def _video_display_thread():
'''
Thread
'''
while running:
try:
if enable_video:
kill_video()
if save_to_disk:
f = get_file("video.mp4")
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "tcpserversrc", "host=0.0.0.0",
"port=" + video_port, "!", "tee", "name=t", "!",
"h264parse", "!", "omxh264dec", "!", "autovideosink",
"text-overlay=false", "sync=false", "t.", "!", "queue",
"!", "video/x-h264,width=" + width + ",height=" +
height + ",framerate=" + fps +
"/1,profile=constrained-baseline", "!", "h264parse",
"disable-passthrough=true", "!", "queue", "!",
"mp4mux", "!", "filesink", "location=" + f
])
else:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "tcpserversrc", "host=0.0.0.0",
"port=" + video_port, "!", "h264parse", "!",
"omxh264dec", "!", "autovideosink",
"text-overlay=false", "sync=false"
])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def _audio_speaker_thread():
'''
Thread
'''
while running:
try:
if enable_audio:
if save_to_disk:
f = get_file("audio.wav")
steelsquid_utils.execute_system_command_blind([
"nice", "-n", "8", "gst-launch-1.0", "-e", "udpsrc",
"port=" + audio_port, "caps=application/x-rtp", "!",
"rtpjitterbuffer", "!", "rtppcmudepay", "!",
"mulawdec", "!", "tee", "name=myt", "!", "queue", "!",
"alsasink", "sync=false", "myt.", "!", "queue", "!",
"audiorate", "!", "audioconvert", "!", "audioresample",
"!", "wavenc", "!", "filesink", "location=" + f
])
time.sleep(1)
else:
kill_audio()
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "udpsrc", "port=" + audio_port,
"caps=application/x-rtp", "!", "rtpjitterbuffer", "!",
"rtppcmudepay", "!", "mulawdec", "!", "alsasink",
"sync=false"
])
#steelsquid_utils.execute_system_command_blind(["gst-launch-1.0", "-e", "udpsrc", "port="+audio_port, "!", "vorbisdec", "!", "audioconvert", "!", "alsasink", "sync=false"])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def shutdown():
'''
Shutdown and power off the PIIO board
'''
steelsquid_pi.po16_gpio_set(1, True)
steelsquid_utils.execute_system_command_blind(['shutdown', '-h', 'now'],
wait_for_finish=False)
def kill_video():
'''
Kill gstreamer video
'''
if is_camera_mic:
steelsquid_utils.execute_system_command_blind(
["pkill", "-f", "gst-launch-1.0 -e v4l2src"])
elif save_to_disk:
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e tcpserversrc host=0.0.0.0 port=" + video_port
])
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e udpsrc port=" + video_port
])
else:
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e tcpserversrc host=0.0.0.0 port=" + video_port
])
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e udpsrc port=" + video_port
])
interrupt.set()
def _audio_mic_thread():
'''
Thread
'''
while running:
try:
if enable_audio:
kill_audio()
if low_bandwidth_mode:
interrupt.wait(1)
interrupt.clear()
else:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "alsasrc", "latency-time=1",
"device=sysdefault:CARD=1", "!", "audioconvert", "!",
"audio/x-raw,channels=1,depth=16,width=16,rate=22000",
"!", "rtpL16pay", "!", "udpsink", "host=" + audio_ip,
"port=" + audio_port
])
#steelsquid_utils.execute_system_command_blind(["gst-launch-1.0", "-e", "alsasrc", "latency-time=1", "device=sysdefault:CARD=1", "!", "mulawenc", "!", "rtppcmupay", "!", "udpsink", "host="+audio_ip, "port="+audio_port])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def kill_hud():
'''
Kill gstreamer hud
'''
if not is_camera_mic:
steelsquid_utils.execute_system_command_blind(
["pkill", "-SIGINT", "-f", "gst-launch-1.0 -e ximagesrc"])
interrupt.set()
def _play(sound, times, sleep1):
#sleep = False
#if LOOP.last_speek == None:
# sleep = True
#LOOP.last_speek = time.time()
#IO.UNITS.speeker(True)
#if sleep:
# time.sleep(5)
time.sleep(sleep1)
for i in range(times):
steelsquid_utils.execute_system_command_blind(["aplay", sound])
def _play(sound, times, sleep1):
#sleep = False
#if LOOP.last_speek == None:
# sleep = True
#LOOP.last_speek = time.time()
#IO.UNITS.speeker(True)
#if sleep:
# time.sleep(5)
time.sleep(sleep1)
for i in range(times):
steelsquid_utils.execute_system_command_blind(["aplay", sound])
def enable(argument=None):
'''
When this module is enabled what needs to be done (execute: steelsquid module XXX on)
Maybe you need create some files or enable other stuff.
argument: Send data to the enable or disable method in the module
Usually a string to tell the start/stop something
(execute: steelsquid module XXX on theArgument)
'''
# Clear any saved settings for this module
steelsquid_kiss_global.clear_modules_settings("kiss_irrbloss")
# Change hostname
steelsquid_utils.set_hostname("irrbloss")
# Enable transeiver as client
steelsquid_kiss_global.radio_hmtrlrs(True)
# Enable TCP-radio as client
steelsquid_kiss_global.radio_hmtrlrs(True)
# Enable tcp radio as client and then listen for command from the host
steelsquid_kiss_global.radio_tcp(False, steelsquid_utils.network_ip_wan())
# Change GPIO for transceiver
steelsquid_utils.set_parameter("hmtrlrs_config_gpio", str(STATIC.gpio_hmtrlrs_config))
steelsquid_utils.set_parameter("hmtrlrs_reset_gpio", str(STATIC.gpio_hmtrlrs_reset))
# Enable camera
steelsquid_utils.execute_system_command_blind(["steelsquid", "camera-on"], wait_for_finish=True)
# Max volume
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"], wait_for_finish=True)
def enable(argument=None):
'''
When this module is enabled what needs to be done (execute: steelsquid module XXX on)
Maybe you need create some files or enable other stuff.
argument: Send data to the enable or disable method in the module
Usually a string to tell the start/stop something
(execute: steelsquid module XXX on theArgument)
'''
# Clear any saved settings for this module
steelsquid_kiss_global.clear_modules_settings("kiss_irrbloss")
# Change hostname
steelsquid_utils.set_hostname("irrbloss")
# Enable transeiver as client
steelsquid_kiss_global.radio_hmtrlrs(True)
# Enable TCP-radio as client
steelsquid_kiss_global.radio_hmtrlrs(True)
# Enable tcp radio as client and then listen for command from the host
steelsquid_kiss_global.radio_tcp(False, steelsquid_utils.network_ip_wan())
# Change GPIO for transceiver
steelsquid_utils.set_parameter("hmtrlrs_config_gpio",
str(STATIC.gpio_hmtrlrs_config))
steelsquid_utils.set_parameter("hmtrlrs_reset_gpio",
str(STATIC.gpio_hmtrlrs_reset))
# Enable camera
steelsquid_utils.execute_system_command_blind(["steelsquid", "camera-on"],
wait_for_finish=True)
# Max volume
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"],
wait_for_finish=True)
def play(play_this, use_playlist=0):
'''
Play file
'''
global play_thread
try:
play_thread.stop()
except:
pass
steelsquid_utils.execute_system_command_blind(
['sudo', 'steelsquid', 'omxplayer-kill'])
play_thread = PlayThread(str(play_this), use_playlist)
play_thread.start()
def previous(self):
'''
Stop the thread
'''
self.use_playlist = 1
try:
self.child.send("q")
except:
pass
try:
self.join(0.5)
except:
pass
steelsquid_utils.execute_system_command_blind(
['sudo', 'steelsquid', 'omxplayer-kill'])
def bluetooth_agent():
'''
Start the bluetooth_agent (enable pairing)
'''
steelsquid_utils.execute_system_command_blind(["hciconfig", "hci0", "piscan"], wait_for_finish=False)
while True:
answer = steelsquid_utils.execute_system_command(["hciconfig", "-a"])
bluetooth = None
for line in answer:
if "Name: " in line:
line = line.replace("Name: '","")
line = line.replace("'","")
bluetooth = line
break
if bluetooth == None:
steelsquid_utils.shout("No local bluetooth device found!")
else:
steelsquid_utils.shout("Start bluetooth: " + bluetooth)
steelsquid_kiss_global._execute_all_modules("SYSTEM", "on_bluetooth", (True,))
execute_task_event("network")
try:
proc=Popen("bluetoothctl", stdout=PIPE, stdin=PIPE, stderr=PIPE)
proc.stdin.write('power on\n')
proc.stdin.flush()
time.sleep(1)
proc.stdin.write('discoverable on\n')
proc.stdin.flush()
time.sleep(1)
proc.stdin.write('pairable on\n')
proc.stdin.flush()
time.sleep(1)
proc.stdin.write('agent on\n')
proc.stdin.flush()
time.sleep(1)
proc.stdin.write('default-agent\n')
proc.stdin.flush()
while True:
proc_read = proc.stdout.readline()
if proc_read:
if "Request PIN code" in proc_read:
proc.stdin.write(steelsquid_utils.get_parameter("bluetooth_pin")+"\n")
proc.stdin.flush()
except:
steelsquid_utils.shout("Error on start bluetoothctl", is_error=True)
steelsquid_kiss_global._execute_all_modules("SYSTEM", "on_bluetooth", (False,))
execute_task_event("network")
time.sleep(20)
def _audio_mic_thread():
'''
Thread
'''
while running:
try:
if enable_audio:
kill_audio()
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "alsasrc", "latency-time=1",
"device=sysdefault:CARD=1", "!", "mulawenc", "!",
"rtppcmupay", "!", "udpsink", "host=" + audio_ip,
"port=" + audio_port
])
#steelsquid_utils.execute_system_command_blind(["gst-launch-1.0", "-e", "alsasrc", "latency-time=1", "device=sysdefault:CARD=1", "!", "audioconvert", "!", "audioresample", "!", "vorbisenc", "!", "udpsink", "host="+audio_ip, "port="+audio_port])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def _video_cam_thread():
'''
Thread
'''
while running:
try:
if enable_video:
kill_video()
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "v4l2src", "device=/dev/video0",
"!", "video/x-raw,width=" + width + ",height=" + height +
",framerate=" + fps + "/1", "!", "clockoverlay", "xpad=0",
"ypad=0", "!", "omxh264enc", "target-bitrate=" + bitrate,
"control-rate=3", "!", "tcpclientsink", "host=" + video_ip,
"port=" + video_port
])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def _hud_thread():
'''
Thread
'''
while running:
try:
if enable_hud:
kill_hud()
f = get_file("hud.avi")
#steelsquid_utils.execute_system_command_blind(["nice", "-n", "10", "avconv", "-f", "x11grab", "-r", "2", "-s", width+"x"+height, "-i", ":0.0", "-vcodec", "libx264", "-threads", "1", f])
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "ximagesrc", "display-name=:0",
"use-damage=0", "!", "video/x-raw,framerate=2/1", "!",
"videoconvert", "!", "omxh264enc", "!",
"video/x-h264,profile=high", "!", "avimux", "!",
"filesink", "location=" + f
])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def on_start():
'''
This will execute when system starts
Do not execute long running stuff here, do it in on_loop...
'''
# Startup message
steelsquid_utils.shout("Steelsquid Irrbloss start")
if SETTINGS.control == 1:
co = "Radio"
elif SETTINGS.control == 2:
co = "WIFI"
elif SETTINGS.control == 3:
co = "3G/4G"
else:
co = "Not saved"
steelsquid_utils.shout("Control: " + co + "\n" + "Control IP: " +
SETTINGS.control_ip + "\n" +
"Video stream IP: " + SETTINGS.video_ip + "\n" +
"Audio stream IP: " + SETTINGS.audio_ip + "\n" +
"Resolution: " + SETTINGS.width + "x" +
SETTINGS.height + "\n" + "FPS: " +
SETTINGS.fps + "\n")
# Set the on OK and ERROR callback methods...they just flash some LED
steelsquid_utils.on_ok_callback_method = UTILS.on_ok
steelsquid_utils.on_err_callback_method = UTILS.on_err
# Enable network by default
try:
steelsquid_nm.set_network_status(True)
except:
pass
# Enable and disable networkcards
UTILS.set_net_status(SETTINGS.control)
# Reset some GPIO
IO.OUTPUT.sum_flash()
IO.UNITS.headlight(False)
IO.UNITS.highbeam(False)
IO.UNITS.siren(False)
IO.UNITS.speeker(True)
IO.OUTPUT.mood(0)
# Way ???
steelsquid_pi.gpio_set(26, True)
# Max volume
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"],
wait_for_finish=True)
# Center camera
IO.UNITS.camera(0, STATIC.servo_position_tilt_start, False)
# Setup gstreamer
steelsquid_gstreamer.setup_camera_mic(SETTINGS.video_ip, 6607,
SETTINGS.audio_ip, 6608,
SETTINGS.width, SETTINGS.height,
SETTINGS.fps, SETTINGS.bitrate,
SETTINGS.tcp_video,
SETTINGS.low_light)
def _audio_speaker_thread():
'''
Thread
'''
while running:
try:
if enable_audio:
if save_to_disk:
f = get_file("audio.wav")
steelsquid_utils.execute_system_command_blind([
"nice", "-n", "8", "gst-launch-1.0", "-e", "udpsrc",
"port=" + audio_port, "!",
"application/x-rtp,media=audio,clock-rate=22000,width=16,height=16,encoding-name=L16,encoding-params=1,channels=1,channel-positions=1,payload=96",
"!", "rtpjitterbuffer", "!", "rtpL16depay", "!",
"audioconvert", "!", "tee", "name=myt", "!", "queue",
"!", "alsasink", "sync=false", "myt.", "!", "queue",
"!", "audiorate", "!", "audioconvert", "!",
"audioresample", "!", "wavenc", "!", "filesink",
"location=" + f
])
#steelsquid_utils.execute_system_command_blind(["nice", "-n", "8", "gst-launch-1.0", "-e", "udpsrc", "port="+audio_port, "caps=application/x-rtp", "!", "rtpjitterbuffer", "!", "rtppcmudepay", "!", "mulawdec", "!", "tee", "name=myt", "!", "queue", "!", "alsasink", "sync=false", "myt.", "!", "queue", "!", "audiorate", "!", "audioconvert", "!", "audioresample", "!", "wavenc", "!", "filesink", "location="+f])
time.sleep(1)
else:
kill_audio()
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "udpsrc", "port=" + audio_port,
"!",
"application/x-rtp,media=audio,clock-rate=22000,width=16,height=16,encoding-name=L16,encoding-params=1,channels=1,channel-positions=1,payload=96",
"!", "rtpjitterbuffer", "!", "rtpL16depay", "!",
"audioconvert", "!", "alsasink", "sync=false"
])
#steelsquid_utils.execute_system_command_blind(["gst-launch-1.0", "-e", "udpsrc", "port="+audio_port, "caps=application/x-rtp", "!", "rtpjitterbuffer", "!", "rtppcmudepay", "!", "mulawdec", "!", "alsasink", "sync=false"])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def kill_audio():
'''
Kill gstreamer audio
'''
if is_camera_mic:
steelsquid_utils.execute_system_command_blind(
["pkill", "-f", "gst-launch-1.0 -e alsasrc"])
elif save_to_disk:
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e udpsrc port=" + audio_port
])
else:
steelsquid_utils.execute_system_command_blind([
"pkill", "-SIGINT", "-f",
"gst-launch-1.0 -e udpsrc port=" + audio_port
])
interrupt.set()
def on_start():
'''
This will execute when system starts
Do not execute long running stuff here, do it in on_loop...
'''
# Startup message
steelsquid_utils.shout("Steelsquid Irrbloss start")
if SETTINGS.control==1:
co = "Radio"
elif SETTINGS.control==2:
co = "WIFI"
elif SETTINGS.control==3:
co = "3G/4G"
else:
co = "Not saved"
steelsquid_utils.shout("Control: " + co + "\n" + "Control IP: " + SETTINGS.control_ip + "\n" + "Video stream IP: " + SETTINGS.video_ip + "\n" + "Audio stream IP: " + SETTINGS.audio_ip + "\n" + "Resolution: " + SETTINGS.width+"x"+SETTINGS.height+ "\n" + "FPS: " + SETTINGS.fps + "\n")
# Set the on OK and ERROR callback methods...they just flash some LED
steelsquid_utils.on_ok_callback_method=UTILS.on_ok
steelsquid_utils.on_err_callback_method=UTILS.on_err
# Enable network by default
try:
steelsquid_nm.set_network_status(True)
except:
pass
# Enable and disable networkcards
UTILS.set_net_status(SETTINGS.control)
# Reset some GPIO
IO.OUTPUT.sum_flash()
IO.UNITS.headlight(False)
IO.UNITS.highbeam(False)
IO.UNITS.siren(False)
IO.UNITS.speeker(True)
IO.OUTPUT.mood(0)
# Way ???
steelsquid_pi.gpio_set(26, True)
# Max volume
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"], wait_for_finish=True)
# Center camera
IO.UNITS.camera(0, STATIC.servo_position_tilt_start, False)
# Setup gstreamer
steelsquid_gstreamer.setup_camera_mic(SETTINGS.video_ip, 6607, SETTINGS.audio_ip, 6608, SETTINGS.width, SETTINGS.height, SETTINGS.fps, SETTINGS.bitrate, SETTINGS.tcp_video, SETTINGS.low_light)
def main():
'''
The main function
'''
try:
if len(sys.argv) < 2:
print_help()
else:
command = sys.argv[1]
# Start the system
if command == "start":
# Set keyboard to use
steelsquid_utils.execute_system_command_blind(["/usr/bin/termfix", steelsquid_utils.get_parameter("keyboard")], wait_for_finish=True)
# Redirect sys.stdout to shout
sys.stdout = Logger()
# Create the task event dir
steelsquid_utils.make_dirs(system_event_dir)
# Print welcome message
steelsquid_utils.shout("Steelsquid Kiss OS "+steelsquid_utils.steelsquid_kiss_os_version()[1], to_lcd=False, wait_for_finish=False)
# Use locking on the I2C bus
if steelsquid_utils.get_flag("i2c_lock"):
steelsquid_i2c.enable_locking(True)
else:
steelsquid_i2c.enable_locking(False)
# Disable the monitor
if steelsquid_utils.get_flag("disable_monitor"):
steelsquid_utils.execute_system_command_blind(["/opt/vc/bin/tvservice", "-o"], wait_for_finish=False)
# Listen for shutdown on GPIO
if steelsquid_utils.has_parameter("power_gpio"):
gpio = steelsquid_utils.get_parameter("power_gpio")
steelsquid_utils.shout("Listen for clean shutdown on GPIO " + gpio)
steelsquid_pi.gpio_click(gpio, poweroff, steelsquid_pi.PULL_DOWN)
# Load all modules
pkgpath = os.path.dirname(modules.__file__)
for name in pkgutil.iter_modules([pkgpath]):
if steelsquid_utils.get_flag("module_"+name[1]):
steelsquid_utils.shout("Load module: " +name[1], debug=True)
n = name[1]
steelsquid_kiss_global.loaded_modules[n]=import_module('modules.'+n)
# Enable the download manager
if steelsquid_utils.get_flag("download"):
if steelsquid_utils.get_parameter("download_dir") == "":
steelsquid_utils.set_parameter("download_dir", "/root")
steelsquid_utils.execute_system_command_blind(['steelsquid', 'download-on'], wait_for_finish=False)
# Enable NRF24L01+ as server
if steelsquid_utils.get_flag("nrf24_server"):
steelsquid_utils.shout("Enable NRF24L01+ server")
steelsquid_nrf24.server()
thread.start_new_thread(nrf24_server_thread, ())
# Enable NRF24L01+ as client
elif steelsquid_utils.get_flag("nrf24_client"):
steelsquid_utils.shout("Enable NRF24L01+ client")
steelsquid_nrf24.client()
# Enable NRF24L01+ as master
if steelsquid_utils.get_flag("nrf24_master"):
steelsquid_utils.shout("Enable NRF24L01+ master")
steelsquid_nrf24.master(nrf24_callback)
# Enable NRF24L01+ as slave
elif steelsquid_utils.get_flag("nrf24_slave"):
steelsquid_utils.shout("Enable NRF24L01+ slave")
steelsquid_nrf24.slave()
thread.start_new_thread(nrf24_slave_thread, ())
# Enable HM-TRLR-S as server
if steelsquid_utils.get_flag("hmtrlrs_server"):
config_gpio = int(steelsquid_utils.get_parameter("hmtrlrs_config_gpio", "25"))
reset_gpio = int(steelsquid_utils.get_parameter("hmtrlrs_reset_gpio", "23"))
steelsquid_utils.shout("Enable HM-TRLR-S server")
steelsquid_hmtrlrs.setup(config_gpio=config_gpio, reset_gpio=reset_gpio)
thread.start_new_thread(hmtrlrs_server_thread, ())
# Enable HM-TRLR-S as client
elif steelsquid_utils.get_flag("hmtrlrs_client"):
config_gpio = int(steelsquid_utils.get_parameter("hmtrlrs_config_gpio", "25"))
reset_gpio = int(steelsquid_utils.get_parameter("hmtrlrs_reset_gpio", "23"))
steelsquid_utils.shout("Enable HM-TRLR-S client")
steelsquid_hmtrlrs.setup(config_gpio=config_gpio, reset_gpio=reset_gpio)
thread.start_new_thread(hmtrlrs_client_thread, ())
# Start the modules
for obj in steelsquid_kiss_global.loaded_modules.itervalues():
thread.start_new_thread(import_file_dyn, (obj,))
# Enable the webserver
if steelsquid_utils.get_flag("web"):
port = None
if steelsquid_utils.has_parameter("web_port"):
port = steelsquid_utils.get_parameter("web_port")
steelsquid_kiss_global.http_server = steelsquid_kiss_http_server.SteelsquidKissHttpServer(port, steelsquid_utils.STEELSQUID_FOLDER+"/web/", steelsquid_utils.get_flag("web_authentication"), steelsquid_utils.get_flag("web_local"), steelsquid_utils.get_flag("web_authentication"), steelsquid_utils.get_flag("web_https"))
for obj in steelsquid_kiss_global.loaded_modules.itervalues():
if hasattr(obj, "WEB"):
steelsquid_kiss_global.http_server.external_objects.append(getattr(obj, "WEB"))
steelsquid_kiss_global.http_server.start_server()
# Enable the socket server as server
if steelsquid_utils.get_flag("socket_server"):
steelsquid_kiss_global.socket_connection = steelsquid_kiss_socket_connection.SteelsquidKissSocketConnection(True)
for obj in steelsquid_kiss_global.loaded_modules.itervalues():
if hasattr(obj, "SOCKET"):
steelsquid_kiss_global.socket_connection.external_objects.append(getattr(obj, "SOCKET"))
steelsquid_kiss_global.socket_connection.start()
# Enable the socket server as client
elif steelsquid_utils.has_parameter("socket_client"):
steelsquid_kiss_global.socket_connection = steelsquid_kiss_socket_connection.SteelsquidKissSocketConnection(False, steelsquid_utils.get_parameter("socket_client"))
for obj in steelsquid_kiss_global.loaded_modules.itervalues():
if hasattr(obj, "SOCKET"):
steelsquid_kiss_global.socket_connection.external_objects.append(getattr(obj, "SOCKET"))
steelsquid_kiss_global.socket_connection.start()
# Enable the bluetooth
if steelsquid_utils.get_flag("bluetooth_pairing"):
if not steelsquid_utils.has_parameter("bluetooth_pin"):
steelsquid_utils.set_parameter("bluetooth_pin", "1234")
thread.start_new_thread(bluetooth_agent, ())
fd = inotifyx.init()
inotifyx.add_watch(fd, system_event_dir, inotifyx.IN_CLOSE_WRITE)
# Execute a network event so the IP is shown
execute_task_event("network")
# Delete old stop eventa and execute others...
for f in os.listdir(system_event_dir):
if f=="stop" or f=="shutdown":
steelsquid_utils.deleteFileOrFolder(system_event_dir+"/"+f)
else:
read_task_event(f)
# Listen for events
try:
while running:
events = inotifyx.get_events(fd)
for event in events:
read_task_event(event.name)
except KeyboardInterrupt:
pass
os.close(fd)
_cleanup()
# Delete old eventa
for f in os.listdir(system_event_dir):
steelsquid_utils.deleteFileOrFolder(system_event_dir+"/"+f)
# Broadcast the event
else:
if len(sys.argv)>2:
broadcast_task_event(command, sys.argv[2:])
else:
broadcast_task_event(command)
except:
steelsquid_utils.shout("Fatal error when on boot steelsquid service", is_error=True)
os._exit(0)
def _cleanup():
'''
Clean
'''
global running
running = False
event.set()
try:
for obj in steelsquid_kiss_global.loaded_modules.itervalues():
class_system = steelsquid_kiss_global._get_object(obj, "SYSTEM")
if class_system!=None:
method_event = steelsquid_kiss_global._get_object(class_system, "on_event_data")
if method_event!=None:
steelsquid_kiss_global.remove_event_data_callback(method_event)
class_events = steelsquid_kiss_global._get_object(obj, "EVENTS")
if class_events!=None:
steelsquid_kiss_global.remove_broadcast_event_callback(class_events)
if class_system!=None:
steelsquid_kiss_global._exec_method_set_started(class_system, "on_stop", is_started=False)
class_settings = steelsquid_kiss_global._get_object(obj, "SETTINGS")
if class_settings!=None:
persistent_off=False
try:
persistent_off = getattr(class_settings, "_persistent_off")==True
except:
pass
if not persistent_off:
members = [attr for attr in dir(class_settings) if not callable(getattr(class_settings, attr)) and not attr.startswith("_")]
for var_name in members:
the_var = getattr(class_settings, var_name, None)
if isinstance(the_var, (bool)):
if the_var:
steelsquid_utils.set_flag(var_name)
else:
steelsquid_utils.del_flag(var_name)
elif isinstance(the_var, list):
steelsquid_utils.set_list(var_name, the_var)
else:
steelsquid_utils.set_parameter(var_name, str(the_var))
except:
steelsquid_utils.shout()
if steelsquid_utils.get_flag("nrf24_master") or steelsquid_utils.get_flag("nrf24_slave"):
try:
steelsquid_nrf24.stop()
except:
steelsquid_utils.shout()
if steelsquid_utils.get_flag("hmtrlrs_server") or steelsquid_utils.get_flag("hmtrlrs_client"):
try:
steelsquid_hmtrlrs.stop()
except:
steelsquid_utils.shout()
if steelsquid_utils.get_flag("socket_connection"):
try:
steelsquid_kiss_global.socket_connection.stop()
except:
pass
if steelsquid_utils.get_flag("web"):
try:
steelsquid_kiss_global.http_server.stop_server()
except:
pass
steelsquid_utils.execute_system_command_blind(['killall', 'aria2c'])
steelsquid_utils.shout("Goodbye :-(")
def poweroff(gpio=None):
'''
Power of the system
Send command to OS
'''
steelsquid_utils.execute_system_command_blind(['shutdown', '-h', 'now'], wait_for_finish=False)
def set_net_status(con):
'''
Set with way to control rover
1=radio 2=wifi 3=3g4g
'''
# Enable wifi but disable usb0 (3G/4G modem)
if con == 1:
steelsquid_utils.execute_system_command_blind(
["killall", "gst-launch-1.0"])
steelsquid_utils.execute_system_command_blind(
["ip", "link", "set", "wlan0", "up"])
steelsquid_utils.execute_system_command_blind(
["ip", "link", "set", "usb0", "down"])
# Enable wifi but disable usb0 (3G/4G modem)
elif con == 2:
steelsquid_utils.execute_system_command_blind(
["killall", "gst-launch-1.0"])
steelsquid_utils.execute_system_command_blind(
["ip", "link", "set", "wlan0", "up"])
steelsquid_utils.execute_system_command_blind(
["ip", "link", "set", "usb0", "down"])
# Disable wifi but enable usb0 (3G/4G modem)
elif con == 3:
steelsquid_utils.execute_system_command_blind(
["killall", "gst-launch-1.0"])
#steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "wlan0", "down"])
steelsquid_utils.execute_system_command_blind(
["ip", "link", "set", "usb0", "up"])
def _video_cam_thread():
'''
Thread
'''
while running:
try:
if enable_video:
kill_video()
if low_bandwidth_mode:
if tcp_video:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "v4l2src",
"extra-controls=\"c,vertical_flip=1,horizontal_flip=1,"
+ low_light_v + "\"", "device=/dev/video0", "!",
"video/x-raw,width=" + width + ",height=" +
height + ",framerate=" + "5" + "/1", "!",
"clockoverlay", "xpad=0", "ypad=0", "!",
"omxh264enc", "target-bitrate=" + "100000",
"control-rate=3", "!", "tcpclientsink",
"host=" + video_ip, "port=" + video_port
])
else:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "v4l2src",
"extra-controls=\"c,vertical_flip=1,horizontal_flip=1,"
+ low_light_v + "\"", "device=/dev/video0", "!",
"video/x-raw,width=" + width + ",height=" +
height + ",framerate=" + "5" + "/1", "!",
"clockoverlay", "xpad=0", "ypad=0", "!",
"omxh264enc", "target-bitrate=" + "100000",
"control-rate=3", "!", "rtph264pay", "pt=96",
"config-interval=1", "!", "udpsink", "sync=false",
"host=" + video_ip, "port=" + video_port
])
else:
if tcp_video:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "v4l2src",
"extra-controls=\"c,vertical_flip=1,horizontal_flip=1,"
+ low_light_v + "\"", "device=/dev/video0", "!",
"video/x-raw,width=" + width + ",height=" +
height + ",framerate=" + fps + "/1", "!",
"clockoverlay", "xpad=0", "ypad=0", "!",
"omxh264enc", "target-bitrate=" + bitrate,
"control-rate=3", "!", "tcpclientsink",
"host=" + video_ip, "port=" + video_port
])
else:
steelsquid_utils.execute_system_command_blind([
"gst-launch-1.0", "-e", "v4l2src",
"extra-controls=\"c,vertical_flip=1,horizontal_flip=1,"
+ low_light_v + "\"", "device=/dev/video0", "!",
"video/x-raw,width=" + width + ",height=" +
height + ",framerate=" + fps + "/1", "!",
"clockoverlay", "xpad=0", "ypad=0", "!",
"omxh264enc", "target-bitrate=" + bitrate,
"control-rate=3", "!", "rtph264pay", "pt=96",
"config-interval=1", "!", "udpsink", "sync=false",
"host=" + video_ip, "port=" + video_port
])
else:
interrupt.wait(1)
interrupt.clear()
except:
pass
def set_net_status(con):
'''
Set with way to control rover
1=radio 2=wifi 3=3g4g
'''
# Enable wifi but disable usb0 (3G/4G modem)
if con==1:
steelsquid_utils.execute_system_command_blind(["killall", "gst-launch-1.0"])
steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "wlan0", "up"])
steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "usb0", "down"])
# Enable wifi but disable usb0 (3G/4G modem)
elif con==2:
steelsquid_utils.execute_system_command_blind(["killall", "gst-launch-1.0"])
steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "wlan0", "up"])
steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "usb0", "down"])
# Disable wifi but enable usb0 (3G/4G modem)
elif con==3:
steelsquid_utils.execute_system_command_blind(["killall", "gst-launch-1.0"])
#steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "wlan0", "down"])
steelsquid_utils.execute_system_command_blind(["ip", "link", "set", "usb0", "up"])
def shutdown():
'''
Shutdown and power off the PIIO board
'''
steelsquid_pi.po16_gpio_set(1, True)
steelsquid_utils.execute_system_command_blind(['shutdown', '-h', 'now'], wait_for_finish=False)
