close #66

Author: previ

audio.py

@@ -77,7 +77,6 @@ def __init__(self):
             #self.stream_in.start_stream()
             self.stream_in = self.MicrophoneStream(FORMAT, RATE, CHUNK)
         except Exception as e:
-            print e
             logging.info("Audio: input stream not available")
 
         self._google_speech_client = speech.SpeechClient()
@@ -98,7 +97,6 @@ def normalize(self, snd_data):
         "Average the volume out"
         MAXIMUM = 16384
         times = float(MAXIMUM)/max(abs(i) for i in snd_data)
-        print "times: " + str(times)
 
         r = array('h', snd_data)
         c = 0
@@ -197,7 +195,6 @@ def speech_recog(self, model):
                 decoder.process_raw(content, False, False)
                 if decoder.hyp() and decoder.hyp().hypstr != '':
                     recog_text += decoder.hyp().hypstr
-                    print "text: " + decoder.hyp().hypstr
                     tstamp = time.time()
                     if len(recog_text) > 1:
                         decoder.end_utt()

camera.py

@@ -25,9 +25,9 @@
 import json
 from PIL import Image as PILImage
 try:
-    from StringIO import StringIO
+    from BytesIO import BytesIO
 except ImportError:
-    from io import StringIO
+    from io import BytesIO
 from threading import Thread, Lock
 import logging
 
@@ -115,14 +115,14 @@ def set_text(self, text):
 
     def load_photo_metadata(self):
         try:
-            f = open(PHOTO_METADATA_FILE)
+            f = open(PHOTO_METADATA_FILE, "rt")
             self._photos = json.load(f)
             f.close()
         except IOError:
             logging.warning("no metadata file")
 
     def save_photo_metadata(self):
-        f = open(PHOTO_METADATA_FILE, "w")
+        f = open(PHOTO_METADATA_FILE, "wt")
         json.dump(self._photos, f)
         f.close()
 
@@ -147,12 +147,12 @@ def photo_take(self):
         photo_index = self.get_next_photo_index()
         filename = PHOTO_PREFIX + str(photo_index) + self._camera.PHOTO_FILE_EXT;
         filename_thumb = PHOTO_PREFIX + str(photo_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
-        of = open(PHOTO_PATH + "/" + filename, "w+")
-        oft = open(PHOTO_PATH + "/" + filename_thumb, "w+")
+        of = open(PHOTO_PATH + "/" + filename, "wb+")
+        oft = open(PHOTO_PATH + "/" + filename_thumb, "wb+")
         im_str = self.get_image_jpeg()
         of.write(im_str)
         # thumb
-        im_pil = PILImage.open(StringIO(im_str))
+        im_pil = PILImage.open(BytesIO(im_str))
         im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
         self._photos.append({"name":filename})
         self.save_photo_metadata()
@@ -179,9 +179,9 @@ def video_rec(self, video_name=None):
             except:
                 pass
 
-        oft = open(PHOTO_PATH +  "/" + filename_thumb, "w")
+        oft = open(PHOTO_PATH +  "/" + filename_thumb, "wb")
         im_str = self._camera.get_image_jpeg()
-        im_pil = PILImage.open(StringIO(im_str))
+        im_pil = PILImage.open(BytesIO(im_str))
         im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
         self._photos.append({"name":filename})
         self.save_photo_metadata()
@@ -197,10 +197,10 @@ def get_photo_list(self):
         return self._photos
 
     def get_photo_file(self, filename):
-        return open(PHOTO_PATH + "/" + filename)
+        return open(PHOTO_PATH + "/" + filename, "rb")
 
     def get_photo_thumb_file(self, filename):
-        return open(PHOTO_PATH + "/" + filename[:-len(PHOTO_FILE_EXT)] + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT)
+        return open(PHOTO_PATH + "/" + filename[:-len(PHOTO_FILE_EXT)] + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT, "rb")
 
     def delete_photo(self, filename):
         logging.info("delete photo: " + filename)

coderbot.cfg

@@ -1 +1 @@
-{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "1000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_jpeg_quality": "5", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}
+{"move_power_angle_3": "60", "cnn_default_model": "fruit_025_128_1", "prog_maxblocks": "-1", "camera_jpeg_quality": "5", "show_page_control": "true", "camera_framerate": "30", "prog_scrollbars": "true", "move_fw_speed": "100", "prog_level": "adv", "move_motor_trim": "1", "move_motor_mode": "dc", "cv_image_factor": "2", "move_power_angle_1": "45", "camera_path_object_size_min": "4000", "button_func": "none", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "1000000", "move_fw_elapse": "1", "show_control_move_commands": "true", "camera_color_object_size_max": "160000", "show_page_prefs": "true", "camera_exposure_mode": "auto", "ctrl_tr_elapse": "-1", "show_page_program": "true", "move_tr_elapse": "0.5", "camera_path_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "ctrl_fw_elapse": "-1", "sound_stop": "$shutdown.mp3", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "move_tr_speed": "85", "move_power_angle_2": "60", "ctrl_hud_image": "", "load_at_start": "", "sound_start": "$startup.mp3"}

cv/camera.py

@@ -73,7 +73,7 @@ def __init__(self, props):
         logging.info("camera init")
         self.camera = picamera.PiCamera()
         self.camera.resolution = (props.get('width', 640), props.get('height', 512))
-        self.out_rgb_resolution = (self.camera.resolution[0] / int(props.get('cv_image_factor', 4)), self.camera.resolution[1] / int(props.get('cv_image_factor', 4)))
+        self.out_rgb_resolution = (int(self.camera.resolution[0] / int(props.get('cv_image_factor', 4))), int(self.camera.resolution[1] / int(props.get('cv_image_factor', 4))))
         self.camera.framerate = float(props.get('framerate', 20))
         self.camera.exposure_mode = props.get('exposure_mode', "auto")
         self.output_mjpeg = self.StreamingOutputMJPEG()

cv/image.py

@@ -59,7 +59,7 @@ class Image():
     def __init__(self, array):
         self._data = array
         img_size_y = self._data.shape[0]
-        kernel_size = img_size_y / 40
+        kernel_size = int(img_size_y / 40)
         self._kernel = np.ones((kernel_size, kernel_size),np.uint8)
 
     def size(self):
@@ -271,14 +271,13 @@ def find_ar_code(self):
         codes = []
         positions = []
         if ids is not None:
-            print ids
             for i in range(0, len(ids)):
                 if ids[i][0] != 1023:
                     codes.append(ids[i][0])
                     rect = corners[i][0]
                     positions.append([(rect[0][0]+rect[1][0]+rect[2][0]+rect[3][0])/4,
                                       (rect[0][1]+rect[1][1]+rect[2][1]+rect[3][1])/4])
-	return {"codes": codes, "positions": positions}
+        return {"codes": codes, "positions": positions}
 
     def draw_blob(self, blob):
         cv2.drawContours(self._data, blob.contour(), -1, (0,255,0))

log.py

@@ -0,0 +1,25 @@
+import logging
+
+# create logger with 'spam_application'
+logger = logging.getLogger('spam_application')
+logger.setLevel(logging.DEBUG)
+# create file handler which logs even debug messages
+fh = logging.FileHandler('spam.log')
+fh.setLevel(logging.DEBUG)
+# create console handler with a higher log level
+ch = logging.StreamHandler()
+ch.setLevel(logging.DEBUG)
+# create formatter and add it to the handlers
+formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+fh.setFormatter(formatter)
+ch.setFormatter(formatter)
+# add the handlers to the logger
+logger.addHandler(fh)
+logger.addHandler(ch)
+
+logger.info('creating an instance of auxiliary_module.Auxiliary')
+logger.info('created an instance of auxiliary_module.Auxiliary')
+logger.info('calling auxiliary_module.Auxiliary.do_something')
+logger.info('finished auxiliary_module.Auxiliary.do_something')
+logger.info('calling auxiliary_module.some_function()')
+logger.info('done with auxiliary_module.some_function()')

main.py

@@ -43,12 +43,18 @@
 from werkzeug.datastructures import Headers
 #from flask_sockets import Sockets
 
-logger = logging.getLogger(__name__)
-logger.setLevel(logging.INFO)
+logger = logging.getLogger()
+logger.setLevel(logging.DEBUG)
 
+sh = logging.StreamHandler()
 # add a rotating handler
-handler = logging.handlers.RotatingFileHandler('logs/coderbot.log', maxBytes=1000000, backupCount=5)
-logger.addHandler(handler)
+fh = logging.handlers.RotatingFileHandler('/home/pi/coderbot/logs/coderbot.log', maxBytes=1000000, backupCount=5)
+formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+sh.setFormatter(formatter)
+fh.setFormatter(formatter)
+
+logger.addHandler(sh)
+logger.addHandler(fh)
 
 bot = None
 cam = None
@@ -176,8 +182,9 @@ def video_stream(cam):
         frame = cam.get_image_jpeg()
         yield ("--BOUNDARYSTRING\r\n" +
                "Content-type: image/jpeg\r\n" +
-               "Content-Length: " + str(len(frame)) + "\r\n\r\n" +
-               frame + "\r\n")
+               "Content-Length: " + str(len(frame)) + "\r\n\r\n")
+        yield(frame)
+        yield("\r\n")
 
 @app.route("/video")
 def handle_video():
@@ -231,21 +238,20 @@ def handle_photos():
 
 @app.route("/photos/<filename>", methods=["GET"])
 def handle_photo_get(filename):
-    logging.info("photo")
-    mimetype = {'jpeg': 'image/jpeg', 'h264': 'video/mp4'}
+    logging.info("media filename: " + filename)
+    mimetype = {'jpg': 'image/jpeg', 'mp4': 'video/mp4'}
     video = None
     try:
-        video = cam.get_photo_file(filename)
+        media_file = cam.get_photo_file(filename)
     except picamera.exc.PiCameraError:
         pass
 
-    return send_file(video, mimetype.get(filename[:-3],'image'), cache_timeout=0)
+    return send_file(media_file, mimetype=mimetype.get(filename[:-3], 'image/jpeg'), cache_timeout=0)
 
 @app.route("/photos/<filename>", methods=["PUT"])
 def handle_photo_put(filename):
     logging.info("photo update")
-    data = request.get_data()
-    logging.info(data);
+    data = request.get_data(as_text=True)
     data = json.loads(data)
     cam.update_photo({"name": filename, "tag":data["tag"]});
     return jsonify({"res":"ok"})
@@ -256,15 +262,10 @@ def handle_photo_cmd(filename):
     cam.delete_photo(filename)
     return "ok"
 
-@app.route("/photos/<filename>/thumb", methods=["GET"])
-def handle_photo_thumb(filename):
-    logging.debug("photo_thumb")
-    return send_file(cam.get_photo_thumb_file(filename))
-
 @app.route("/program/list", methods=["GET"])
 def handle_program_list():
     logging.debug("program_list")
-    return json.dumps(app.prog_engine.list())
+    return json.dumps(app.prog_engine.prog_list())
 
 @app.route("/program/load", methods=["GET"])
 def handle_program_load():
@@ -322,7 +323,7 @@ def handle_cnn_models_list():
 @app.route("/cnnmodels", methods=["POST"])
 def handle_cnn_models_new():
     logging.info("cnn_models_new")
-    data = json.loads(request.get_data())
+    data = json.loads(request.get_data(as_text=True))
     cnn.train_new_model(model_name=data["model_name"],
                         architecture=data["architecture"],
                         image_tags=data["image_tags"],
@@ -395,7 +396,7 @@ def run_server():
             logging.error(e)
 
         bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
-        app.run(host="0.0.0.0", port=8080, debug=False, use_reloader=False, threaded=True)
+        app.run(host="0.0.0.0", port=8080, debug=True, use_reloader=False, threaded=True)
     finally:
         if cam:
             cam.exit()

motion.py

@@ -22,7 +22,7 @@
 import numpy as np
 import logging
 from time import clock, time, sleep
-from cv import image, streamer
+from cv import image
 
 from coderbot import CoderBot
 from camera import Camera