def init_on_track(self, root, config, dataset_yaml):
print("[1/3] Loading tracks in %s." % os.path.basename(config["tracks_csv"]))
tracks = np.genfromtxt(self.config["tracks_csv"])
# check that all features start at the same timestamp, if not, discard features that occur later
first_len_tracks = len(tracks)
valid_ids, tracks = filter_first_tracks(tracks, filter_too_short=True)
if len(tracks) < first_len_tracks:
print("WARNING: This package only supports evaluation of tracks which have been initialized at the same"
" time. All tracks except the first have been discarded.")
tracks_dict = {i: tracks[tracks[:, 0] == i, 1:] for i in valid_ids}
print("[2/3] Loading frame dataset to find positions of initial tracks.")
frame_dataset = Dataset(root, dataset_yaml, dataset_type="frames")
# find dataset indices for each start
tracks_init = {}
print("[3/3] Initializing tracks")
for track_id, track in tracks_dict.items():
frame_dataset.set_to_first_after(track[0,0])
t_dataset, _ = frame_dataset.current()
x_interp = np.interp(t_dataset, track[:, 0], track[:, 1])
y_interp = np.interp(t_dataset, track[:, 0], track[:, 2])
tracks_init[track_id] = np.array([[t_dataset, x_interp, y_interp]])
tracks_obj = Tracks(tracks_init)
return tracks_obj, {"frame_dataset": frame_dataset, "reference_track": tracks}
def init_by_reprojection(self, root, config, dataset_yaml):
"""
inits tracks by extracting corners on image and then backprojecting them for a given pose.
"""
print("[1/3] Loading tracks in %s" %
os.path.basename(config["tracks_csv"]))
tracks = np.genfromtxt(config["tracks_csv"])
first_len_tracks = len(tracks)
valid_ids, tracks = filter_first_tracks(tracks, filter_too_short=True)
if len(tracks) < first_len_tracks:
print(
"WARNING: This package only supports evaluation of tracks which have been initialized at the same"
" time. All tracks except the first have been discarded.")
tracks_dict = {i: tracks[tracks[:, 0] == i, 1:] for i in valid_ids}
features = np.stack([tracks_dict[i][0]
for i in valid_ids]).reshape(-1, 1, 3)
print("[2/3] Loading depths, poses, frames and camera info")
depth_dataset = Dataset(root, dataset_yaml, dataset_type="depth")
pose_dataset = Dataset(root, dataset_yaml, dataset_type="poses")
camera_info_dataset = Dataset(root,
dataset_yaml,
dataset_type="camera_info")
K = camera_info_dataset.K
img_size = camera_info_dataset.img_size
# find poses and depths at features
print("[3/3] Backprojecting first feature positions")
depth_maps_interp = depth_dataset.get_interpolated(features[:, 0, 0])
depths = grid_sample(features[:, 0, 1:], depth_maps_interp)
poses = pose_dataset.get_interpolated(features[:, 0, 0])
landmarks = backProjectFeatures(K, features[:, :, 1:], depths, poses)
t_min = np.min(features[:, 0, 0])
pose_dataset.set_to_first_after(t_min)
# parse
landmarks_dict = {i: landmarks[j] for j, i in enumerate(valid_ids)}
features_dict = {i: features[j] for j, i in enumerate(valid_ids)}
# create dict of features
tracks_obj = Tracks(features_dict)
# params for tracker
tracker_params = {
"landmarks": landmarks_dict,
"pose_dataset": pose_dataset,
"img_size": img_size,
"K": K,
"reference_track": tracks
}
return tracks_obj, tracker_params
def networks():
try:
from .config import Config
from .networks import Networks
from .tracks import Tracks
except SystemError:
from config import Config
from networks import Networks
from tracks import Tracks
def dummy(bla):
return
test_data = get_client_test_data()[2]
test_config = Config(None).default_config
networks = Networks(test_config)
networks.notify_add_list["map"] = dummy
networks.notify_add_list["network_list"] = dummy
networks.notify_remove_list["map"] = dummy
networks.notify_remove_list["network_list"] = dummy
for x in range(2):
for data in test_data:
if data is not None and data[0] == "bssid":
networks.add_bssid_data(data[1], 0)
data[1]["lasttime"] = data[1]["lasttime"] + 1
for data in test_data:
if data is not None and data[0] == "ssid":
networks.add_ssid_data(data[1])
data[1]["lasttime"] = data[1]["lasttime"] + 1
tmp_csv_file = "%s%stest-%s.csv" % (tempfile.gettempdir(), os.sep, int(time.time()))
tmp_csv = open(tmp_csv_file, "w")
tmp_csv.write("""Network;NetType;ESSID;BSSID;Info;Channel;Cloaked;Encryption;Decrypted;MaxRate;MaxSeenRate;Beacon;LLC;Data;Crypt;Weak;Total;Carrier;Encoding;FirstTime;LastTime;BestQuality;BestSignal;BestNoise;GPSMinLat;GPSMinLon;GPSMinAlt;GPSMinSpd;GPSMaxLat;GPSMaxLon;GPSMaxAlt;GPSMaxSpd;GPSBestLat;GPSBestLon;GPSBestAlt;DataSize;IPType;IP;
1;infrastructure;asd;11:22:33:44:55:66;;3;No;WEP,WPA,PSK,AES-CCM;No;18.0;1000;25600;148;0;0;0;148;IEEE 802.11g;;Thu Jan 22 05:48:23 2009;Thu Jan 22 05:51:46 2009;0;65;-98;52.123456;13.123456;120.120003;0.000000;52.123456;13.123456;120.120003;2.934490;0.000000;0.000000;0.000000;0;None;0.0.0.0;""")
tmp_csv.close()
for x in range(2):
networks.import_networks("csv", tmp_csv_file)
networks.import_networks("netxml", "")
tmp_tracks_file = "%s%stest-tracks-%s.json" % (tempfile.gettempdir(), os.sep, int(time.time()))
test_tracks = Tracks(tmp_tracks_file)
networks_file = "%s%snetworks-%s.json" % (tempfile.gettempdir(), os.sep, int(time.time()))
networks.save(networks_file)
networks.load(networks_file)
networks.import_networks("networks",networks_file)
networks.apply_filters()
networks.save(networks_file)
networks.export_networks_netxml(tempfile.gettempdir() + os.sep + "test.netxml", networks.networks)
networks.import_networks("netxml", tempfile.gettempdir() + os.sep + "test.netxml")
networks.export_networks_kmz(tempfile.gettempdir() + os.sep + "test.kmz", networks.networks, tracks=test_tracks, filtered=False)
networks.export_networks_kmz(tempfile.gettempdir() + os.sep + "test.kmz", networks.networks, tracks=test_tracks, filtered=True)
return networks
def track_page():
tras = Tracks(app.config['dsn'])
if request.method == 'GET':
now = datetime.datetime.now()
tlist = tras.get_tracklist()
return render_template('tracks.html', TrackList = tlist, current_time = now.ctime())
elif 'tracks_to_delete' in request.form:
ids = request.form.getlist('tracks_to_delete')
for id in ids:
tras.delete_track(id)
return redirect(url_for('track_page'))
elif 'tracks_to_add' in request.form:
tras.add_track(request.form['title'])
return redirect(url_for('track_page'))
elif 'tracks_to_update' in request.form:
tras.update_track(request.form['id'], request.form['title'])
return redirect(url_for('track_page'))
def init_on_track(self, root, config, dataset_yaml):
print("[1/3] Loading tracks in %s." %
os.path.basename(config["tracks_csv"]))
tracks = np.genfromtxt(self.config["tracks_csv"])
# check that all features start at the same timestamp, if not, discard features that occur later
first_len_tracks = len(
tracks) #~ total number of features. (line number).
valid_ids, tracks = filter_first_tracks(tracks, filter_too_short=True)
if len(tracks
) < first_len_tracks: # 意味着筛掉了一些id，所以提示：非初始时刻的feature，都没有保留。
print(
"WARNING: This package only supports evaluation of tracks which have been initialized at the same"
" time. All tracks except the first have been discarded.")
tracks_dict = {i: tracks[tracks[:, 0] == i, 1:]
for i in valid_ids
} # 提取出每个 id 的所有track结果，保存在一个dict中。一共有 n 个dict，n即总的id数。
print(
"[2/3] Loading frame dataset to find positions of initial tracks.")
frame_dataset = Dataset(root, dataset_yaml, dataset_type="frames")
# find dataset indices for each start
tracks_init = {}
print("[3/3] Initializing tracks")
for track_id, track in tracks_dict.items():
frame_dataset.set_to_first_after(
track[0, 0]) # 找到 第一个feature之后的第一个frame图
t_dataset, _ = frame_dataset.current()
x_interp = np.interp(t_dataset, track[:, 0],
track[:,
1]) # 根据frame图的时间戳，和前后两次跟踪的结果，插值等到位置。
y_interp = np.interp(t_dataset, track[:, 0], track[:, 2])
tracks_init[track_id] = np.array([[t_dataset, x_interp, y_interp]])
tracks_obj = Tracks(tracks_init) # 打包成 Tracks类型
return tracks_obj, {
"frame_dataset": frame_dataset,
"reference_track": tracks
}
def init_by_reprojection(self, root, config, dataset_yaml):
"""
inits tracks by extracting corners on image and then backprojecting them for a given pose.
"""
print("[1/3] Loading tracks in %s" % os.path.basename(config["tracks_csv"]))
tracks = np.genfromtxt(config["tracks_csv"])
ids = np.unique(tracks[:, 0]).astype(int)
tracks_dict = {i: tracks[tracks[:, 0] == i, 1:] for i in ids}
features = np.stack([tracks_dict[i][0] for i in ids]).reshape(-1, 1, 3)
print("[2/3] Loading depths, poses, frames and camera info")
depth_dataset = Dataset(root, dataset_yaml, dataset_type="depth")
pose_dataset = Dataset(root, dataset_yaml, dataset_type="poses")
camera_info_dataset = Dataset(root, dataset_yaml, dataset_type="camera_info")
K = camera_info_dataset.K
img_size = camera_info_dataset.img_size
# find poses and depths at features
print("[3/3] Backprojecting first feature positions")
depth_maps_interp = depth_dataset.get_interpolated(features[:, 0, 0])
depths = grid_sample(features[:,0,1:], depth_maps_interp)
poses = pose_dataset.get_interpolated(features[:, 0, 0])
landmarks = backProjectFeatures(K, features[:, :, 1:], depths, poses)
t_min = np.min(features[:, 0, 0])
pose_dataset.set_to_first_after(t_min)
# parse
landmarks_dict = {i: landmarks[j] for j,i in enumerate(ids)}
features_dict = {i: features[j] for j,i in enumerate(ids)}
# create dict of features
tracks_obj = Tracks(features_dict)
# params for tracker
tracker_params = {"landmarks": landmarks_dict,
"pose_dataset": pose_dataset, "img_size": img_size, "K": K, "reference_track": tracks}
return tracks_obj, tracker_params
def init_on_track(self, root, config, dataset_yaml):
print("[1/3] Loading tracks in %s." % os.path.basename(config["tracks_csv"]))
tracks = np.genfromtxt(self.config["tracks_csv"])
ids = np.unique(tracks[:, 0]).astype(int)
tracks_dict = {i: tracks[tracks[:, 0] == i, 1:] for i in ids}
print("[2/3] Loading frame dataset to find positions of initial tracks.")
frame_dataset = Dataset(root, dataset_yaml, dataset_type="frames")
# find dataset indices for each start
tracks_init = {}
print("[3/3] Initializing tracks")
for track_id, track in tracks_dict.items():
frame_dataset.set_to_first_after(track[0,0])
t_dataset, _ = frame_dataset.current()
x_interp = np.interp(t_dataset, track[:, 0], track[:, 1])
y_interp = np.interp(t_dataset, track[:, 0], track[:, 2])
tracks_init[track_id] = np.array([[t_dataset, x_interp, y_interp]])
tracks_obj = Tracks(tracks_init)
return tracks_obj, {"frame_dataset": frame_dataset, "reference_track": tracks}
def __init__(self):
user_dir = "%s%s.kismon%s" % (os.path.expanduser("~"), os.sep, os.sep)
if not os.path.isdir(user_dir):
print("Creating Kismon user directory %s" % user_dir)
os.mkdir(user_dir)
config_file = "%skismon.conf" % user_dir
self.config_handler = Config(config_file)
self.config_handler.read()
self.config = self.config_handler.config
self.sources = {}
self.crypt_cache = {}
self.networks = Networks(self.config)
self.client_threads = {}
self.init_client_threads()
self.tracks = Tracks("%stracks.json" % user_dir)
self.tracks.load()
if "--disable-map" in sys.argv:
self.map_error = "--disable-map used"
else:
self.map_error = check_osmgpsmap()
if self.map_error is not None:
self.map_error = "%s\nMap disabled" % self.map_error
print(self.map_error, "\n")
self.init_map()
self.main_window = MainWindow(self.config, self.client_start,
self.client_stop, self.map,
self.networks, self.sources, self.tracks,
self.client_threads)
self.main_window.log_list.add("Kismon", "started")
if self.map_error is not None:
self.main_window.log_list.add("Kismon", self.map_error)
self.networks_file = "%snetworks.json" % user_dir
if os.path.isfile(self.networks_file):
try:
self.networks.load(self.networks_file)
except:
error = sys.exc_info()[1]
print(error)
dialog_message = "Could not read the networks file '%s':\n%s\n\nDo you want to continue?" % (
self.networks_file, error)
dialog = Gtk.MessageDialog(self.main_window.gtkwin,
Gtk.DialogFlags.DESTROY_WITH_PARENT,
Gtk.MessageType.ERROR,
Gtk.ButtonsType.YES_NO,
dialog_message)
def dialog_response(dialog, response_id):
self.dialog_response = response_id
dialog.connect("response", dialog_response)
dialog.run()
dialog.destroy()
if self.dialog_response == -9:
print("exit")
self.clients_stop()
self.main_window.gtkwin = None
return
self.networks.set_autosave(self.config["networks"]["autosave"],
self.networks_file,
self.main_window.log_list.add)
if self.map is not None:
self.networks.notify_add_list["map"] = self.add_network_to_map
self.networks.notify_remove_list["map"] = self.map.remove_marker
GLib.timeout_add(100, self.map.set_last_from_config)
self.main_window.network_list.crypt_cache = self.crypt_cache
GLib.timeout_add(500, self.queues_handler)
GLib.timeout_add(300, self.queues_handler_networks)
GLib.idle_add(self.networks.apply_filters)
class Core:
def __init__(self):
user_dir = "%s%s.kismon%s" % (os.path.expanduser("~"), os.sep, os.sep)
if not os.path.isdir(user_dir):
print("Creating Kismon user directory %s" % user_dir)
os.mkdir(user_dir)
config_file = "%skismon.conf" % user_dir
self.config_handler = Config(config_file)
self.config_handler.read()
self.config = self.config_handler.config
self.sources = {}
self.crypt_cache = {}
self.networks = Networks(self.config)
self.client_threads = {}
self.init_client_threads()
self.tracks = Tracks("%stracks.json" % user_dir)
self.tracks.load()
if "--disable-map" in sys.argv:
self.map_error = "--disable-map used"
else:
self.map_error = check_osmgpsmap()
if self.map_error is not None:
self.map_error = "%s\nMap disabled" % self.map_error
print(self.map_error, "\n")
self.init_map()
self.main_window = MainWindow(self.config, self.client_start,
self.client_stop, self.map,
self.networks, self.sources, self.tracks,
self.client_threads)
self.main_window.log_list.add("Kismon", "started")
if self.map_error is not None:
self.main_window.log_list.add("Kismon", self.map_error)
self.networks_file = "%snetworks.json" % user_dir
if os.path.isfile(self.networks_file):
try:
self.networks.load(self.networks_file)
except:
error = sys.exc_info()[1]
print(error)
dialog_message = "Could not read the networks file '%s':\n%s\n\nDo you want to continue?" % (
self.networks_file, error)
dialog = Gtk.MessageDialog(self.main_window.gtkwin,
Gtk.DialogFlags.DESTROY_WITH_PARENT,
Gtk.MessageType.ERROR,
Gtk.ButtonsType.YES_NO,
dialog_message)
def dialog_response(dialog, response_id):
self.dialog_response = response_id
dialog.connect("response", dialog_response)
dialog.run()
dialog.destroy()
if self.dialog_response == -9:
print("exit")
self.clients_stop()
self.main_window.gtkwin = None
return
self.networks.set_autosave(self.config["networks"]["autosave"],
self.networks_file,
self.main_window.log_list.add)
if self.map is not None:
self.networks.notify_add_list["map"] = self.add_network_to_map
self.networks.notify_remove_list["map"] = self.map.remove_marker
GLib.timeout_add(100, self.map.set_last_from_config)
self.main_window.network_list.crypt_cache = self.crypt_cache
GLib.timeout_add(500, self.queues_handler)
GLib.timeout_add(300, self.queues_handler_networks)
GLib.idle_add(self.networks.apply_filters)
def init_map(self):
if self.map_error is not None:
self.map = None
else:
try:
from .map import Map
except SystemError:
from map import Map
user_agent = 'kismon/%s' % utils.get_version()
self.map = Map(self.config["map"], user_agent=user_agent)
self.map.set_last_from_config()
def init_client_thread(self, server_id):
server = self.config["kismet"]["servers"][server_id]
self.client_threads[server_id] = ClientThread(server)
self.client_threads[server_id].client.set_capabilities(
('status', 'source', 'info', 'gps', 'bssid', 'bssidsrc', 'ssid'))
if "--create-kismet-dump" in sys.argv:
self.client_threads[server_id].client.enable_dump()
def init_client_threads(self):
server_id = 0
for server in self.config["kismet"]["servers"]:
self.init_client_thread(server_id)
server_id += 1
def client_start(self, server_id):
if server_id in self.client_threads and self.client_threads[
server_id].is_running:
self.client_stop(server_id)
self.sources[server_id] = {}
self.init_client_thread(server_id)
if "--load-kismet-dump" in sys.argv:
self.client_threads[server_id].client.load_dump(sys.argv[2])
self.client_threads[server_id].start()
def client_stop(self, server_id):
if self.client_threads[server_id].client.connecting:
# kill connecting sockets, don't wait for the timeout
try:
self.client_threads[server_id].client.s.shutdown(
socket.SHUT_RDWR)
except OSError:
pass
self.client_threads[server_id].stop()
def clients_stop(self):
for server_id in self.client_threads:
self.client_stop(server_id)
return True
def queue_handler(self, server_id):
server_name = self.config['kismet']['servers'][server_id]
if self.main_window.gtkwin is None:
return False
thread = self.client_threads[server_id]
if len(thread.client.error) > 0:
for error in thread.client.error:
self.main_window.log_list.add(server_name, error)
thread.client.error = []
self.main_window.server_tabs[server_id].server_switch.set_active(
False)
page_num = self.main_window.notebook.page_num(
self.main_window.log_list.widget)
self.main_window.notebook.set_current_page(page_num)
#gps
gps = None
fix = None
gps_queue = thread.get_queue("gps")
while True:
try:
data = gps_queue.pop()
if gps is None:
gps = data
if data["fix"] > 1:
fix = (data["lat"], data["lon"])
if self.config['tracks']['store'] == True:
self.tracks.add_point_to_track(server_name,
data['lat'],
data['lon'],
data['alt'])
break
except IndexError:
break
if gps is not None:
self.main_window.server_tabs[server_id].update_gps_table(gps)
if fix is not None and self.map is not None:
server = "server%s" % (server_id + 1)
if server_id == 0:
self.map.set_position(fix[0], fix[1])
else:
self.map.add_marker(server, server, fix[0], fix[1])
self.map.add_track(fix[0], fix[1], server_id)
#status
for data in thread.get_queue("status"):
self.main_window.log_list.add(server_name, data["text"])
#info
info_queue = thread.get_queue("info")
try:
data = info_queue.pop()
self.main_window.server_tabs[server_id].update_info_table(data)
except IndexError:
pass
#source
update = False
for data in thread.get_queue("source"):
uuid = data["uuid"]
if uuid == "00000000-0000-0000-0000-000000000000":
continue
self.sources[server_id][uuid] = data
update = True
if update is True:
self.main_window.server_tabs[server_id].update_sources_table(
self.sources[server_id])
def queues_handler(self):
for server_id in self.client_threads:
self.queue_handler(server_id)
return True
def queue_handler_networks(self, server_id):
thread = self.client_threads[server_id]
#ssid
for data in thread.get_queue("ssid"):
self.networks.add_ssid_data(data)
#bssid
bssids = {}
for data in thread.get_queue("bssid"):
mac = data["bssid"]
self.networks.add_bssid_data(data, server_id)
if mac in self.main_window.signal_graphs and "signal_dbm" not in thread.client.capabilities[
"bssidsrc"]:
self.main_window.signal_graphs[mac].add_value(
None, None, data["signal_dbm"], server_id)
bssids[mac] = True
#bssidsrc
for data in thread.get_queue("bssidsrc"):
if "signal_dbm" not in data or data["uuid"] not in self.sources[
server_id]:
continue
mac = data["bssid"]
if mac in self.main_window.signal_graphs:
self.main_window.signal_graphs[mac].add_value(
self.sources[server_id][data["uuid"]], data,
data["signal_dbm"], server_id)
if len(self.networks.notify_add_queue) > 0:
self.networks.start_queue()
if len(self.networks.notify_add_queue) > 500:
self.networks.disable_refresh()
self.main_window.networks_queue_progress()
self.main_window.update_statusbar()
def queues_handler_networks(self):
for server_id in self.client_threads:
self.queue_handler_networks(server_id)
return True
def quit(self):
self.clients_stop()
if self.map is not None:
lat = self.map.osm.get_property("latitude")
lon = self.map.osm.get_property("longitude")
self.config["map"]["last_position"] = "%.6f/%.6f" % (lat, lon)
while None in self.config['kismet']['servers']:
self.config['kismet']['servers'].remove(None)
self.config_handler.write()
self.networks.save(self.networks_file, force=True)
if self.config['tracks']['store'] == True:
self.tracks.save()
def add_network_to_map(self, mac):
network = self.networks.get_network(mac)
try:
crypt = self.crypt_cache[network["cryptset"]]
except KeyError:
crypt = decode_cryptset(network["cryptset"], True)
self.crypt_cache[network["cryptset"]] = crypt
if "AES_CCM" in crypt or "AES_OCB" in crypt:
color = "red"
elif "WPA" in crypt:
color = "orange"
elif "WEP" in crypt:
color = "yellow"
else:
color = "green"
self.map.add_marker(mac, color, network["lat"], network["lon"])
# Imports for Flask
from flask import Flask, render_template, flash, redirect, request, jsonify
from werkzeug.utils import secure_filename
# Import of own classes
from tracks import Tracks
from playlist import Playlist
from hardware import Hardware
from lighting import Lighting, Section
try:
from led import Leds
except:
from led_nohw import Leds
# Initializations
tracks = Tracks("tracks")
playlist = Playlist()
hardware = Hardware(tracks, playlist)
ledHw = Leds(64)
ledConfig = Lighting(ledHw)
event_start = threading.Event()
event_stop = threading.Event()
event_shutdown = threading.Event()
# Creating the web server
app = Flask(__name__, template_folder=".", static_folder="assets")
app.config.from_object('config.Config')
log = logging.getLogger('werkzeug')
log.setLevel(logging.ERROR)
def __init__(self):
# Ett test av rich:s felhantering konsollmanipulering
install()
# En inställning för att justera inställningar rätt
# Hämtar de tillgängliga inställningarna.
self.settings = Settings(in_car=True)
# Hämtar all tillgänglig ban-info.
self.tracks = Tracks(self)
# Console
console = Console()
# Flag för testning av programmet.
self.counting = False
self.update_counter = 0
self.gps_active = False
# Kommandon som bilen ska läsa.
self.command_list = {
'rpm': 'RPM',
'kmh': 'SPEED',
'throttle': 'THROTTLE_POS',
'water': 'COOLANT_TEMP',
'oiltemp': 'OIL_TEMP',
'load': 'ENGINE_LOAD',
'fuel': 'FUEL_LEVEL'
}
self.measurements_dict = {}
# Allmän info om mätarna. Ifall det ska multipliceras med något, lägg in det
# i gauges - klassen. Typ if unit == '%': value *= 100.
self.gauges_info = {
'rpm': {
'unit': None,
'upper_limit': 8000
},
'kmh': {
'unit': None,
'upper_limit': None
},
'throttle': {
'unit': '%',
'upper_limit': None
},
'water': {
'unit': '°',
'upper_limit': 110
},
'oiltemp': {
'unit': '°',
'upper_limit': 180
},
'load': {
'unit': 'hp',
'upper_limit': None
},
'fuel': {
'unit': '%',
'upper_limit': None
}
}
#try: Detta måste fungera, annars ska det krascha.
self.obd_instance = OBDII(self.settings.OBD_port)
self.settings.obd_active = True
# Använder Tkiner för att ställa in
# skärmen och startförhållanden.
self._init_screen()
try:
requests.put(self.settings.base_url + "location/gps", {
"lat": 0,
"lon": 0
})
requests.put(
self.settings.base_url + "location/gps", {
'rpm': 0,
'kmh': 0,
'throttle': 0,
'water': 0,
'oiltemp': 0,
'load': 0
})
except:
console.print("[bold red]Ingen anslutning.")
else:
console.print("[bold green]Ansluten!")
class K9dApp:
#Compile RE for iwconfig ouput parsing
brre = re.compile (r"Bit Rate=([\d.]+ \S+)",re.M)
lqre = re.compile (r"Link Quality=(\d+/\d+) Signal level=(-\d+ dBm)",re.M)
def __init__ (self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks (pin.port.PB5, pin.port.PB6, 28, pin.port.PB7, pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info ("spinal interface daemon for K-9 starting");
self.servsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info("Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1']=-1
self.faststate['S2']=-1
self.faststate['A1']=-1
self.faststate['A2']=-1
self.faststate['A3']=-1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon (1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon (1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon (1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon (1)
self.tSonar.start()
self.log.info ("ready to play");
def __del__ (self):
self.log.info("Shutting down daemon")
self.gsens.__del__()
self.gsens = None
def gsens_update (self):
if hasattr(self.gsens,'yaw'):
self.faststate['yaw'] = self.gsens.yaw
self.faststate['pitch'] = self.gsens.pitch
self.faststate['roll'] = self.gsens.roll
self.faststate['ax'] = self.gsens.ax
self.faststate['ay'] = self.gsens.ay
self.faststate['az'] = self.gsens.az
self.stateupload()
def log_init(self):
if hasattr(self, 'log'):
self.log.removeHandler(self.stdoutloghandler)
self.log.removeHandler(self.udploghandler)
else:
self.log = logging.getLogger('k9d')
self.stdoutloghandler = logging.StreamHandler(sys.stdout)
self.stdoutloghandler.setFormatter(logging.Formatter("%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.stdoutloghandler.setLevel(logging.DEBUG)
self.udploghandler = logging.handlers.DatagramHandler(self.addr, self.UDP_PORT)
self.udploghandler.setFormatter(logging.Formatter("%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.udploghandler.setLevel(logging.DEBUG)
self.log.setLevel(logging.DEBUG)
self.log.addHandler(self.stdoutloghandler)
self.log.addHandler(self.udploghandler)
def mainloop (self):
while True:
data,(addr,self.port) = self.servsock.recvfrom(1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn ("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr),data)
request = data.split(' ');
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug ("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info ("Sending user packet to spinal: {}".format(emsg))
self.spinal_write (emsg)
elif CMD == "PING":
self.log.info ("PING {} got".format(request[0]))
self.send ("PONG {} {}".format(time.time(),request[0]),self.addr)
elif CMD == "TRACKS":
self.tracks.vector (request[0],request[1]);
self.log.debug ("Tracks vector set to {},{}".format(request[0],request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo (request[0],request[1]);
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off' :
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0,self.run_mjpg,[request[1]])
t.start()
self.log.info ("Killed mjpg with pid {} and deferred run with {}".format(pid,request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info ("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info ("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON' :
status = subprocess.call(["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info ("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0,self.run_festival)
t.start()
self.log.info ("Killed festival with pid {} and deferred run".format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self, 'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info ("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write ("(SayText \"{}\")".format( tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info ("Pronouncing '{}'".format(tts.encode("utf-8")))
else:
self.log.err ("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info ("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error("eval \"{}\" raised {} Exception: {}".format(ecmd,type(e).__name__ ,e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens (0, self.gsens_update, self.log.error, self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
else:
def test_gui_main_window(self):
from gi.repository import Gtk
try:
from .config import Config
from .map import Map
from .gui import MainWindow
from .client import ClientThread
from .tracks import Tracks
except SystemError:
from config import Config
from map import Map
from gui import MainWindow
from client import ClientThread
from tracks import Tracks
def dummy(server_id):
return
test_widget = TestWidget()
test_config = Config(None).default_config
test_map = Map(test_config["map"])
test_networks = networks()
test_client_threads = {0: ClientThread()}
tmp_tracks_file = "%s%stest-tracks-%s.json" % (tempfile.gettempdir(), os.sep, int(time.time()))
test_tracks = Tracks(tmp_tracks_file)
main_window = MainWindow(test_config, dummy, dummy, test_map, test_networks, test_tracks, {0: None, 1: None}, test_client_threads)
main_window.network_list.crypt_cache = {}
main_window.log_list.add("Kismon", "test")
main_window.network_list.add_network('11:22:33:44:55:66')
main_window.network_list.network_selected = '11:22:33:44:55:66'
main_window.network_list.add_network('00:12:2A:03:B9:12')
main_window.network_list.add_network('00:12:2A:03:B9:12')
main_window.network_list.column_selected = 2
main_window.network_list.on_copy_field(None)
main_window.network_list.on_copy_network(None)
main_window.network_list.on_comment_editing_done(test_widget)
main_window.network_list.remove_network('00:12:2A:03:B9:12')
main_window.server_tabs[0].update_info_table({"networks":100, "packets":200} )
main_window.server_tabs[0].update_gps_table({"fix": 3, "lat": 52.0, "lon": 13.0})
sources = {"1": {"uuid": "1", "username": "******", "type": "bla",
"channel": 11, "packets": 100}}
main_window.server_tabs[0].update_sources_table(sources)
main_window.on_configure_event(None, None)
main_window.on_config_window(None)
main_window.on_config_window(None)
main_window.on_signal_graph(None)
main_window.on_signal_graph_destroy(None, "11:22:33:44:55:66")
main_window.fullscreen()
main_window.fullscreen()
main_window.on_map_window(None, True)
main_window.on_map_window(None, False)
main_window.on_map_widget(None, True)
main_window.on_map_widget(None, False)
#main_window.on_server_disconnect(None, 0)
test_event = TestEvent()
main_window.on_window_state(None, test_event)
config_window = main_window.config_window
main_window.on_file_import(None)
test_widget.text = "Infrastructure"
main_window.on_network_filter_type(test_widget)
main_window.on_network_filter_networks(test_widget, "map", "all")
def __init__(self):
user_dir = "%s%s.kismon%s" % (os.path.expanduser("~"), os.sep, os.sep)
if not os.path.isdir(user_dir):
print("Creating Kismon user directory %s" % user_dir)
os.mkdir(user_dir)
config_file = "%skismon.conf" % user_dir
self.config_handler = Config(config_file)
self.config_handler.read()
self.config = self.config_handler.config
self.sources = {}
self.crypt_cache = {}
self.networks = Networks(self.config)
self.client_threads = {}
self.init_client_threads()
self.tracks = Tracks("%stracks.json" % user_dir)
self.tracks.load()
if "--disable-map" in sys.argv:
self.map_error = "--disable-map used"
else:
self.map_error = check_osmgpsmap()
if self.map_error is not None:
self.map_error = "%s\nMap disabled" % self.map_error
print(self.map_error, "\n")
self.init_map()
self.main_window = MainWindow(self.config,
self.client_start,
self.client_stop,
self.map,
self.networks,
self.sources,
self.tracks,
self.client_threads)
self.main_window.log_list.add("Kismon", "started")
if self.map_error is not None:
self.main_window.log_list.add("Kismon", self.map_error)
self.networks_file = "%snetworks.json" % user_dir
if os.path.isfile(self.networks_file):
try:
self.networks.load(self.networks_file)
except:
error = sys.exc_info()[1]
print(error)
dialog_message = "Could not read the networks file '%s':\n%s\n\nDo you want to continue?" % (self.networks_file, error)
dialog = Gtk.MessageDialog(self.main_window.gtkwin, Gtk.DialogFlags.DESTROY_WITH_PARENT, Gtk.MessageType.ERROR, Gtk.ButtonsType.YES_NO, dialog_message)
def dialog_response(dialog, response_id):
self.dialog_response = response_id
dialog.connect("response", dialog_response)
dialog.run()
dialog.destroy()
if self.dialog_response == -9:
print("exit")
self.clients_stop()
self.main_window.gtkwin = None
return
self.networks.set_autosave(self.config["networks"]["autosave"], self.networks_file, self.main_window.log_list.add)
if self.map is not None:
self.networks.notify_add_list["map"] = self.add_network_to_map
self.networks.notify_remove_list["map"] = self.map.remove_marker
GLib.timeout_add(100, self.map.set_last_from_config)
self.main_window.network_list.crypt_cache = self.crypt_cache
GLib.timeout_add(500, self.queues_handler)
GLib.timeout_add(300, self.queues_handler_networks)
GLib.idle_add(self.networks.apply_filters)
class Core:
def __init__(self):
user_dir = "%s%s.kismon%s" % (os.path.expanduser("~"), os.sep, os.sep)
if not os.path.isdir(user_dir):
print("Creating Kismon user directory %s" % user_dir)
os.mkdir(user_dir)
config_file = "%skismon.conf" % user_dir
self.config_handler = Config(config_file)
self.config_handler.read()
self.config = self.config_handler.config
self.sources = {}
self.crypt_cache = {}
self.networks = Networks(self.config)
self.client_threads = {}
self.init_client_threads()
self.tracks = Tracks("%stracks.json" % user_dir)
self.tracks.load()
if "--disable-map" in sys.argv:
self.map_error = "--disable-map used"
else:
self.map_error = check_osmgpsmap()
if self.map_error is not None:
self.map_error = "%s\nMap disabled" % self.map_error
print(self.map_error, "\n")
self.init_map()
self.main_window = MainWindow(self.config,
self.client_start,
self.client_stop,
self.map,
self.networks,
self.sources,
self.tracks,
self.client_threads)
self.main_window.log_list.add("Kismon", "started")
if self.map_error is not None:
self.main_window.log_list.add("Kismon", self.map_error)
self.networks_file = "%snetworks.json" % user_dir
if os.path.isfile(self.networks_file):
try:
self.networks.load(self.networks_file)
except:
error = sys.exc_info()[1]
print(error)
dialog_message = "Could not read the networks file '%s':\n%s\n\nDo you want to continue?" % (self.networks_file, error)
dialog = Gtk.MessageDialog(self.main_window.gtkwin, Gtk.DialogFlags.DESTROY_WITH_PARENT, Gtk.MessageType.ERROR, Gtk.ButtonsType.YES_NO, dialog_message)
def dialog_response(dialog, response_id):
self.dialog_response = response_id
dialog.connect("response", dialog_response)
dialog.run()
dialog.destroy()
if self.dialog_response == -9:
print("exit")
self.clients_stop()
self.main_window.gtkwin = None
return
self.networks.set_autosave(self.config["networks"]["autosave"], self.networks_file, self.main_window.log_list.add)
if self.map is not None:
self.networks.notify_add_list["map"] = self.add_network_to_map
self.networks.notify_remove_list["map"] = self.map.remove_marker
GLib.timeout_add(100, self.map.set_last_from_config)
self.main_window.network_list.crypt_cache = self.crypt_cache
GLib.timeout_add(500, self.queues_handler)
GLib.timeout_add(300, self.queues_handler_networks)
GLib.idle_add(self.networks.apply_filters)
def init_map(self):
if self.map_error is not None:
self.map = None
else:
try:
from .map import Map
except SystemError:
from map import Map
user_agent = 'kismon/%s' % utils.get_version()
self.map = Map(self.config["map"], user_agent=user_agent)
self.map.set_last_from_config()
def init_client_thread(self, server_id):
server = self.config["kismet"]["servers"][server_id]
self.client_threads[server_id] = ClientThread(server)
self.client_threads[server_id].client.set_capabilities(
('status', 'source', 'info', 'gps', 'bssid', 'bssidsrc', 'ssid'))
if "--create-kismet-dump" in sys.argv:
self.client_threads[server_id].client.enable_dump()
def init_client_threads(self):
server_id=0
for server in self.config["kismet"]["servers"]:
self.init_client_thread(server_id)
server_id += 1
def client_start(self, server_id):
if server_id in self.client_threads and self.client_threads[server_id].is_running:
self.client_stop(server_id)
self.sources[server_id] = {}
self.init_client_thread(server_id)
if "--load-kismet-dump" in sys.argv:
self.client_threads[server_id].client.load_dump(sys.argv[2])
self.client_threads[server_id].start()
def client_stop(self, server_id):
if self.client_threads[server_id].client.connecting:
# kill connecting sockets, don't wait for the timeout
try:
self.client_threads[server_id].client.s.shutdown(socket.SHUT_RDWR)
except OSError:
pass
self.client_threads[server_id].stop()
def clients_stop(self):
for server_id in self.client_threads:
self.client_stop(server_id)
return True
def queue_handler(self, server_id):
server_name = self.config['kismet']['servers'][server_id]
if self.main_window.gtkwin is None:
return False
thread = self.client_threads[server_id]
if len(thread.client.error) > 0:
for error in thread.client.error:
self.main_window.log_list.add(server_name, error)
thread.client.error = []
self.main_window.server_tabs[server_id].server_switch.set_active(False)
page_num = self.main_window.notebook.page_num(self.main_window.log_list.widget)
self.main_window.notebook.set_current_page(page_num)
#gps
gps = None
fix = None
gps_queue = thread.get_queue("gps")
while True:
try:
data = gps_queue.pop()
if gps is None:
gps = data
if data["fix"] > 1:
fix = (data["lat"], data["lon"])
if self.config['tracks']['store'] == True:
self.tracks.add_point_to_track(server_name, data['lat'], data['lon'], data['alt'])
break
except IndexError:
break
if gps is not None:
self.main_window.server_tabs[server_id].update_gps_table(gps)
if fix is not None and self.map is not None:
server = "server%s" % (server_id + 1)
if server_id == 0:
self.map.set_position(fix[0], fix[1])
else:
self.map.add_marker(server, server, fix[0], fix[1])
self.map.add_track(fix[0], fix[1], server_id)
#status
for data in thread.get_queue("status"):
self.main_window.log_list.add(server_name, data["text"])
#info
info_queue = thread.get_queue("info")
try:
data = info_queue.pop()
self.main_window.server_tabs[server_id].update_info_table(data)
except IndexError:
pass
#source
update = False
for data in thread.get_queue("source"):
uuid = data["uuid"]
if uuid == "00000000-0000-0000-0000-000000000000":
continue
self.sources[server_id][uuid] = data
update = True
if update is True:
self.main_window.server_tabs[server_id].update_sources_table(self.sources[server_id])
def queues_handler(self):
for server_id in self.client_threads:
self.queue_handler(server_id)
return True
def queue_handler_networks(self, server_id):
thread = self.client_threads[server_id]
#ssid
for data in thread.get_queue("ssid"):
self.networks.add_ssid_data(data)
#bssid
bssids = {}
for data in thread.get_queue("bssid"):
mac = data["bssid"]
self.networks.add_bssid_data(data, server_id)
if mac in self.main_window.signal_graphs and "signal_dbm" not in thread.client.capabilities["bssidsrc"]:
self.main_window.signal_graphs[mac].add_value(None, None, data["signal_dbm"], server_id)
bssids[mac] = True
#bssidsrc
for data in thread.get_queue("bssidsrc"):
if "signal_dbm" not in data or data["uuid"] not in self.sources[server_id]:
continue
mac = data["bssid"]
if mac in self.main_window.signal_graphs:
self.main_window.signal_graphs[mac].add_value(self.sources[server_id][data["uuid"]], data, data["signal_dbm"], server_id)
if len(self.networks.notify_add_queue) > 0:
self.networks.start_queue()
if len(self.networks.notify_add_queue) > 500:
self.networks.disable_refresh()
self.main_window.networks_queue_progress()
self.main_window.update_statusbar()
def queues_handler_networks(self):
for server_id in self.client_threads:
self.queue_handler_networks(server_id)
return True
def quit(self):
self.clients_stop()
if self.map is not None:
lat = self.map.osm.get_property("latitude")
lon = self.map.osm.get_property("longitude")
self.config["map"]["last_position"] = "%.6f/%.6f" % (lat, lon)
while None in self.config['kismet']['servers']:
self.config['kismet']['servers'].remove(None)
self.config_handler.write()
self.networks.save(self.networks_file, force=True)
if self.config['tracks']['store'] == True:
self.tracks.save()
def add_network_to_map(self, mac):
network = self.networks.get_network(mac)
try:
crypt = self.crypt_cache[network["cryptset"]]
except KeyError:
crypt = decode_cryptset(network["cryptset"], True)
self.crypt_cache[network["cryptset"]] = crypt
if "AES_CCM" in crypt or "AES_OCB" in crypt:
color = "red"
elif "WPA" in crypt:
color = "orange"
elif "WEP" in crypt:
color = "yellow"
else:
color = "green"
self.map.add_marker(mac, color, network["lat"], network["lon"])
class K9dApp:
#Compile RE for iwconfig ouput parsing
brre = re.compile(r"Bit Rate=([\d.]+ \S+)", re.M)
lqre = re.compile(r"Link Quality=(\d+/\d+) Signal level=(-\d+ dBm)", re.M)
def __init__(self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks(pin.port.PB5, pin.port.PB6, 28, pin.port.PB7,
pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info("spinal interface daemon for K-9 starting")
self.servsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info(
"Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1'] = -1
self.faststate['S2'] = -1
self.faststate['A1'] = -1
self.faststate['A2'] = -1
self.faststate['A3'] = -1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon(1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon(1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon(1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon(1)
self.tSonar.start()
self.log.info("ready to play")
def __del__(self):
self.log.info("Shutting down daemon")
self.gsens.__del__()
self.gsens = None
def gsens_update(self):
if hasattr(self.gsens, 'yaw'):
self.faststate['yaw'] = self.gsens.yaw
self.faststate['pitch'] = self.gsens.pitch
self.faststate['roll'] = self.gsens.roll
self.faststate['ax'] = self.gsens.ax
self.faststate['ay'] = self.gsens.ay
self.faststate['az'] = self.gsens.az
self.stateupload()
def log_init(self):
if hasattr(self, 'log'):
self.log.removeHandler(self.stdoutloghandler)
self.log.removeHandler(self.udploghandler)
else:
self.log = logging.getLogger('k9d')
self.stdoutloghandler = logging.StreamHandler(sys.stdout)
self.stdoutloghandler.setFormatter(
logging.Formatter(
"%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.stdoutloghandler.setLevel(logging.DEBUG)
self.udploghandler = logging.handlers.DatagramHandler(
self.addr, self.UDP_PORT)
self.udploghandler.setFormatter(
logging.Formatter(
"%(asctime)s [%(name)s#%(levelname)s]: %(message)s"))
self.udploghandler.setLevel(logging.DEBUG)
self.log.setLevel(logging.DEBUG)
self.log.addHandler(self.stdoutloghandler)
self.log.addHandler(self.udploghandler)
def mainloop(self):
while True:
data, (addr, self.port) = self.servsock.recvfrom(
1024) # buffer size is 1024 bytes
if addr != self.addr:
self.log.warn("New client ip: {}".format(addr))
self.addr = addr
self.log_init()
out = "{}>{} &".format(str(self.addr), data)
request = data.split(' ')
CMD = request.pop(0)
CMD = CMD.strip("\n")
if CMD == "STOP":
self.tracks.neutral()
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
self.log.debug("Tracks vector set to neutral")
elif CMD == "SPINAL":
emsg = ' '.join(request)
self.log.info("Sending user packet to spinal: {}".format(emsg))
self.spinal_write(emsg)
elif CMD == "PING":
self.log.info("PING {} got".format(request[0]))
self.send("PONG {} {}".format(time.time(), request[0]),
self.addr)
elif CMD == "TRACKS":
self.tracks.vector(request[0], request[1])
self.log.debug("Tracks vector set to {},{}".format(
request[0], request[1]))
self.faststate['trackr'] = self.tracks.trackr
self.faststate['trackl'] = self.tracks.trackl
self.stateupload()
elif CMD == "SERVO":
self.servo(request[0], request[1])
elif CMD == "SON":
if request[0] == 'Failsafe':
self.sonaron = True
if request[1] == 'off': self.sonarfailsafe = 0
else: self.sonarfailsafe = float(request[1])
elif request[0] == 'Sonar' and request[1] == 'off':
self.sonaron = False
self.sonarfailsafe = 0
elif CMD == "CAM":
if request[0] == 'RES':
if hasattr(self, 'pmjpg'):
if self.pmjpg.poll() == None:
pid = self.pmjpg.pid
self.pmjpg.kill()
self.videomode = "OFF"
t = threading.Timer(2.0, self.run_mjpg,
[request[1]])
t.start()
self.log.info(
"Killed mjpg with pid {} and deferred run with {}"
.format(pid, request[1]))
else:
self.run_mjpg(request[1])
else:
self.run_mjpg(request[1])
elif request[0] == 'OFF':
if hasattr(self, 'pmjpg') and self.pmjpg.poll() == None:
self.pmjpg.kill()
self.videomode = "OFF"
self.log.info("Killed mjpg.")
elif request[0] == 'ZOOM' and request[1] == 'OFF':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=1"])
self.log.info("Zoom OFF")
elif request[0] == 'ZOOM' and request[1] == 'ON':
status = subprocess.call(
["/usr/bin/v4l2-ctl", "--set-ctrl=zoom_absolute=5"])
self.log.info("Zoom ON")
elif CMD == "FESTIVAL":
if request[0] == 'ON':
if hasattr(self, 'pfestival'):
if self.pfestival.poll() == None:
pid = self.pfestival.pid
self.pfestival.kill()
self.festivalup = False
t = threading.Timer(2.0, self.run_festival)
t.start()
self.log.info(
"Killed festival with pid {} and deferred run".
format(pid))
else:
self.run_festival()
else:
self.run_festival()
elif request[0] == 'OFF':
if hasattr(self,
'pfestival') and self.pfestival.poll() == None:
self.pfestival.kill()
self.festivalup = False
self.log.info("Killed festival")
elif CMD == "SAY":
tts = cPickle.loads(data[4:])
if self.festivalup:
self.pfestival.stdin.write("(SayText \"{}\")".format(
tts.encode("utf-8")))
self.pfestival.stdin.flush()
self.log.info("Pronouncing '{}'".format(
tts.encode("utf-8")))
else:
self.log.err("Can't SAY, festival down")
elif CMD == 'EVAL':
ecmd = " ".join(request)
try:
output = eval("pprint.pformat({})".format(ecmd))
self.log.info("{} = {}".format(ecmd, output))
except Exception, e:
self.log.error(
"eval \"{}\" raised {} Exception: {}".format(
ecmd,
type(e).__name__, e))
elif CMD == "GSENSOR":
if request[0] == 'ON':
self.gsens = GSens(0, self.gsens_update, self.log.error,
self.log.info, self.log.debug)
elif request[0] == 'OFF':
self.gsens.__del__()
self.gsens = None
else:
def __init__(self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks(pin.port.PB5, pin.port.PB6, 28, pin.port.PB7,
pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info("spinal interface daemon for K-9 starting")
self.servsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info(
"Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1'] = -1
self.faststate['S2'] = -1
self.faststate['A1'] = -1
self.faststate['A2'] = -1
self.faststate['A3'] = -1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon(1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon(1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon(1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon(1)
self.tSonar.start()
self.log.info("ready to play")
def __init__ (self):
#Kind a config here
#arduino tracks bridge pinout
self.tracks = Tracks (pin.port.PB5, pin.port.PB6, 28, pin.port.PB7, pin.port.PB10, 29, 20)
#ip
self.addr = "192.168.0.22"
self.UDP_IP = "0.0.0.0"
self.UDP_PORT = 9999
#sonar
self.sonaron = True
self.sonarfailsafe = 0.
#mjpg_streamer related
self.videomode = 'OFF'
#init
self.faststate = {}
self.faststate["proxalert"] = False
self.sonardist = 0
self.sonarfailsafe_active = False
self.festivalup = False
self.log_init()
#==============UDP INIT====================
self.log.info ("spinal interface daemon for K-9 starting");
self.servsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.servsock.bind((self.UDP_IP, self.UDP_PORT))
self.respsock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
#============SERIAL INIT===================
try:
self.spinal = serial.Serial('/dev/ttyS2', 115200, timeout=0.5)
self.spinal_enabled = True
except:
self.spinal_enabled = False
self.log.info("Could not open port for arduino -- connection disabled ")
try:
self.sonar = serial.Serial('/dev/ttyS1', 9600, timeout=0.5)
self.sonar_enabled = True
except:
self.log.error("Could not open port for sonar -- sonar disabled")
self.sonar_enabled = False
#===========THREADING INIT=================
self.faststate['S1']=-1
self.faststate['S2']=-1
self.faststate['A1']=-1
self.faststate['A2']=-1
self.faststate['A3']=-1
if self.spinal_enabled:
self.tSerialRead = threading.Thread(target=self.sreader)
self.tSerialRead.setDaemon (1)
self.tSerialRead.start()
self.tTrackWatchdog = threading.Thread(target=self.cmdtimeout)
self.tTrackWatchdog.setDaemon (1)
self.tTrackWatchdog.start()
self.tStateUpload = threading.Thread(target=self.tstateup)
self.tStateUpload.setDaemon (1)
self.tStateUpload.start()
if self.sonar_enabled:
self.tSonar = threading.Thread(target=self.tsonar)
self.tSonar.setDaemon (1)
self.tSonar.start()
self.log.info ("ready to play");
