wip #78

Author: previ

.camera.py.swp

@@ -18,17 +18,15 @@
 ############################################################################
 
 import time
-import copy
 import os
-import sys
 import math
 import json
 from PIL import Image as PILImage
 try:
     from BytesIO import BytesIO
 except ImportError:
     from io import BytesIO
-from threading import Thread, Lock
+from threading import Thread
 import logging
 
 from cv import camera, image, blob
@@ -145,8 +143,8 @@ def get_next_photo_index(self):
 
     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;
+        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, "wb+")
         oft = open(PHOTO_PATH + "/" + filename_thumb, "wb+")
         im_str = self.get_image_jpeg()
@@ -168,10 +166,10 @@ def video_rec(self, video_name=None):
         if video_name is None:
             video_index = self.get_next_photo_index()
             filename = VIDEO_PREFIX + str(video_index) + self._camera.VIDEO_FILE_EXT;
-            filename_thumb = VIDEO_PREFIX + str(video_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
+            filename_thumb = VIDEO_PREFIX + str(video_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT
         else:
-            filename = VIDEO_PREFIX + video_name + self._camera.VIDEO_FILE_EXT;
-            filename_thumb = VIDEO_PREFIX + video_name + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
+            filename = VIDEO_PREFIX + video_name + self._camera.VIDEO_FILE_EXT
+            filename_thumb = VIDEO_PREFIX + video_name + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT
             try:
                 #remove previous file and reference in album
                 os.remove(PHOTO_PATH + "/" + filename)
@@ -231,8 +229,8 @@ def find_line(self):
         img = img.erode().dilate()
         if int(img._data.mean()) > 127:
             img = img.invert()
-        slices = [0,0,0]
-        blobs = [0,0,0]
+        slices = [0, 0, 0]
+        blobs = [0, 0, 0]
         slices[0] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.2), self._camera.out_rgb_resolution[0], self._camera.out_rgb_resolution[1])
         slices[1] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.5), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.2))
         slices[2] = img.crop(0, int(self._camera.out_rgb_resolution[1]/2.0), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.5))
@@ -245,7 +243,7 @@ def find_line(self):
             if len(blobs[idx]):
                 coords[idx] = (blobs[idx][0].center[0] * 100) / self._camera.out_rgb_resolution[0]
                 blob = blobs[idx][0]
-                img.draw_rect(blob.left, y_offset[idx] + blob.top, blob.right, y_offset[idx] + blob.bottom, (0,255,0), 5) 
+                img.draw_rect(blob.left, y_offset[idx] + blob.top, blob.right, y_offset[idx] + blob.bottom, (0, 255, 0), 5) 
         self.set_image_cv(img)
         return coords
 
@@ -292,7 +290,7 @@ def path_ahead(self):
         blobs = img.binarize(threshold).dilate().find_blobs(minsize=self._path_object_size_min, maxsize=self._path_object_size_max)
         coordY = 60
         if len(blobs):
-            obstacle = blob.Blob.sort_distance((image_size[0]/2,image_size[1]), blobs)[0]
+            obstacle = blob.Blob.sort_distance((image_size[0]/2, image_size[1]), blobs)[0]
 
             logging.info("obstacle:" + str(obstacle.bottom))
             coords = img.transform([(obstacle.center[0], obstacle.bottom)], img.get_transform(img.size()[1]))
@@ -305,7 +303,7 @@ def path_ahead(self):
 
     def find_color(self, s_color):
         image_size = self._camera.out_rgb_resolution
-        color = (int(s_color[1:3],16), int(s_color[3:5],16), int(s_color[5:7],16))
+        color = (int(s_color[1:3], 16), int(s_color[3:5], 16), int(s_color[5:7], 16))
         code_data = None
         ts = time.time()
         img = self.get_image()
@@ -321,12 +319,12 @@ def find_color(self, s_color):
         if objects and len(objects):
             obj = objects[-1]
             bottom = obj.bottom
-            logging.info("bottom: " + str(obj.center[0]) + " " +str(obj.bottom))
+            logging.info("bottom: " + str(obj.center[0]) + " " + str(obj.bottom))
             coords = bw.transform([(obj.center[0], obj.bottom)], bw.get_transform(bw.size()[1]))
             logging.info("coordinates: " + str(coords))
             x = coords[0][0]
             y = coords[0][1]
-            dist = math.sqrt(math.pow(fov_offset + (fov_total_y * (image_size[1] - y) / (image_size[1]/1.2)),2) + (math.pow((x-(image_size[0]/2)) * fov_total_x / image_size[0],2)))
+            dist = math.sqrt(math.pow(fov_offset + (fov_total_y * (image_size[1] - y) / (image_size[1]/1.2)), 2) + (math.pow((x-(image_size[0]/2)) * fov_total_x / image_size[0], 2)))
             angle = math.atan2(x - (image_size[0]/2), image_size[1] - y) * 180 / math.pi
             logging.info("object found, dist: " + str(dist) + " angle: " + str(angle))
         #self.save_image(img.to_jpeg())
@@ -335,7 +333,7 @@ def find_color(self, s_color):
 
     def find_text(self, accept, back_color):
         text = None
-        color = (int(back_color[1:3],16), int(back_color[3:5],16), int(back_color[5:7],16))
+        color = (int(back_color[1:3], 16), int(back_color[3:5], 16), int(back_color[5:7], 16))
         img = self.get_image()
         image = img.find_rect(color=color)
         if image:

camera.py

@@ -21,7 +21,7 @@
 
 CONFIG_FILE = "coderbot.cfg"
 
-class Config:
+class Config(object):
 
     _config = {}
 

config.py

@@ -1,8 +1,7 @@
-import logging
 import threading
-from pubsub import pub 
+from pubsub import pub
 
-class EventManager:
+class EventManager(object):
     _instance = None
     @classmethod
     def get_instance(cls, node_name=None):
@@ -24,7 +23,7 @@ def register_event_generator(self, generator_func):
         generator = threading.Thread(target=generator_func)
         self._event_generators.append(generator)
         generator.start()
-    
+
     def unregister_listeners(self):
         pub.unsubAll()
 

event.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 ############################################################################
 #    CoderBot, a didactical programmable robot.
 #    Copyright (C) 2014, 2015 Roberto Previtera <info@coderbot.org>

init.py

@@ -23,7 +23,6 @@
 import os
 import json
 import logging
-import time
 import logging.handlers
 import subprocess
 import picamera
@@ -38,7 +37,7 @@
 from event import EventManager
 from conversation import Conversation
 
-from flask import Flask, render_template, request, send_file, redirect, Response, jsonify
+from flask import Flask, render_template, request, send_file, Response, jsonify
 from flask_babel import Babel
 from werkzeug.datastructures import Headers
 #from flask_sockets import Sockets
@@ -64,7 +63,7 @@
 event = None
 conv = None
 
-app = Flask(__name__,static_url_path="")
+app = Flask(__name__, static_url_path="")
 #app.config.from_pyfile('coderbot.cfg')
 babel = Babel(app)
 app.debug = False
@@ -86,26 +85,33 @@ def get_locale():
 @app.route("/")
 def handle_home():
     stream_port = cam.stream_port if cam else ""
-    return render_template('main.html', host=request.host[:request.host.find(':')], stream_port=stream_port, locale = get_locale(), config=app.bot_config, program_level=app.bot_config.get("prog_level", "std"), cam=cam!=None, cnn_model_names=json.dumps([[name] for name in cnn.get_models().keys()]))
+    return render_template('main.html',
+                           host=request.host[:request.host.find(':')],
+                           stream_port=stream_port,
+                           locale=get_locale(),
+                           config=app.bot_config,
+                           program_level=app.bot_config.get("prog_level", "std"),
+                           cam=cam != None,
+                           cnn_model_names=json.dumps([[name] for name in cnn.get_models().keys()]))
 
 @app.route("/config", methods=["POST"])
 def handle_config():
     Config.write(request.form)
     app.bot_config = Config.get()
-    return "ok";
+    return "ok"
 
 @app.route("/wifi", methods=["POST"])
 def handle_wifi():
     mode = request.form.get("wifi_mode")
     ssid = request.form.get("wifi_ssid")
     psk = request.form.get("wifi_psk")
-    logging.info( "mode ", mode, " ssid: ", ssid, " psk: ", psk)
+    logging.info("mode " + mode +" ssid: " + ssid + " psk: " + psk)
     client_params = " \"" + ssid + "\" \"" + psk + "\"" if ssid != "" and psk != "" else ""
     logging.info(client_params)
     os.system("sudo python wifi.py updatecfg " + mode + client_params)
     os.system("sudo reboot")
     if mode == "ap":
-        return "http://coder.bot:8080";
+        return "http://coder.bot:8080"
     else:
         return "http://coderbot.locali:8080"
 
@@ -134,28 +140,24 @@ def handle_bot():
             motion.stop()
         except:
             logging.warning("Camera not present")
-            pass
     elif cmd == "take_photo":
         try:
             cam.photo_take()
             audio.say(app.bot_config.get("sound_shutter"))
         except:
             logging.warning("Camera not present")
-            pass
     elif cmd == "video_rec":
         try:
             cam.video_rec()
             audio.say(app.bot_config.get("sound_shutter"))
         except:
             logging.warning("Camera not present")
-            pass
     elif cmd == "video_stop":
         try:
             cam.video_stop()
             audio.say(app.bot_config.get("sound_shutter"))
         except:
             logging.warning("Camera not present")
-            pass
     elif cmd == "say":
         logging.info("say: " + str(param1) + " in: " + str(get_locale()))
         audio.say(param1, get_locale())
@@ -176,15 +178,14 @@ def handle_bot():
 def handle_bot_status():
     return json.dumps({'status': 'ok'})
 
-def video_stream(cam):
-
+def video_stream(a_cam):
     while not app.shutdown_requested:
-        frame = cam.get_image_jpeg()
+        frame = a_cam.get_image_jpeg()
         yield ("--BOUNDARYSTRING\r\n" +
                "Content-type: image/jpeg\r\n" +
                "Content-Length: " + str(len(frame)) + "\r\n\r\n")
-        yield(frame)
-        yield("\r\n")
+        yield frame
+        yield "\r\n"
 
 @app.route("/video")
 def handle_video():
@@ -209,11 +210,12 @@ def handle_video_stream():
         h.add('Cache-Control', 'no-cache, private')
         h.add('Pragma', 'no-cache')
         return Response(video_stream(cam), headers=h, mimetype="multipart/x-mixed-replace; boundary=--BOUNDARYSTRING")
-    except: pass
+    except:
+        pass
 
-def video_stream_cv(cam):
+def video_stream_cv(a_cam):
     while not app.shutdown_requested:
-        frame = cam.get_image_cv_jpeg()
+        frame = a_cam.get_image_cv_jpeg()
         yield ("--BOUNDARYSTRING\r\n" +
                "Content-type: image/jpeg\r\n" +
                "Content-Length: " + str(len(frame)) + "\r\n\r\n" +
@@ -227,9 +229,8 @@ def handle_video_stream_cv():
         h.add('Cache-Control', 'no-cache, private')
         h.add('Pragma', 'no-cache')
         return Response(video_stream_cv(cam), headers=h, mimetype="multipart/x-mixed-replace; boundary=--BOUNDARYSTRING")
-    except: pass
-
-
+    except:
+        pass
 
 @app.route("/photos", methods=["GET"])
 def handle_photos():
@@ -240,20 +241,18 @@ def handle_photos():
 def handle_photo_get(filename):
     logging.info("media filename: " + filename)
     mimetype = {'jpg': 'image/jpeg', 'mp4': 'video/mp4'}
-    video = None
     try:
         media_file = cam.get_photo_file(filename)
-    except picamera.exc.PiCameraError:
-        pass
-
-    return send_file(media_file, mimetype=mimetype.get(filename[:-3], 'image/jpeg'), cache_timeout=0)
+        return send_file(media_file, mimetype=mimetype.get(filename[:-3], 'image/jpeg'), cache_timeout=0)
+    except picamera.exc.PiCameraError as e:
+        logging.error("Error: " + str(e))
 
 @app.route("/photos/<filename>", methods=["PUT"])
 def handle_photo_put(filename):
     logging.info("photo update")
     data = request.get_data(as_text=True)
     data = json.loads(data)
-    cam.update_photo({"name": filename, "tag":data["tag"]});
+    cam.update_photo({"name": filename, "tag":data["tag"]})
     return jsonify({"res":"ok"})
 
 @app.route("/photos/<filename>", methods=["DELETE"])
@@ -280,7 +279,7 @@ def handle_program_save():
     name = request.form.get('name')
     dom_code = request.form.get('dom_code')
     code = request.form.get('code')
-    prog = Program(name, dom_code = dom_code, code = code)
+    prog = Program(name, dom_code=dom_code, code=code)
     app.prog_engine.save(prog)
     return "ok"
 
@@ -336,7 +335,7 @@ def handle_cnn_models_new():
 @app.route("/cnnmodels/<model_name>", methods=["GET"])
 def handle_cnn_models_status(model_name):
     logging.info("cnn_models_status")
-    model_status = cnn.get_model(model_name=model_name)
+    model_status = cnn.get_models().get(model_name)
 
     return json.dumps(model_status)
 
@@ -372,10 +371,13 @@ def run_server():
     global motion
     global audio
     global cnn
+    global conv
+    global event
     try:
         try:
             app.bot_config = Config.read()
-            bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode")=="servo"), motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)))
+            bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode") == "servo"),
+                                        motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)))
             audio = Audio.get_instance()
             audio.say(app.bot_config.get("sound_start"))
             try: