):
"""Receive cellglobal from UI.
Sent from UI.
args:
frame - frame number
cg - cell global
"""
#print "event_track_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
#frame = args[0]
cg = args[0]
logger.debug("event_ui_cellglobal:cg ="+str(cg))
self.m_conductor.update(cellglobal=cg)
def event_ui_condparam(self, path, tags, args, source):
"""Receive condparam from UI.
Sent from UI.
args:
type - type of attr
param - conductor param
value - value to change to
"""
#print "event_track_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
#frame = args[0]
pathsplit = path.split('/')
atype = pathsplit[len(pathsplit)-2]
param = pathsplit[len(pathsplit)-1]
value = args[0]
# if I received the type and attr as args, I'd use these 3 lines
#type = args[0]
#param = args[1]
#value = args[2]
logger.debug("event_ui_condparam: type=%s,param=%s,value=%.2f",atype,param,value)
if atype in CELL_ATTR_TYPES:
self.m_conductor.update_cell_param(atype,param, value)
elif atype in CONX_ATTR_TYPES:
self.m_conductor.update_conx_param(atype,param, value)
#
# OUTGOING from Conductor
#
# Startup
def honey_im_home(self):
"""Broadcast a hello message to the network."""
self.send_to_all_clients('/conductor/start',[])
# Regular Reports
def send_regular_reports(self):
"""Send all the reports that are send every cycle."""
frame = self.m_field.m_frame
if frame%config.report_frequency['rollcall'] == 0:
self.send_rollcall()
if frame%config.report_frequency['attrs'] == 0:
self.send_cell_attrs()
if frame%config.report_frequency['conxs'] == 0:
self.send_conx_attr()
if frame%config.report_frequency['gattrs'] == 0:
self.send_group_attrs()
if frame%config.report_frequency['uisettings'] == 0:
self.send_uisettings()
if frame%config.report_frequency['health'] == 0:
self.send_health()
def send_health(self):
self.m_field.m_osc.send_to("touchosc","/health/COND",self.m_health)
self.m_health=1-self.m_health
def send_uisettings(self):
#print "Sending ui settings"
fd=open("settings.py","w")
for key in config.connector_avg_triggers:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/trigger",config.connector_avg_triggers[key])
print >>fd,"config.connector_avg_triggers['"+key+"']=",config.connector_avg_triggers[key]
for key in config.connector_memory_time:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/memory",config.connector_memory_time[key])
print >>fd,"config.connector_memory_time['"+key+"']=",config.connector_memory_time[key]
for key in config.connector_max_age:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/maxage",config.connector_max_age[key])
print >>fd,"config.connector_max_age['"+key+"']=",config.connector_max_age[key]
for key in config.connector_qualifying_triggers:
if key.endswith("-min"):
k=key[:len(key)-4]
a="qualmin"
elif key.endswith("-max"):
k=key[:len(key)-4]
a="qualmax"
else:
k=key
a="qual"
# print "Setting ","/ui/cond/"+k+"/"+a+" to ", config.connector_qualifying_triggers[key]
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+k+"/"+a,config.connector_qualifying_triggers[key])
print >>fd,"config.connector_qualifying_triggers['"+key+"']=",config.connector_qualifying_triggers[key]
# Same for cells
for key in config.cell_avg_triggers:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/trigger",config.cell_avg_triggers[key])
print >>fd,"config.cell_avg_triggers['"+key+"']=",config.cell_avg_triggers[key]
for key in config.cell_memory_time:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/memory",config.cell_memory_time[key])
print >>fd,"config.cell_memory_time['"+key+"']=",config.cell_memory_time[key]
for key in config.cell_max_age:
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+key+"/maxage",config.cell_max_age[key])
print >>fd,"config.cell_max_age['"+key+"']=",config.cell_max_age[key]
for key in config.cell_qualifying_triggers:
if key.endswith("-min"):
k=key[:len(key)-4]
a="qualmin"
elif key.endswith("-max"):
k=key[:len(key)-4]
a="qualmax"
else:
k=key
a="qual"
# print "Setting ","/ui/cond/"+k+"/"+a+" to ", config.cell_qualifying_triggers[key]
self.m_field.m_osc.send_to("touchosc","/ui/cond/"+k+"/"+a,config.cell_qualifying_triggers[key])
print >>fd,"config.cell_qualifying_triggers['"+key+"']=",config.cell_qualifying_triggers[key]
fd.close()
def send_rollcall(self):
"""Sends the currently highlighted cells via OSC.
/conductor/rollcall [uid,action,numconx]
"""
for uid,cell in self.m_field.m_cell_dict.iteritems():
if cell.m_visible:
action = "visible"
else:
action = "hidden"
#TODO: Should the connector count only show visble connectors?
self.m_field.m_osc.send_downstream("/conductor/rollcall",[uid, action, len(cell.m_conx_dict)])
def send_cell_attrs(self):
"""Sends the current attributes of visible cells.
/conductor/attr ["type",uid,value,time]
"""
for uid, cell in self.m_field.m_cell_dict.iteritems():
if cell.m_visible:
for atype, attr in cell.m_attr_dict.iteritems():
duration = time() - attr.m_createtime
self.m_field.m_osc.send_downstream("/conductor/attr",
[atype, uid, attr.m_value, attr.m_freshness, duration])
def send_conx_attr(self):
"""Sends the current descriptions of connectors.
/conductor/conx [cid,"type",uid0,uid1,value,time]
"""
for cid,conx in self.m_field.m_conx_dict.iteritems():
if conx.m_cell0.m_visible and conx.m_cell1.m_visible:
for atype, attr in conx.m_attr_dict.iteritems():
duration = time() - attr.m_createtime
self.send_conx_downstream(cid, atype, conx.m_cell0.m_id,
conx.m_cell1.m_id, attr.m_value, attr.m_freshness,duration)
def send_group_attrs(self):
"""Sends the current attributes of visible groups.
/conductor/gattr ["type",gid,value,time]
"""
for gid,group in self.m_field.m_group_dict.iteritems():
if group.m_visible:
for atype,attr in group.m_attr_dict.iteritems():
duration = time() - attr.m_createtime
self.m_field.m_osc.send_downstream("/conductor/gattr",
[atype, gid, attr.m_value, attr.m_freshness,duration])
def send_event(self,event):
"""Sends notification of an event
"""
self.m_field.m_osc.send_downstream("/conductor/event",[event.m_type, event.m_id, event.m_uid0, event.m_uid1, event.m_value])
# On-Call Messages
def send_conx_downstream(self, cid, atype, uid0, uid1, value, freshness, duration):
key=cid+atype
if key not in self.cidkeys:
self.cidkeys[key]=self.lastcid
self.lastcid=self.lastcid+1
cc=self.cidkeys[key]
cid="%d"%cc
if atype in HAPPENING_TYPES:
logger.debug( "send:"+str( ["happening", atype, cid, uid0, uid1, value, duration]))
self.m_field.m_osc.send_downstream("/conductor/conx",
["happening", atype, cid, uid0, uid1, 1.0*value, 1.0*freshness, duration])
elif atype in EVENT_TYPES:
self.m_field.m_osc.send_downstream("/conductor/event",
[atype, cid, uid0, uid1, 1.0*value])
else:
self.m_field.m_osc.send_downstream("/conductor/conx",
["persistent", atype, cid, uid0, uid1, 1.0*value, 1.0*freshness, duration])
def nix_cell_attr(self, uid, atype):
"""Sends OSC messages to announce the removal of cell attr.
/conductor/attr ["type",uid,0.0,time]"""
if uid in self.m_field.m_cell_dict:
cell = self.m_field.m_cell_dict[uid]
if atype in cell.m_attr_dict:
attr = cell.m_attr_dict[atype]
duration = time() - attr.m_createtime
self.m_field.m_osc.send_downstream("/conductor/attr",
[atype, uid, attr.m_value,0.0, duration])
def nix_conx_attr(self, cid, atype):
"""Sends OSC messages to announce the removal of connection attr.
/conductor/conx ["type","subtype",cid,uid0,uid1,value,0.0,time]"""
if cid in self.m_field.m_conx_dict:
conx = self.m_field.m_conx_dict[cid]
if atype in conx.m_attr_dict:
attr = conx.m_attr_dict[atype]
duration = time() - attr.m_createtime
self.send_conx_downstream(cid, atype, conx.m_cell0.m_id,
conx.m_cell1.m_id, attr.m_value, 0.0,duration)
# TODO - FIXME - this is never called; do we need it at all?
def nix_conxs(self, cid):
"""Sends OSC messages to announce the removal of a connection.
/conductor/conxbreak [cid,uid0,uid1]
"""
if cid in self.m_field.m_conx_dict:
conx = self.m_field.m_conx_dict[cid]
for atype,attr in conx.m_attr_dict.iteritems():
duration = time() - attr.m_createtime
self.send_conx_downstream(cid, atype, conx.m_cell0.m_id,
conx.m_cell1.m_id, conx.m_value,0.0, duration)
self.m_field.m_osc.send_downstream("/conductor/conxbreak",
[cid, conx.m_cell0.m_id, conx.m_cell1.m_id])
class StretchIO(object):
def __init__(self, send, listen=("0.0.0.0", 12340)):
self.server = OSCServer(listen)
self.server.timeout = 0.0
self.server.timed_out = False
def timeout(self):
self.timed_out = True
self.server.handle_timeout = types.MethodType(timeout, self.server)
self.client = OSCClient()
self.client.connect(send)
self.__fader_state = [8, 8, 8, 8]
self.__fader_cb = None
self.__toggle_cb = None
for i in range(1, 5):
self.led(i, 0.)
self.toggle(i, 0.)
self.fader(i, self.__fader_state[i - 1])
self.server.addMsgHandler('/1/toggle' + str(i), self.osc_handler)
self.server.addMsgHandler('/1/fader' + str(i), self.osc_handler)
def step(self):
self.server.timed_out = False
while not self.server.timed_out:
self.server.handle_request()
def send(self, m):
try:
self.client.send(m)
except OSCClientError:
sys.stdout.write('Send Fail: {0} \r'.format(m))
sys.stdout.flush()
def close(self):
self.server.close()
def set_toggle_handler(self, cb):
""" Register the function to be called when we press the toggle.
<cb> should be a functio with the signature
cb(button_number, button_state)
"""
self.__toggle_cb = cb
def set_fader_handler(self, cb):
self.__fader_cb = cb
def osc_handler(self, path, tags, args, source):
paths = path.split('/')
# paths looks like this for 'auto' touchOSC elements ['', '1', 'toggle1']
if len(paths) < 3:
return
match = re.match('([a-zA-Z]+)(\d+)', paths[2])
if not match:
print 'osc path match failed'
return
if len(args) < 1:
print 'handler has no arguments'
return
parts = match.groups()
name = parts[0]
num = int(parts[1])
state = args[0]
if name == 'fader':
self.__fader_state[num - 1] = state
if name == 'toggle' and self.__toggle_cb is not None:
self.__toggle_cb(num, state)
elif name == 'fader' and self.__fader_cb is not None:
self.__fader_cb(num, state)
def led(self, led_num, value):
m = OSCMessage('/1/led{0:d}'.format(led_num))
m.append(value)
if value > 1.0: value = 1.0
if value < 0.0: value = 0.0
self.send(m)
def toggle(self, toggle_num, value):
m = OSCMessage('/1/toggle{0:d}'.format(toggle_num))
m.append(1 if value else 0)
self.send(m)
def fader(self, fader_num, value):
m = OSCMessage('/1/fader{0:d}'.format(fader_num))
m.append(float(value))
self.send(m)
def fader_state(self, i):
"""
<i> is the index from zero (unlike the setters, that index from 1)
"""
return self.__fader_state[i]
class OSCHandler(object):
"""Set up OSC server and other handlers."""
def __init__(self, osc_server, osc_clients, field=None):
self.m_field = field
self.m_run = True
try:
(name, host, port) = osc_server[0]
except:
print "System:Unable to create OSC handler with server=", osc_server
sys.exit(1)
self.m_oscserver = OSCServer((host, port))
print "System:init server: %s:%s" % (host, port)
self.m_oscserver.timeout = OSCTIMEOUT
self.m_oscserver.print_tracebacks = True
self.m_osc_clients = {}
for i in range(len(osc_clients)):
(name, host, port) = osc_clients[i]
for j in range(i):
(oldname, oldhost, oldport) = osc_clients[j]
if host == oldhost and port == oldport:
self.m_osc_clients[name] = self.m_osc_clients[oldname]
print "System:init %s:same as %s" % (name, oldname)
break
if not name in self.m_osc_clients:
try:
self.m_osc_clients[name] = OSCClient()
except:
print "System:Unable to create OSC handler with client=", (
name, host, port)
self.m_osc_clients[name].connect((host, port))
print "System:init %s: %s:%s" % (name, host, port)
self.send_to(name, OSCPATH['ping'], [0])
self.m_xmin = 0
self.m_ymin = 0
self.m_xmax = 0
self.m_ymax = 0
"""
self.eventfunc = update({
# common
'ping': self.event_ping,
'ack': self.event_ack,
})
"""
self.eventfunc.update({
# common
'ping': self.event_ping,
'ack': self.event_ack,
# from tracker
'track_start': self.event_tracking_start,
'track_stop': self.event_tracking_stop,
'track_entry': self.event_tracking_entry,
'track_exit': self.event_tracking_exit,
'track_frame': self.event_tracking_frame,
'track_minx': self.event_tracking_set,
'track_miny': self.event_tracking_set,
'track_maxx': self.event_tracking_set,
'track_maxy': self.event_tracking_set,
'track_npeople': self.event_tracking_set,
'track_groupdist': self.event_tracking_set,
'track_ungroupdist': self.event_tracking_set,
'track_fps': self.event_tracking_set,
'track_update': self.event_tracking_update,
'track_leg': self.event_tracking_leg,
'track_body': self.event_tracking_body,
'track_group': self.event_tracking_group,
'track_geo': self.event_tracking_geo,
})
# add a method to an instance of the class
self.m_oscserver.handle_timeout = types.MethodType(
handle_timeout, self.m_oscserver)
# How to make this match partial paths?
# Esp /ui/cond/type/param match /ui/cond/
for i in self.eventfunc:
self.m_oscserver.addMsgHandler(OSCPATH[i], self.eventfunc[i])
# We are enumerating paths
# Esp /ui/cond/type/param match /ui/cond/
try:
for path in self.eventfunc_enum:
self.m_oscserver.addMsgHandler(path, self.eventfunc_enum[path])
except NameError:
pass
# this registers a 'default' handler (for unmatched messages),
# an /'error' handler, an '/info' handler.
# And, if the client supports it, a '/subscribe' &
# '/unsubscribe' handler
self.m_oscserver.addDefaultHandlers()
self.m_oscserver.addMsgHandler("default", self.default_handler)
# TODO: Handle errors from OSCServer
#self.m_oscserver.addErrorHandlers()
#self.m_oscserver.addMsgHandler("error", self.default_handler)
self.honey_im_home()
def each_frame(self):
# clear timed_out flag
self.m_oscserver.timed_out = False
# handle all pending requests then return
while not self.m_oscserver.timed_out:
self.m_oscserver.handle_request()
def user_callback(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
user = ''.join(path.split("/"))
# tags will contain 'fff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
if dbug.LEV & dbug.MSGS:
print("Now do something with", user, args[2], args[0], 1 - args[1])
def quit_callback(self, path, tags, args, source):
# don't do this at home (or it'll quit blender)
self.m_run = False
#
# General OUTGOING
#
def send_to(self, clientkey, path, args):
"""Send OSC Message to one client."""
try:
self.m_osc_clients[clientkey].send(OSCMessage(path, args))
if (dbug.LEV & dbug.MSGS) and args:
print "OSC:Send to %s: %s %s" % (clientkey, path, args)
except:
if dbug.LEV & dbug.MSGS:
print "OSC:Send:Unable to reach host", clientkey
return False
return True
def send_laser(self, path, args):
"""Send OSC Message to one client."""
self.send_to('laser', path, args)
self.send_to('recorder', path, args)
def send_downstream(self, path, args):
"""Send OSC Message to one client."""
self.send_to('visual', path, args)
self.send_to('sound', path, args)
self.send_to('recorder', path, args)
self.send_to('laser', path, args)
def send_to_all_clients(self, path, args):
"""Broadcast to all the clients."""
for clientkey, client in self.m_osc_clients.iteritems():
self.send_to(clientkey, path, args)
def honey_im_home(self):
"""Broadcast a hello message to the network."""
pass
#
# General INCOMING
#
def default_handler(self, path, tags, args, source):
if dbug.LEV & dbug.MORE:
print "OSC:default_handler:No handler registered for ", path
return None
def event_ping(self, path, tags, args, source):
if len(args) < 1:
# Possibly ping from touchosc which doesn't include code
return
ping_code = args[0]
source_ip = source[0]
if dbug.LEV & dbug.MSGS:
print "OSC:ping from %s:code:%s" % (source_ip, ping_code)
for clientkey, client in self.m_osc_clients.iteritems():
target_ip = client.address()[0]
if target_ip == source_ip:
try:
self.sendto(clientkey, OSCPATH('ack'), ping_code)
except:
if dbug.LEV & dbug.MSGS:
print "OSC:event_ping:unable to ack to", clientkey
def event_ack(self, path, tags, args, source):
if dbug.LEV & dbug.MSGS: print "OSC:event_ack:code", args[0]
return None
#
# Tracking INCOMING
#
def event_tracking_start(self, path, tags, args, source):
"""Tracking system is starting.
Sent before first /pf/update message for that target
args:
no args
"""
#frame = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_start"
def event_tracking_set(self, path, tags, args, source):
"""Tracking subsystem is setting params.
Send value of various parameters.
args:
minx, miny, maxx, maxy - bounds of PF in units
npeople - number of people currently present
"""
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_set:", path, args, source
if path == OSCPATH['track_minx']:
self.m_xmin = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmin_field=(self.m_xmin,
self.m_field.m_ymin_field))
elif path == OSCPATH['track_miny']:
self.m_ymin = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmin_field=(self.m_field.m_xmin_field,
self.m_ymin))
elif path == OSCPATH['track_maxx']:
self.m_xmax = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmax_field=(self.m_xmax,
self.m_field.m_ymax_field))
elif path == OSCPATH['track_maxy']:
self.m_ymax = args[0]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_set:set_scaling(",\
(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
# we might not have everything yet, but we udate with what we have
self.m_field.set_scaling(pmax_field=(self.m_field.m_xmax_field,
self.m_ymax))
elif path == OSCPATH['track_npeople']:
self.m_field.check_people_count(args[0])
return
elif path == OSCPATH['track_groupdist']:
self.m_field.update(groupdist=args[0])
return
elif path == OSCPATH['track_ungroupdist']:
self.m_field.update(ungroupdist=args[0])
return
elif path == OSCPATH['track_fps']:
self.m_field.update(oscfps=args[0])
return
#if self.m_xmin and self.m_ymin and self.m_xmax and self.m_ymax:
#print "set_scaling(",(self.m_xmin,self.m_ymin),",",(self.m_xmax,self.m_ymax),")"
#self.m_field.set_scaling((self.m_xmin,self.m_ymin),(self.m_xmax,self.m_ymax))
#self.m_field.updateScreen()
def event_tracking_entry(self, path, tags, args, source):
"""Event when person enters field.
Sent before first /pf/update message for that target
args:
frame - frame number
t - time of frame (elapsed time in seconds since
beginning of run)
target - UID of target
channel - channel number assigned
"""
#print "OSC:event_track_entry:",path,args,source
#print "args:",args,args[0],args[1],args[2]
frame = args[0]
time = args[1]
id = args[2]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_entry:cell:", id
self.m_field.create_cell(id)
def event_tracking_exit(self, path, tags, args, source):
"""Event when person exits field.
args:
frame - frame number
t - time of frame (elapsed time in seconds since beginning of run)
target - UID of target
"""
#print "OSC:event_track_exit:",path,args,source
frame = args[0]
time = args[1]
id = args[2]
if dbug.LEV & dbug.MSGS: print "OSC:event_track_exit:cell:", id
#print "BEFORE: cells:",self.m_field.m_cell_dict
#print "BEFORE: conx:",self.m_field.m_conx_dict
self.m_field.del_cell(id)
#print "AFTER: cells:",self.m_field.m_cell_dict
#print "AFTER: conx:",self.m_field.m_conx_dict
def event_tracking_body(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
frame - frame number
target - UID of target
x,y - position of person within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of person in m/s, heading in degrees
espd, eheading - SEM of spd, heading
facing - direction person is facing in degees
efacing - SEM of facing direction
diam - estimated mean diameter of legs
sigmadiam - estimated sigma (sqrt(variance)) of diameter
sep - estimated mean separation of legs
sigmasep - estimated sigma (sqrt(variance)) of sep
leftness - measure of how likely leg 0 is the left leg
visibility - number of frames since a fix was found for either leg
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
id = args[1]
x = args[2] # comes in meters
y = args[3]
ex = args[4]
ey = args[5]
spd = args[6]
heading = args[7]
espd = args[8]
eheading = args[9]
facing = args[10]
efacing = args[11]
diam = args[12]
sigmadiam = args[13]
sep = args[14]
sigmasep = args[15]
leftness = args[16]
vis = args[17]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_body:no uid", id, "in registered cell list"
if frame % REPORT_FREQ['debug'] == 0:
if dbug.LEV & dbug.MSGS:
print " OSC:event_track_body:id:",id,"pos:", (x, y), "data:", \
ex, ey, spd, espd, facing, efacing, diam, sigmadiam, \
sep, sigmasep, leftness, vis
self.m_field.update_body(id, x, y, ex, ey, spd, espd, facing, efacing,
diam, sigmadiam, sep, sigmasep, leftness, vis)
def event_tracking_leg(self, path, tags, args, source):
"""Information about individual leg movement within field.
Update position of leg.
args:
frame - frame number
id - UID of target
leg - leg number (0..nlegs-1)
nlegs - number of legs target is modeled with
x,y - position within field in m
ex,ey - standard error of measurement (SEM) of position, in meters
spd, heading - estimate of speed of leg in m/s, heading in degrees
espd, eheading - SEM of spd, heading
visibility - number of frames since a positive fix
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
id = args[1]
leg = args[2]
nlegs = args[3]
x = args[4] # comes in meters
y = args[5]
ex = args[6]
ey = args[7]
spd = args[8]
heading = args[9]
espd = args[10]
eheading = args[11]
vis = args[12]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_leg:no uid", id, "in registered cell list"
if frame % REPORT_FREQ['debug'] == 0:
if dbug.LEV & dbug.MSGS:
print " OSC:event_track_leg:id:", id, "leg:", leg, "pos:", (x,y), \
"data:", ex, ey, spd, espd, heading, eheading, vis
self.m_field.update_leg(id, leg, nlegs, x, y, ex, ey, spd, espd,
heading, eheading, vis)
def event_tracking_update(self, path, tags, args, source):
"""Information about people's movement within field.
Update position of target.
args:
/pf/update frame t target x y vx vy major minor groupid groupsize channel
frame - frame number
t - time of frame (elapsed time in seconds)
target - UID of target, always increments
x,y - position within field in meters
vx,vy - estimate of velocity in m/s
major,minor - major/minor axis size in m
groupid - id number of group (0 if not in any group)
groupsize - number of people in group (including this person)
channel - channel number assigned
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
time = args[1]
id = args[2]
if id not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_update:no uid", id, "in registered cell list"
x = args[3] # comes in meters
y = args[4]
vx = args[5]
vy = args[6]
major = args[7]
minor = args[8]
gid = args[9]
gsize = args[10]
channel = args[11]
#print "OSC:event_track_update:",path,args,source
if frame % REPORT_FREQ['debug'] == 0:
#print "OSC:event_track_update:",path,args,source
if dbug.LEV & dbug.MSGS:
print " OSC:event_track_update:id:",id,"pos:", (x, y), "data:", \
vx, vy, major, minor, gid, gsize
self.m_field.update_cell(id,
x,
y,
vx,
vy,
major,
minor,
gid,
gsize,
frame=frame)
def event_tracking_group(self, path, tags, args, source):
"""Information about people's movement within field.
Update info about group
/pf/group frame gid gsize duration centroidX centroidY diameter
args:
frame - frame number
gid - group ID
gsize - number of people in group
duration - time since first formed in seconds
centroidX, centroidY - location of centroid of group
diameter - current diameter (mean distance from centroid)
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
gid = args[1]
gsize = args[2] # comes in meters
duration = args[3]
x = args[4]
y = args[5]
diam = args[6]
if gid not in self.m_field.m_group_dict:
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_group:no gid", gid, "in group list"
if frame % REPORT_FREQ['debug'] == 0:
if dbug.LEV & dbug.MSGS:
print " OSC:event_track_group:gid:",gid, "pos:", (x, y), "data:", \
gsize, duration, diam
self.m_field.update_group(gid, gsize, duration, x, y, diam)
def event_tracking_geo(self, path, tags, args, source):
"""Information about people's movement within field.
Update info about group
/pf/geo frame target fromcenter fromothers fromexit
args:
frame - frame number
uid - UID of target
fromcenter -target's distance from geographic center of everyone
fromnearest - target's distance from the nearest other person (-1 if nobody else)
fromexit - This person's distance from nearest exit from tracked area
"""
for index, item in enumerate(args):
if item == 'nan':
args[index] = None
frame = args[0]
uid = args[1]
fromcenter = args[2] # comes in meters
fromnearest = args[3]
fromexit = args[4]
if uid not in self.m_field.m_cell_dict:
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_geo:no uid", uid, "in registered cell list"
if frame % REPORT_FREQ['debug'] == 0:
if dbug.LEV & dbug.MSGS:
print " OSC:event_track_geo:uid:",uid, "data:", \
fromcenter, fromnearest, fromexit
self.m_field.update_geo(uid, fromcenter, fromnearest, fromexit)
def event_tracking_frame(self, path, tags, args, source):
"""New frame event.
args:
frame - frame number
"""
#print "OSC:event_track_frame:",path,args,source
frame = args[0]
self.m_field.update(frame=frame)
if frame % REPORT_FREQ['debug'] == 0:
#print "OSC:event_track_update:",frame
if dbug.LEV & dbug.MSGS: print " OSC:event_track_frame::", frame
return None
def event_tracking_stop(self, path, tags, args, source):
"""Tracking has stopped."""
if dbug.LEV & dbug.MSGS:
print "OSC:event_track_stop:", path, args, source
return None
print "Hold it there motor man!"
ser.write('0')
def motor_callback(path, tags, args, source):
state = args[0]
print state
if path == "/lmcp/motor":
if state == '1':
motorGo(1)
elif state == '2':
motorGo(2)
else:
motorStop()
def handle_error(self, request, client_address):
pass
server.addMsgHandler("/lmcp/motor", motor_callback)
server.handle_error = types.MethodType(handle_error, server)
server.timed_out = False
while not server.timed_out:
server.handle_request()
server.close()
class OscReader:
def __init__(self, host="127.0.0.1", port=8080, manager=None, threaded=False, autoStart=True):
# params
self.manager = manager
self.host = host
self.port = port
self.threaded = threaded
# attrs
self._kill = False
self.oscServer = None
self.thread = None
if autoStart:
self.start()
def setup(self):
if self.oscServer != None:
self.destroy()
ColorTerminal().output("Starting OSC server with host {0} and port {1}".format(self.host, self.port))
self.oscServer = OSCServer((self.host, self.port))
self.oscServer.handle_timeout = self.handleTimeout
self.oscServer.addMsgHandler('/marker', self.oscMarkerHandler)
self.oscServer.addMsgHandler('/rigidbody', self.oscRigidBodyHandler)
ColorTerminal().success("Server running")
def destroy(self):
if self.oscServer == None:
return
self.oscServer.close()
self.oscServer = None
def update(self):
if self.oscServer == None:
return
# we'll enforce a limit to the number of osc requests
# we'll handle in a single iteration, otherwise we might
# get stuck in processing an endless stream of data
limit = 10
count = 0
# clear timed_out flag
self.oscServer.timed_out = False
# handle all pending requests then return
while not self.oscServer.timed_out and count < limit:
self.oscServer.handle_request()
count += 1
def oscMarkerHandler(self, addr, tags, data, client_address):
if self.manager:
self.manager.processMarkersData([data[0]])
def oscRigidBodyHandler(self, addr, tags, data, client_address):
# readers can interface with the mocap data manager directly (most efficient)
if self.manager:
self.manager.processRigidBodyJson(data[0])
def handleTimeout(self):
if self.oscServer != None:
self.oscServer.timed_out = True
def start(self):
if not self.threaded:
self.setup()
return
if self.thread and self.thread.isAlive():
ColorTerminal().warn("OscReader - Can't start while a thread is already running")
return
self._kill = False
# threaded loop method will call setup
self.thread = threading.Thread(target=self.threaded_loop)
self.thread.start()
def stop(self):
if self.threaded:
# threaded loop method will call destroy
self._kill = True
else:
self.destroy()
def threaded_loop(self):
self.setup()
while not self._kill:
self.update()
self.destroy()
class MuseIO():
def __init__(self, port=5001, signal=None, viewer=None):
self.signal = signal
self.viewer = viewer
self.game = None
self.port = port
self.udp_ip = '127.0.0.1'
self.server = OSCServer((self.udp_ip, self.port))
self.server.timeout = 0
# funny python's way to add a method to an instance of a class
self.server.handle_timeout = types.MethodType(handle_timeout, self.server)
# add message handlers
if 'eeg' in self.signal:
self.server.addMsgHandler('/muse/eeg', self.callback_eeg_raw)
if 'concentration' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/concentration', self.callback_concentration)
if 'mellow' in self.signal:
self.server.addMsgHandler('/muse/elements/experimental/mellow', self.callback_mellow)
self.server.addMsgHandler("default", self.default_handler)
def default_handler(self, addr, tags, stuff, source):
# nothing to do here. This function is called for all messages that are not supported by the application.
print "SERVER: No handler registered for ", addr
return None
def callback_eeg_raw(self, path, tags, args, source):
# which user will be determined by path:
# we just throw away all slashes and join together what's left
# tags will contain 'ffff'
# args is a OSCMessage with data
# source is where the message came from (in case you need to reply)
self.signal['eeg'].add_time()
self.signal['eeg'].add_l_ear(args[0])
self.signal['eeg'].add_l_forehead(args[1])
self.signal['eeg'].add_r_forehead(args[2])
self.signal['eeg'].add_r_ear(args[3])
if 'eeg' in self.viewer:
self.viewer['eeg'].refresh()
#print args[0], args[1], args[2], args[3]
def callback_concentration(self, path, tags, args, source):
if 'concentration' in self.signal:
self.signal['concentration'].add_time()
self.signal['concentration'].add_concentration(args[0])
self.viewer['concentration-mellow'].refresh()
#self.game.change_velocity(self.signal['concentration'].concentration)
def callback_mellow(self, path, tags, args, source):
if 'mellow' in self.signal:
self.signal['mellow'].add_time()
self.signal['mellow'].add_mellow(args[0])
self.viewer['concentration-mellow'].refresh()
def handle_request(self):
# clear timed_out flag
self.server.timed_out = False
# handle all pending requests then return
while not self.server.timed_out:
self.server.handle_request()
def start(self, freq=220):
update_timing = 1.0/float(freq)
while True:
sleep(update_timing)
self.handle_request()
class OptiTrackReceiver(avg.Publisher):
OSC_optitrack_MessageID = avg.Publisher.genMessageID()
OSC_optitrack_KillMessageID = avg.Publisher.genMessageID()
def __init__(self, ip="", port="5103"):
avg.Publisher.__init__(self)
try:
rigidbody_format = config.optitrack_osc_format
self.__index_id = rigidbody_format.index("id")
self.__index_x = rigidbody_format.index("x")
self.__index_y = rigidbody_format.index("y")
self.__index_z = rigidbody_format.index("z")
self.__index_roll = rigidbody_format.index("roll")
self.__index_pitch = rigidbody_format.index("pitch")
self.__index_yaw = rigidbody_format.index("yaw")
self.__index_name = rigidbody_format.index("name")
self.__index_quat_1 = rigidbody_format.index("quat_1")
self.__index_quat_2 = rigidbody_format.index("quat_2")
self.__index_quat_3 = rigidbody_format.index("quat_3")
self.__index_quat_4 = rigidbody_format.index("quat_4")
self.__osc_format_length = len(rigidbody_format)
self.__server = OSCServer((ip, int(port)))
# TODO check the ThreadingOSCServer class as possible alternative
print "Optitrack:", self.__server
self.__server.handle_timeout = types.MethodType(
self.__handle_timeout, self.__server
)
self.__server.timeout = 0
self.__server.addMsgHandler(
"/tracking/optitrack/rigidbodies", self.__on_osc_rigidbody_message_received
)
self.__server.addMsgHandler(
"/kill", self.__on_osc_kill_message_received
)
self.publish(self.OSC_optitrack_MessageID)
self.publish(self.OSC_optitrack_KillMessageID)
except OSCError:
print "############################################"
print "####### could not open OSCServer ###########"
print "############################################"
return
def __handle_timeout(self, status):
"""Handle server timeouts."""
self.__server.timed_out = True
def onFrame(self):
"""Stay active."""
self.__server.timed_out = False
# handle all pending requests than return
while not self.__server.timed_out:
self.__server.handle_request()
def run(self):
"""Start running the server."""
while True:
self.__server.handle_request()
self.__server.close()
def __on_osc_rigidbody_message_received(self, addr, tags, data, client_address):
"""b
Receives an OSC message, transforms the data and
notifies subscribers by sending a message (type: list) containing skeleton_id and
skeleton_joint (type: SkeletonJoint)
Args:
addr: the address (str e.g. /tracking/optitrack/rigidbodies)
tags: tags (str with i for int32 and f for float, e.g. iiiifff)
data: tracking data, containing
id (0), position in space (1-3), and orientation in space (4-6)
client_address: client address as (ip, port) tuple
"""
# check if length could actually be a rigid body message
if len(data) < self.__osc_format_length:
return
data[self.__index_x] = data[self.__index_x] * 100
data[self.__index_y] = config.display_height_cm - data[self.__index_y] * 100
data[self.__index_z] = data[self.__index_z] * 100
# create RigidBody tuple
rb = RigidBody(
id=data[self.__index_id],
name=data[self.__index_name],
position=Point3D(data[self.__index_x], data[self.__index_y], data[self.__index_z]),
orientation=(data[self.__index_roll], data[self.__index_pitch], data[self.__index_yaw]),
orientation_quat=(data[self.__index_quat_1], data[self.__index_quat_2], data[self.__index_quat_3], data[self.__index_quat_4]),
markers=None,
mrk_ids=None,
mrk_sizes=None,
mrk_mean_error=None
)
# send new rigidbody to subscriber
self.notifySubscribers(self.OSC_optitrack_MessageID, [rb])
def __on_osc_kill_message_received(self, addr, tags, data, client_address):
"""
receives the kill event from oscserver and
reacts ??
"""
self.notifySubscribers(self.OSC_optitrack_KillMessageID, data)