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)
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)
serialPort.close()
ManifoldPython.stop()
# binSubImage = base64.b64encode(subJpeg)
# modetarrayentry[mdefs.JPEG] = binSubImage
modetarray.append(modetarrayentry)
# draw the box in the original image
cv2.rectangle(inImage, (x, y), (x + w, y + h), (0, 255, 0),
2)
metadata[mdefs.TYPE] = modetarray
jsonToProcess[rtndefs.METADATA] = metadata
retVal, outJpeg = cv2.imencode('.jpeg', inImage)
jsonToProcess[rtndefs.TOPIC] = outTopic
if ManifoldPython.isServiceActive(
outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort,
json.dumps(jsonToProcess),
outJpeg, imageTS)
except:
print("Processing error", sys.exc_info()[0], sys.exc_info()[1])
processing = False
time.sleep(0.01)
except:
print("Main loop error", sys.exc_info()[0], sys.exc_info()[1])
pass
ManifoldPython.removeService(inPort)
ManifoldPython.removeService(outPort)
if (jpeg):
ManifoldPython.displayJpegImage(frame, "")
else:
ManifoldPython.displayImage(frame, width, height, "")
timestamp = time.time()
message = rdf.newPublishMessage('uvccam', outTopic, vdefs.DATATYPE,
timestamp)
message[vdefs.WIDTH] = width
message[vdefs.HEIGHT] = height
message[vdefs.RATE] = rate
if jpeg:
message[vdefs.FORMAT] = 'mjpeg'
else:
message[vdefs.FORMAT] = 'raw'
if ManifoldPython.isServiceActive(
sourcePort) and ManifoldPython.isClearToSend(sourcePort):
ManifoldPython.sendMulticastData(sourcePort,
json.dumps(message), frame,
timestamp)
except:
print("Main loop error ", sys.exc_info()[0], sys.exc_info()[1])
break
# Exiting so clean everything up.
ManifoldPython.vidCapClose(cameraIndex)
ManifoldPython.removeService(sourcePort)
ManifoldPython.stop()
def forwardThread():
global processingForward, forwardMessage, forwardImage, forwardTS, forwardThreadExit, inPort
# start ManifoldPython running
ManifoldPython.start("facerec", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
while not forwardThreadExit:
time.sleep(0.01)
processReceivedMessage()
if not processingForward:
continue
try:
image = forwardImage
inJpeg = np.frombuffer(image, dtype=np.uint8)
cv2Image = cv2.imdecode(inJpeg, cv2.IMREAD_COLOR)
except:
print ("Forward jpeg error", sys.exc_info()[0],sys.exc_info()[1])
try:
dataLock.acquire()
for detectedData in globalDetectedData:
name = detectedData['name']
namepos = detectedData['namepos']
cv2.putText(cv2Image, name, namepos,
cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.75,
color=(152, 255, 204), thickness=2)
landMarks = detectedData['landmarks']
for landMark in landMarks:
cv2.circle(cv2Image, center=landMark, radius=3,
color=(102, 204, 255), thickness=-1)
except:
pass
dataLock.release()
# generate the output jpeg
retVal, outJpeg = cv2.imencode('.jpeg', cv2Image)
forwardMessage[rtndefs.TOPIC] = outTopic
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(forwardMessage), outJpeg, forwardTS)
processingForward = False
ManifoldPython.removeService(inPort)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()
imu.setCompassEnable(True)
if (not pressure.pressureInit()):
print("Pressure sensor Init Failed")
else:
print("Pressure sensor Init Succeeded")
if (not humidity.humidityInit()):
print("Humidity sensor Init Failed")
else:
print("Humidity sensor Init Succeeded")
poll_interval = imu.IMUGetPollInterval()
print("Recommended Poll Interval: %dmS\n" % poll_interval)
while True:
time.sleep(poll_interval*1.0/1000.0)
if imu.IMURead():
timestamp = time.time()
message = rdf.newPublishMessage('imu', outTopic, idefs.DATATYPE, timestamp)
data = imu.getIMUData()
(data["pressureValid"], data["pressure"], data["pressureTemperatureValid"], data["pressureTemperature"]) = pressure.pressureRead()
(data["humidityValid"], data["humidity"], data["humidityTemperatureValid"], data["humidityTemperature"]) = humidity.humidityRead()
message[idefs.DATA] = data
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(message), '', timestamp)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()