def __init__(self, session):
monkey.patch_socket()
import gevent_zeromq
gevent_zeromq.monkey_patch()
#we do use greenlets, but only patch sock stuff
#other stuff messes up the
config = session.arduino
boardglob = config['board']
boards = glob(boardglob)
if not len(boards):
raise Exception("No Arduino found")
self.board = Arduino(boards[0])
#self.iterator = util.Iterator(self.board)
#self.iterator.daemon = True
#self.iterator.start()
#initialize servo objects
self.servos = {}
if "servos" in config:
for servo in config["servos"]:
self.servos[servo['name']] = Servo(servo['pin'], self.board)
#initialize light objects
self.digitalouts = {}
if "digitalouts" in config:
for do in config["digitalouts"]:
self.digitalouts[do['name']] = DigitalOut(do['pin'], self.board)
if "digitalouts" in config or "servos" in config:
self.subsock = ChannelManager().subscribe("ControlOutput/")
self.buttons = []
if "buttons" in config:
for button in config["buttons"]:
self.buttons.append(Button(button['pin'], button['message'], self.board))
self.potentiometers = []
if "potentiometers" in config:
for pot in config["potentiometers"]:
self.buttons.append(Potentiometer(pot['pin'], pot['name'], self.board))
def __init__(self, config):
if Core._instance is not None:
assert RuntimeError, 'Only one state machine allowed currently'
Core._instance = self
self._states = {}
self._cur_state = None
self._events = Queue()
self._clock = util.Clock(1.0, sleep=gevent.sleep)
self._config = config
self._worker_enabled = None
self._worker_checked = None
self.config = config #bkcompat for old SeerCore stuff
self.cameras = []
self.video_cameras = []
self.log = logging.getLogger(__name__)
self._mem_prof_ticker = 0
self._channel_manager = ChannelManager(shareConnection=False)
for cinfo in config.cameras:
cam = StillCamera(**cinfo)
video = cinfo.get('video')
if video is not None:
cam = VideoCamera(cam, 1.0, **video)
cam.start()
self.video_cameras.append(cam)
self.cameras.append(cam)
util.load_plugins()
self.reloadInspections()
if not self.config.skip_worker_check and not self.config.framebuffer:
self.workerCheck(5.0) #wait up to 5s for worker processes
if self.config.framebuffer and not self.config.skip_worker_check:
log.warn("Framebuffer is active, while worker is enabled. Workers can not handle framebuffer calls, so you should add skip_worker_check: 1 to the config")
self.lastframes = deque()
self.framecount = 0
self.reset()
class Core(object):
'''Implements the core functionality of SimpleSeer
- capture
- inspect
- measure
- watch
'''
_instance=None
class Transition(Exception):
def __init__(self, state):
self.state = state
def __init__(self, config):
if Core._instance is not None:
assert RuntimeError, 'Only one state machine allowed currently'
Core._instance = self
self._states = {}
self._cur_state = None
self._events = Queue()
self._clock = util.Clock(1.0, sleep=gevent.sleep)
self._config = config
self._worker_enabled = None
self._worker_checked = None
self.config = config #bkcompat for old SeerCore stuff
self.cameras = []
self.video_cameras = []
self.log = logging.getLogger(__name__)
self._mem_prof_ticker = 0
self._channel_manager = ChannelManager(shareConnection=False)
for cinfo in config.cameras:
cam = StillCamera(**cinfo)
video = cinfo.get('video')
if video is not None:
cam = VideoCamera(cam, 1.0, **video)
cam.start()
self.video_cameras.append(cam)
self.cameras.append(cam)
util.load_plugins()
self.reloadInspections()
if not self.config.skip_worker_check and not self.config.framebuffer:
self.workerCheck(5.0) #wait up to 5s for worker processes
if self.config.framebuffer and not self.config.skip_worker_check:
log.warn("Framebuffer is active, while worker is enabled. Workers can not handle framebuffer calls, so you should add skip_worker_check: 1 to the config")
self.lastframes = deque()
self.framecount = 0
self.reset()
@classmethod
def get(cls):
return cls._instance
def workerCheck(self, timeout = 0.5, checkinterval = 0.1):
result = ping_worker.delay(1)
checktime = time.time()
self.log.info("checking for worker process")
self._worker_checked = checktime
while not result.ready():
time.sleep(checkinterval)
if time.time() - checktime > timeout:
self.log.info("worker check timeout")
self._worker_enabled = False
return False
if result.get() == 2:
self.log.info("worker found")
self._worker_enabled = True
return True
else:
self._worker_enabled = False
return False
def reloadInspections(self):
i = list(M.Inspection.objects)
m = list(M.Measurement.objects)
w = list(M.Watcher.objects)
self.inspections = i
self.measurements = m
self.watchers = w
def subscribe(self, name):
# Create thread that listens for event specified by name
# If message received, trigger that event
def callback(msg):
data = jsondecode(msg.body)
self.trigger(name, data)
def listener():
self._channel_manager.subscribe(name, callback)
gevent.spawn_link_exception(listener)
def publish(self, name, data):
self._channel_manager.publish(name, data)
def get_image(self, width, index, camera):
frame = self.lastframes[index][camera]
image = frame.image
if (width):
image = image.scale(width / float(image.width))
s = StringIO()
image.save(s, "jpeg", quality=60)
return dict(
content_type='image/jpeg',
data=s.getvalue())
def get_config(self):
return self._config.get_config()
def reset(self):
start = State(self, 'start')
self._states = dict(start=start)
self._cur_state = start
def capture(self, indexes = []):
currentframes = []
self.framecount += 1
cameras = self.cameras
if len(indexes):
cameras = [ self.cameras[i] for i in indexes ]
currentframes = [ cam.getFrame() for cam in cameras ]
while len(self.lastframes) >= (self._config.max_frames or 30):
self.lastframes.popleft()
self.lastframes.append(currentframes)
new_frame_ids = []
for frame in currentframes:
new_frame_ids.append(frame.id)
return currentframes
"""
This is probably not used any more. commenting out to make sure
def inspect(self, frames = []):
if not len(frames) and not len(self.lastframes):
frames = self.capture()
elif not len(frames):
frames = self.lastframes[-1]
for frame in frames:
frame.features = []
frame.results = []
for inspection in self.inspections:
if inspection.parent: #root parents only
continue
if inspection.camera and frame.camera != inspection.camera:
#this camera, or all cameras if no camera is specified
continue
feats = inspection.execute(frame.image)
frame.features.extend(feats)
for m in inspection.measurements:
m.execute(frame, feats)
for watcher in self.watchers:
watcher.check(frame.results)
"""
def process(self, frame):
if self._worker_enabled:
async_results = self.process_async(frame)
return self.process_async_complete(frame, async_results)
frame.features = []
frame.results = []
# all times are in seconds, not ms
ct_epoch = int(frame.capturetime.strftime("%s"))
for inspection in M.Inspection.objects:
if inspection.parent:
continue
if inspection.camera and inspection.camera != frame.camera:
continue
if 'interval' in inspection.parameters and not nextInInterval(frame, inspection.parameters['intervalField'], inspection.parameters['interval']):
continue
features = inspection.execute(frame)
frame.features += features
for m in inspection.measurements:
if 'interval' in m.parameters and not nextInInterval(frame, m.parameters['intervalField'], m.parameters['interval']):
continue
m.execute(frame, features)
def process_async(self, frame):
frame.features = []
frame.results = []
frame.save_image()
#make sure the image is in gridfs (does nothing if already saved)
results_async = []
inspections = list(M.Inspection.objects)
#allocate each inspection to a celery task
# all times are in seconds, not ms
for inspection in M.Inspection.objects:
if inspection.parent:
continue
if inspection.camera and inspection.camera != frame.camera:
continue
if 'interval' in inspection.parameters and not nextInInterval(frame, inspection.parameters['intervalField'], inspection.parameters['interval']):
continue
results_async.append(execute_inspection.delay(inspection.id, frame.imgfile.grid_id, frame.metadata))
return results_async
def process_async_complete(self, frame, results_async):
#note that async results refer to Celery results, and not Frame results
results_complete = []
ct_epoch = int(frame.capturetime.strftime("%s"))
while not len(results_complete) == len(results_async):
new_ready_results = []
for index, r in enumerate(results_async):
if not index in results_complete and r.ready():
new_ready_results.append(index)
for result_index in new_ready_results:
(scvfeatures, inspection_id) = results_async[result_index].get()
insp = M.Inspection.objects.get(id=inspection_id)
features = []
for scvfeature in scvfeatures:
scvfeature.image = frame.image
ff = M.FrameFeature()
ff.setFeature(scvfeature)
ff.inspection = insp.id
features.append(ff)
frame.features += features
#import pdb;pdb.set_trace()
for m in insp.measurements:
if 'interval' in m.parameters and not nextInInterval(frame, m.parameters['intervalField'], m.parameters['interval']):
continue
m.execute(frame, features)
results_complete += new_ready_results
time.sleep(0.2)
@property
def results(self):
ret = []
for frameset in self.lastframes:
results = []
for f in frameset:
results += [f.results for f in frameset]
ret.append(results)
return ret
"""
def get_inspection(self, name):
return M.Inspection.objects(name=name).next()
def get_measurement(self, name):
return M.Measurement.objects(name=name).next()
"""
def state(self, name):
if name in self._states: return self._states[name]
s = self._states[name] = State(self, name)
return s
def trigger(self, name, data=None):
self._events.put((name, data))
def step(self):
next = self._cur_state = self._cur_state.run()
return next
def wait(self, name):
while True:
try:
(n,d) = self._events.get(timeout=0.5)
if n == name: return (n,d)
except Empty:
continue
self._cur_state.trigger(n,d)
def on(self, state_name, event_name):
state = self.state(state_name)
self.subscribe(event_name)
return state.on(event_name)
def run(self, audit=False):
audit_trail = []
while True:
print self._cur_state
if self._cur_state is None: break
if audit: audit_trail.append(self._cur_state.name)
try:
self._cur_state = self._cur_state.run()
except self.Transition, t:
if isinstance(t.state, State):
self._cur_state = t.state
elif t.state is None:
self._cur_state = None
else:
self._cur_state = self.state(t.state)
audit_trail.append(None)
return audit_trail
class Controls(object):
iterator = ''
board = ''
servos = None
digitalouts = None
buttons = None
subsock = None
def __init__(self, session):
monkey.patch_socket()
import gevent_zeromq
gevent_zeromq.monkey_patch()
#we do use greenlets, but only patch sock stuff
#other stuff messes up the
config = session.arduino
boardglob = config['board']
boards = glob(boardglob)
if not len(boards):
raise Exception("No Arduino found")
self.board = Arduino(boards[0])
#self.iterator = util.Iterator(self.board)
#self.iterator.daemon = True
#self.iterator.start()
#initialize servo objects
self.servos = {}
if "servos" in config:
for servo in config["servos"]:
self.servos[servo['name']] = Servo(servo['pin'], self.board)
#initialize light objects
self.digitalouts = {}
if "digitalouts" in config:
for do in config["digitalouts"]:
self.digitalouts[do['name']] = DigitalOut(do['pin'], self.board)
if "digitalouts" in config or "servos" in config:
self.subsock = ChannelManager().subscribe("ControlOutput/")
self.buttons = []
if "buttons" in config:
for button in config["buttons"]:
self.buttons.append(Button(button['pin'], button['message'], self.board))
self.potentiometers = []
if "potentiometers" in config:
for pot in config["potentiometers"]:
self.buttons.append(Potentiometer(pot['pin'], pot['name'], self.board))
def checkSubscription(self):
if not self.subsock:
return
while True:
channel = self.subsock.recv()
message = self.subsock.recv()
message = jsondecode(message)
for name,value in message.items():
if name in self.servos:
self.servos[name].moveTo(value)
elif name in self.digitalouts:
self.digitalouts[name].write(value)
gevent.sleep(0)
def run(self):
if self.subsock and len(self.buttons):
gevent.spawn_link_exception(Controls.checkSubscription, self)
elif self.subsock:
self.checkSubscription()
return
while True:
while self.board.bytes_available():
self.board.iterate()
#make sure we have a clean buffer before bouncing the buttons
for b in self.buttons:
b.read()
for p in self.potentiometers:
p.read()
gevent.sleep(0)
