def __init__(
self,
verbose: bool = False,
tmpdir: Path = None,
callbacks: List[Callback] = (),
camera_rotation: int = 180,
preview: bool = False,
# picamera settings
*args,
**kwargs,
):
self._callbacks = {}
for cb in callbacks:
self._callbacks.setdefault(cb.exec_at, []).append(cb)
for k, v in self._callbacks.items():
self._callbacks[k] = sorted(self._callbacks[k],
key=lambda x: x.priority,
reverse=True)
self._execute_callbacks(ExecPoint.BEFORE_INIT)
self._preview = preview
self.cam = PiCamera(*args, **kwargs)
self.cam.rotation = camera_rotation
if self._preview:
self.cam.start_preview()
sleep(2)
self._logger = get_logger(self.__class__.__name__, verb=verbose)
if tmpdir is None:
self._tmpdir_holder = TemporaryDirectory(prefix=self.TMPDIR_PREFIX)
self._tmpdir = Path(str(self._tmpdir_holder.name))
else:
self._tmpdir = Path(str(tmpdir))
def __init__(self,
exec_at: ExecPoint,
timeout: float = 0.5,
verbose: bool = False):
super().__init__(exec_at=exec_at, priority=1000)
self.timeout = timeout
self.blocked = False
self._logger = get_logger(self.__class__.__name__, verb=verbose)
def __init__(self, lock: Lock = None):
tmpdir = os.getenv('TMPDIR', '/tmp')
self.sfp = Path(tmpdir) / self.STATE_FILE_NAME
self._logger = get_logger(self.__class__.__name__, verb=True)
if not self.sfp.is_file():
with open(self.sfp, 'w') as fout:
json.dump({}, fout)
self.sfp.touch(exist_ok=True)
self.lock = lock
def __init__(self, api_token: str = None, chat_id: str = None):
if api_token is not None and chat_id is not None:
self.api_token = api_token
self.chat_id = chat_id
else:
self.api_token = os.getenv(self.API_TOKEN_ENV_VAR, None)
self.chat_id = os.getenv(self.CHAT_ID_ENV_VAR, None)
self._logger = get_logger(self.__class__.__name__, verb=True)
if self.api_token is None or self.chat_id is None:
raise RuntimeError(
'Could not find Telegram credentials in environment.')
def __init__(
self,
storage_dir: Path,
file_prefix: str = 'file',
file_ext: str = '.mp4',
rotate_fill_perc: int = 90,
):
self.storage_dir = Path(str(storage_dir))
self._file_prefix = file_prefix
self._file_ext = file_ext
self._rotate_fill_perc = rotate_fill_perc
self._logger = get_logger(self.__class__.__name__, verb=True)
if self.storage_dir.is_file():
raise RuntimeError(f'Storage dir is a file: {storage_dir}')
self.storage_dir.mkdir(exist_ok=True)
def __init__(
self, cam: Cam, servos: Dict[Tuple[str, str], Servo] = None, verbose: bool = False
):
self.cam = cam
self.servos = servos if servos is not None else {}
self._logger = get_logger(self.__class__.__name__, verb=verbose)
self._cam_in_q = Queue()
self._cam_out_q = Queue()
self._servo_in_qs = {k: Queue() for k in self.servos.keys()}
self._cam_thread = Thread(target=self._cam_worker, name='cam_worker', daemon=False)
self._servo_threads = [
Thread(target=self._servo_worker, kwargs=dict(servo_name=sn), daemon=True)
for sn in self.servos.keys()
]
self._cam_thread.start()
sleep(Platform.CAM_RES_POLL_TIMEOUT) # initial sleep for cam setup before servos start
for st in self._servo_threads:
st.start()
def __init__(
self,
board_pin: int,
freq: float = 50,
verbose: bool = False,
servo_name: str = 'A/D',
hacked: bool = False,
on_invalid_angle: str = 'raise',
init_angle: Union[int, str] = 0,
):
self.pin = board_pin
self.angle = None
self.hacked = hacked
self._on_invalid_angle = on_invalid_angle
self._servo_name = f'({servo_name})' if servo_name is not None else ''
self._logger = get_logger(
f'{self.__class__.__name__}{self._servo_name}', verb=verbose)
GPIO.setup(self.pin, GPIO.OUT)
self._pwm = GPIO.PWM(self.pin, freq)
self._initialize_servo_pos()
if init_angle == 'guess':
init_angle = self.MOCK_INIT_ASSUMED_ANGLE
elif init_angle == 'load':
state = State()
init_angle = state['servo', self._servo_name, 'angle']
if init_angle is None:
init_angle = self.MOCK_INIT_ASSUMED_ANGLE
elif isinstance(init_angle, str) and init_angle.isnumeric():
init_angle = int(init_angle)
elif isinstance(init_angle, int):
pass
else:
raise NotImplementedError(
f'Invalid selection for init_angle: {init_angle}')
init_angle = int(init_angle)
if init_angle != 0:
self._run_servo_op(angle=init_angle)