def piCameraSendFrameHelper(stream, frame):
''' do the actual frame processing '''
global piCameraLastFrameIndex
try:
# record index of new frame
piCameraLastFrameIndex = frame.index
# get the frame data and display it
stream.seek(frame.position)
image = stream.read(frame.frame_size)
timestamp = time.time()
message = rdf.newPublishMessage('picam', outTopic, vdefs.DATATYPE,
timestamp)
message[vdefs.WIDTH] = cameraWidth
message[vdefs.HEIGHT] = cameraHeight
message[vdefs.RATE] = cameraRate
message[vdefs.FORMAT] = 'mjpeg'
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort, json.dumps(message),
image, timestamp)
except:
print("Send frame error ", sys.exc_info()[0], sys.exc_info()[1])
def callback(samples, frame_count, time_info, status):
timestamp = time.time()
message = rdf.newPublishMessage('audio', audioTopic, adefs.DATATYPE,
timestamp)
message[adefs.CHANNELS] = audioChannels
message[adefs.RATE] = audioRate
message[adefs.SAMPTYPE] = 'int16'
message[adefs.FORMAT] = 'pcm'
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort, json.dumps(message),
samples, timestamp)
return (None, pyaudio.paContinue)
def readSensors():
global lastSensorReadTime
if ((time.time() - lastSensorReadTime) < sampleInterval):
return
# call background loops
if accel.sensorValid:
accel.background()
if light.sensorValid:
light.background()
if temperature.sensorValid:
temperature.background()
if pressure.sensorValid:
pressure.background()
if humidity.sensorValid:
humidity.background()
# time send send the sensor readings
lastSensorReadTime = time.time()
message = rdf.newPublishMessage('sensors', outTopic, sdefs.DATATYPE,
lastSensorReadTime)
if accel.dataValid:
accelData = accel.readAccel()
message[sdefs.ACCEL_DATA] = accelData
if light.dataValid:
lightData = light.readLight()
message[sdefs.LIGHT_DATA] = lightData
if temperature.dataValid:
temperatureData = temperature.readTemperature()
message[sdefs.TEMPERATURE_DATA] = temperatureData
if pressure.dataValid:
pressureData = pressure.readPressure()
message[sdefs.PRESSURE_DATA] = pressureData
if humidity.dataValid:
humidityData = humidity.readHumidity()
message[sdefs.HUMIDITY_DATA] = humidityData
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort, json.dumps(message), '',
lastSensorReadTime)
ttyInPort = ManifoldPython.addMulticastSource(ttyInTopic)
if (ttyInPort == -1):
print("Failed to activate multicast source endpoint")
ManifoldPython.stop()
sys.exit()
serialPort = serial.Serial(ttyPort, ttyRate, timeout=0)
try:
while True:
processReceivedText()
readBytes = serialPort.read(256)
if len(readBytes) > 0:
timestamp = time.time()
inMessage = rdf.newPublishMessage('tty', ttyInTopic, 'tty',
timestamp)
if ManifoldPython.isServiceActive(
ttyInPort) and ManifoldPython.isClearToSend(ttyInPort):
ManifoldPython.sendMulticastData(ttyInPort,
json.dumps(inMessage),
readBytes, timestamp)
time.sleep(0.001)
except:
print("Main loop error", sys.exc_info()[0], sys.exc_info()[1])
# Exiting so clean everything up.
ManifoldPython.removeService(ttyInPort)
ManifoldPython.removeService(ttyOutPort)
while (True):
try:
# give other things a chance
time.sleep(0.02)
# get a frame from the camera
ret, frame, jpeg, width, height, rate = ManifoldPython.vidCapGetFrame(
cameraIndex)
if (ret):
# and display it
if (jpeg):
ManifoldPython.displayJpegImage(frame, "")
else:
ManifoldPython.displayImage(frame, width, height, "")
timestamp = time.time()
message = rdf.newPublishMessage('uvccam', outTopic, vdefs.DATATYPE,
timestamp)
message[vdefs.WIDTH] = width
message[vdefs.HEIGHT] = height
message[vdefs.RATE] = rate
if jpeg:
message[vdefs.FORMAT] = 'mjpeg'
else:
message[vdefs.FORMAT] = 'raw'
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort,
json.dumps(message), frame,
timestamp)
except:
print("Main loop error ", sys.exc_info()[0], sys.exc_info()[1])
ManifoldPython.startConsoleInput()
print("Type characters to send:")
try:
while True:
time.sleep(0.001)
processReceivedText()
c = ManifoldPython.getConsoleInput()
if c is None:
continue
timestamp = time.time()
inMessage = rdf.newPublishMessage('ttytest', ttyOutTopic,
'ttydatatype', timestamp)
if ManifoldPython.isServiceActive(ttyOutPort):
ManifoldPython.sendE2EData(ttyOutPort, json.dumps(inMessage),
str(chr(c)), timestamp)
except:
print("Main loop error", sys.exc_info()[0], sys.exc_info()[1])
# Exiting so clean everything up.
ManifoldPython.removeService(ttyInPort)
ManifoldPython.removeService(ttyOutPort)
ManifoldPython.stop()
print("Exiting")
clientPort = ManifoldPython.addE2EClient(textTopic)
if (clientPort == -1):
print("Failed to activate E2E client endpoint")
ManifoldPython.stop()
sys.exit()
# Activate the sink endpoint
sinkPort = ManifoldPython.addMulticastSink(completionTopic)
if (sinkPort == -1):
print("Failed to activate multicast sink endpoint")
ManifoldPython.stop()
sys.exit()
lastSendTime = time.time()
textMessage = rdf.newPublishMessage('tts', textTopic, ttsdefs.DATATYPE, time.time())
textMessage[ttsdefs.TEXT] = testText
try:
while(True):
# main loop
processCompletion()
if gotCompletion:
try:
jsonObj = json.loads(completionToProcess)
finished = jsonObj[ttscompletedefs.COMPLETE]
print('Completion status: ' + str(finished))
if finished:
waitForComplete = False
imu.setCompassEnable(True)
if (not pressure.pressureInit()):
print("Pressure sensor Init Failed")
else:
print("Pressure sensor Init Succeeded")
if (not humidity.humidityInit()):
print("Humidity sensor Init Failed")
else:
print("Humidity sensor Init Succeeded")
poll_interval = imu.IMUGetPollInterval()
print("Recommended Poll Interval: %dmS\n" % poll_interval)
while True:
time.sleep(poll_interval*1.0/1000.0)
if imu.IMURead():
timestamp = time.time()
message = rdf.newPublishMessage('imu', outTopic, idefs.DATATYPE, timestamp)
data = imu.getIMUData()
(data["pressureValid"], data["pressure"], data["pressureTemperatureValid"], data["pressureTemperature"]) = pressure.pressureRead()
(data["humidityValid"], data["humidity"], data["humidityTemperatureValid"], data["humidityTemperature"]) = humidity.humidityRead()
message[idefs.DATA] = data
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(message), '', timestamp)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()