def load(self):
'''
Loads up the settings from gado.conf and instantiates objects for:
The Scanner
The Robot
The Webcam
'''
self.load_settings()
self.scanner = Scanner(**self.s)
self.robot = Robot(**self.s)
self.camera = Webcam(**self.s)
def mainloop(self):
'''
Repeating loop that constantly checks to see if the in-queue (the Gui) has any new
messages for the system
A Series of if/elses is then used to determine the appropriate action to take for
each message received
'''
#Set database interface, the system-to-gui queue and the robot as local vars
dbi = self.dbi
q = self.q_out
robot = self.robot
#add_to_queue(q, messages.READY)
#Loop until told to stop
while True:
expecting_return = False
try:
#Grab a message from the gui-to-system queue (if on exists)
msg = fetch_from_queue(self.q_in)
#Add an new artifact set to the local database
if msg[0] == messages.ADD_ARTIFACT_SET_LIST:
i = dbi.add_artifact_set(**msg[1])
#Grab the full lits of artifact sets and pass it back
#using the system-to-gui queue
elif msg[0] == messages.ARTIFACT_SET_LIST:
expecting_return = messages.ARTIFACT_SET_LIST
i = dbi.artifact_set_list()
add_to_queue(q, messages.ARTIFACT_SET_LIST, i)
#Delete a specified artifact set
elif msg[0] == messages.DELETE_ARTIFACT_SET_LIST:
dbi.delete_artifact_set(msg[1])
#Grab the user's settings and either update the settings for
#the robot, scanner and webcam; or reinstantiate those objects
#with the new setttings
elif msg[0] == messages.RELOAD_SETTINGS:
settings = import_settings()
self.s = settings
self.robot.updateSettings(**settings)
del self.camera
self.camera = Webcam(**settings)
del self.scanner
self.scanner = Scanner(**settings)
self._load_settings(**settings)
#Restart the robot
elif msg[0] == messages.RESET:
self.robot.reset()
#Attempt to connect to the robot (via serial port)
#Pass back to Gui whether or not it was sucessfull
elif msg[0] == messages.ROBOT_CONNECT:
expecting_return = messages.ROBOT_CONNECT
success = self.connect()
self.logger.info('ROBOT_CONNECT: %s' % success)
add_to_queue(q, messages.ROBOT_CONNECT, robot.connected())
#Delete the current scanner object (if it exists)
#and instantiate a new one
#
#Pass back to Gui whether or not this was sucessfull
elif msg[0] == messages.SCANNER_CONNECT:
expecting_return = messages.SCANNER_CONNECT
try: del self.scanner
except:
self.logger.exception("Exception while connecting to scanner")
pass
self.scanner = Scanner(**import_settings())
add_to_queue(q, messages.SCANNER_CONNECT, self.scanner.connected())
elif msg[0] == messages.SCANNER_CONNECTED:
add_to_queue(q, messages.SCANNER_CONNECTED, self.scanner.connected())
#Scan an inmage using the scanner
elif msg[0] == messages.SCANNER_PICTURE:
expecting_return = messages.SCANNER_PICTURE
self.scanner.scanImage(self.s['scanned_image'])
add_to_queue(q, messages.SCANNER_PICTURE, self.s['scanned_image'])
#Set the passed in artifact set as the currently selected
elif msg[0] == messages.SET_SELECTED_ARTIFACT_SET:
self.selected_set = msg[1]
#Starts the robot's overall procedure for moving/scanning artifacts
elif msg[0] == messages.START:
self.start()
#Grabs a list of available webcams and returns them to the Gui thread
elif msg[0] == messages.WEBCAM_LISTING:
self.logger.debug('WEBCAM_LISTING')
expecting_return = messages.WEBCAM_LISTING
opts = self.camera.options()
self.logger.debug('WEBCAM_LISTING - %s' % opts)
add_to_queue(q, messages.WEBCAM_LISTING, opts)
#Attempt to connect to the selected webcam
elif msg[0] == messages.WEBCAM_CONNECT:
self.logger.debug('WEBCAM_CONNECT switch made it')
expecting_return = messages.WEBCAM_CONNECT
#If the webcam object exists
if self.camera:
self.logger.info('Camera already exists')
#And it is connected
if self.camera.connected():
self.logger.info('Already connected to the webcam')
#Relay that information back to the Gui thread
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
return
#Otherwise, disconnect
else: self.camera.disconnect()
#Reinstantiate the webcam object with the user settings
self.camera = Webcam(**import_settings())
#Connect to webcam and let the Gui thread know if it was sucessfull
self.logger.info('self.camera.connected() %s' % self.camera.connected())
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
elif msg[0] == messages.WEBCAM_CONNECTED:
add_to_queue(q, messages.WEBCAM_CONNECTED, self.camera.connected())
#Take a picture using the currently connected webcam
elif msg[0] == messages.WEBCAM_PICTURE:
expecting_return = messages.WEBCAM_PICTURE
#Save the picture as the temp image name
self.camera.savePicture(self.s['webcam_image'])
#Pass that name back to the Gui thread
add_to_queue(q, messages.WEBCAM_PICTURE, self.s['webcam_image'])
#Grab a list of artifact sets, with weights so we can figure out the most
#recently used
elif msg[0] == messages.WEIGHTED_ARTIFACT_SET_LIST:
expecting_return = messages.WEIGHTED_ARTIFACT_SET_LIST
li = self.dbi.weighted_artifact_set_list()
add_to_queue(q, messages.WEIGHTED_ARTIFACT_SET_LIST, arguments=li)
#Kill the program!!!
elif msg[0] == messages.MAIN_ABANDON_SHIP:
add_to_queue(q, messages.GUI_LISTENER_DIE)
add_to_queue(self.q_in, messages.MAIN_ABANDON_SHIP)
return
elif msg[0] == messages.STOP or msg[0] == messages.LAST_ARTIFACT or msg[0] == messages.RESET:
# These commands are only relevant if the robot is already running.
pass
#Pass the robot object to the Gui thread
elif msg[0] == messages.GIVE_ME_A_ROBOT:
add_to_queue(q, messages.GIVE_ME_A_ROBOT, self.robot)
else:
# add it back to the in queue, was somebody else waiting for that message?
add_to_queue(self.q_in, msg[0], (msg[1] if len(msg) > 1 else None))
#Something went horribly wrong, if the Gui thread is expecting a response,
#Tell it things went poorly
except:
self.logger.exception("EXCEPTION GENERATED")
#raise
if expecting_return:
add_to_queue(q, expecting_return)
