class CameraController:
def __init__(self):
self.em = EventsManager()
self.camera = Camera()
self.ID = "Rpi-Fox-camera"
self.info = {"info": "dummy"}
self.commandQueue = []
self.run()
self.em.subscribe("%s/command" % self.ID, self.sendCommand)
self.em.subscribe("%s/info-request" % self.ID, self.getInfo)
self.em.publish("component-added", {"componentID": self.ID})
def getInfo(self, message):
self.em.publish("%s/info" % self.ID, {"info": self.info})
def getFrame(self):
return self.camera.get_frame()
def saveFrameToFile(self, file):
my_file = open(file, 'wb')
my_file.write(self.getFrame())
my_file.close()
print("Image saved successfully to", file)
def sendCommand(self, message):
self.commandQueue.append(message)
def _processCommandQueue(self):
while True:
if len(self.commandQueue) > 0:
item = self.commandQueue.pop(0)
command = item["command"]
params = item["params"]
if command == "take-photo":
file = "/home/pi/IotBox/files/%s" % params['name']
self.saveFrameToFile(file)
elif command == "timelapse":
name = params['name']
number = params['number']
seconds_delay = params['seconds_delay']
#make folder 'output' to hold images
folder = "/home/pi/IotBox/files/%s" % name
print("Timelapse images stored in %s" % folder)
if not os.path.exists(folder):
os.makedirs(folder)
for x in range(0, number):
print("TODO: Taking photo number %d" % x)
self.saveFrameToFile("{}/image_{}.jpg".format(
folder, x))
sleep(seconds_delay)
print("Timelapse complete!")
else:
print("Unknown command!")
def run(self):
t = threading.Thread(target=self._processCommandQueue)
t.start()
class RhizoDeviceManager():
def __init__(self):
self.em = EventsManager()
self.connectedDevices = {} #dict of port:device
self.em.subscribe("usb-connect", self.connectionEventHandler)
self.em.subscribe("usb-disconnect", self.connectionEventHandler)
def connectionEventHandler(self, event):
type = event["topic"]
port = event["port"]
if (type == "usb-connect"):
self.addDevice(port)
elif (type == "usb-disconnect"):
self.removeDevice(port)
def addDevice(self, port):
print("DeviceManager: Creating new device.")
device = RhizoDevice(port)
self.connectedDevices[port] = device
self.em.publish("device-added", {"port": port})
def removeDevice(self, port):
print("DeviceManager: Removing device.")
device = self.connectedDevices.pop(port)
device.destroy()
self.em.publish("device-removed", {})
def getComponentIDsList(self):
list = []
for port in self.connectedDevices:
device = self.connectedDevices[port]
for componentID in device.getComponentIDsList():
list.append(componentID)
return list
class Component():
def __init__(self, id):
self.id = id
self.info = {}
self.em = EventsManager()
self.em.subscribe("%s/info-request" % self.id, self.getInfo)
def getInfo(self, message):
self.em.publish("%s/info" % self.id, {"info": self.info})
def updateInfo(self, key, value):
self.info[key] = value
if key == "state":
self.em.publish("%s/update" % self.id, {"value": value})
class USBPortWatcher():
def __init__(self):
self.em = EventsManager()
self.connectedUSBPorts = []
self.watchUSB()
def getUSBPorts(self):
return self.connectedUSBPorts
def _watchUSB(self):
prev_usb_ports = []
while True:
# get list of usb ports with connections
if os.path.exists('/dev/'):
all_ports = os.listdir('/dev')
else:
all_ports = []
usb_ports = [
port_name for port_name in all_ports
if (port_name.startswith('ttyUSB')
or port_name.startswith('ttyACM'))
]
# look for new usb connections
for short_port_name in usb_ports:
if not short_port_name in prev_usb_ports:
port = '/dev/' + short_port_name
print("USBWatcher: New device found on port", port)
self.em.publish("usb-connect", {"port": port})
# look for usb disconnections
for short_port_name in prev_usb_ports:
if not short_port_name in usb_ports:
port = '/dev/' + short_port_name
print("USBWatcher: Device removed from port", port)
self.em.publish("usb-disconnect", {"port": port})
# save list for next pass around
prev_usb_ports = usb_ports
self.connectedUSBPorts = usb_ports
sleep(.2)
def watchUSB(self):
t = threading.Thread(target=self._watchUSB)
t.start()
class IoTInterface():
def __init__(self, componentID, mqttProvider):
self.componentID = componentID
self.mqtt = mqttProvider
self.em = EventsManager()
#subscribe to external/MQTT events to send in
self.mqtt.subscribe("roll-call/who-there", self.announce)
#receive commands addressed to this component
topic = "%s/command" % self.componentID
self.mqtt.subscribe(topic, self.processIncomingMessage)
#subscribe to internal updates to send out
topic = "%s/update" % self.componentID
self.em.subscribe(topic, self.processOutgoingMessage)
#subscribe to internal info to send out
topic = "%s/info" % self.componentID
self.em.subscribe(topic, self.processOutgoingMessage)
#announce yourself
msg = {"name": self.componentID}
self.mqtt.publish("roll-call/hello", msg)
#tell device to send its info
self.em.publish("%s/info-request" % self.componentID, {})
def destroy(self):
#unsubscribe before I get destroyed.
self.em.unsubscribe(self.processOutgoingMessage)
msg = {"name": self.componentID}
self.mqtt.publish("roll-call/goodbye", msg)
self.mqtt.unsubscribe(self.announce)
self.mqtt.unsubscribe(self.processIncomingMessage)
def announce(self, message):
msg = {"name": self.componentID}
self.mqtt.publish("roll-call/response", msg)
self.em.publish("%s/info-request" % self.componentID, {})
def processOutgoingMessage(self, message):
topic = message.pop(
"topic") #Separate the message and topic to format for MQTT server
self.mqtt.publish(topic, message)
def processIncomingMessage(self, message):
topic = message.pop("topic")
self.em.publish(topic, message)
#acknowledge
topic = "%s/response" % message["topic"]
msg = {"response": "ack"}
self.mqtt.publish(topic, msg)
class RhizoDevice():
def __init__(self, port):
print("Device: Initializing myself as a new device on port %s..." %
port)
self.port = port
self.em = EventsManager()
self.components = {} #Dict componentID:component
self.abort = False
self.deviceMessageQueue = []
self.serialConnection = SerialConnection(port, self.addToMessageQueue)
self.processMessageQueue()
self.sendCommand({
"command": "devices",
"params": None
}) #request info about what components are on the device
self.sendCommand({
"command": "interval",
"params": 2
}) #sets the data-sending rate to 1 second
print("Device: Done Initializing.")
def destroy(self):
for componentID in self.components:
self.em.unsubscribe(self.sendCommand)
self.em.publish("component-removed", {"componentID": componentID})
self.serialConnection.closeConnection()
self.serialConnection = False
self.abort = True
def addComponent(self, component_name):
componentID = "%s/%s" % (self.port, component_name)
if not componentID in self.components:
self.components[componentID] = Component(componentID)
self.em.publish("component-added", {"componentID": componentID})
self.em.subscribe("%s/command" % componentID, self.sendCommand)
self.sendCommand({
"command": "%s: info" % component_name,
"params": None
}) #request info about this component
def updateComponents(self, component_name, key, value):
componentID = "%s/%s" % (self.port, component_name)
if componentID in self.components:
self.components[componentID].updateInfo(key, value)
else:
self.addComponent(component_name)
#messaging related methods
def sendCommand(self, message):
command = message["command"]
params = message["params"]
try:
if params is not None:
msg = "%s %s" % (command, params)
self.serialConnection.writeMessage(msg)
else:
msg = command
self.serialConnection.writeMessage(msg)
except:
print("Device: Error sending command over serial connection.")
# collect messages from the SerialConnection
def addToMessageQueue(self, message):
self.deviceMessageQueue.append(message)
# process incoming serial message queue
def _processMessageQueue(self):
while True:
if not self.abort:
if len(self.deviceMessageQueue) > 0:
msg = self.deviceMessageQueue.pop(0)
msg_array = msg.decode('utf-8').split("|")[0].split(
" "
) # Ugly, but this is just how the messages seem to be formatted: "c:v 492|69100"
cmd = msg_array.pop(0).split(":")
#Decide what kind of message it was-- either meta:devices [components], or componentId:info_type [value]
if cmd[0] == "meta":
if cmd[1] == "devices":
for component in msg_array:
self.addComponent(component)
else:
if cmd[0] == "nack":
print("Device not acknowledging messages")
pass
if len(cmd) > 1:
if cmd[1] == "nack" or cmd[1] == "ack":
pass
else:
comp = cmd[0]
key = cmd[1]
value = msg_array
if key == "v":
key = "state"
self.updateComponents(comp, key, value)
else:
pass
else:
break
def processMessageQueue(self):
t = threading.Thread(target=self._processMessageQueue)
t.start()