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diff --git a/car/Assets/ControllerSlideIcon.svg b/car/Assets/ControllerSlideIcon.svg
new file mode 100644
index 0000000..640fef6
--- /dev/null
+++ b/car/Assets/ControllerSlideIcon.svg
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/car/Assets/ControllerSlideIconHorizontal.svg b/car/Assets/ControllerSlideIconHorizontal.svg
new file mode 100644
index 0000000..d7f566c
--- /dev/null
+++ b/car/Assets/ControllerSlideIconHorizontal.svg
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/car/COCO-classes.txt b/car/COCO-classes.txt
new file mode 100644
index 0000000..1f42c8e
--- /dev/null
+++ b/car/COCO-classes.txt
@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorcycle
+airplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+couch
+potted plant
+bed
+dining table
+toilet
+tv
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/__init__.py b/car/DecisionSystem/CentralisedDecision/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/DecisionSystem/CentralisedDecision/ballotvoter.py b/car/DecisionSystem/CentralisedDecision/ballotvoter.py
new file mode 100644
index 0000000..deb9f65
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/ballotvoter.py
@@ -0,0 +1,51 @@
+import json
+from DecisionSystem.messages import ConnectSwarm, SubmitVote, Message, deserialise, RequestVote, ClientVoteRequest, VoteResult
+from multiprocessing import Pool
+from messenger import Messenger
+
+class BallotVoter:
+ def __init__(self, on_vote, handle_agreement, messenger: Messenger):
+ self.messenger = messenger
+ self.messenger.add_message_callback(self.on_message)
+ self.messenger.add_connect(self.on_connect)
+ self.on_vote = on_vote
+ self.handle_agreement = handle_agreement
+
+ def on_connect(self, rc):
+ print("Connected with result code " + str(rc))
+
+ # Tell commander we are now connected.
+ self.send_connect()
+
+ def on_message(self, message):
+ print("Message Received!")
+ messageD = deserialise(message.payload)
+ print("Message Type: " + messageD.type)
+ # Ok message.
+ if messageD.type == RequestVote().type:
+ print('Received vote message')
+ self.submit_vote()
+ elif messageD.type == "listening":
+ self.send_connect()
+ elif messageD.type == VoteResult.type:
+ self.handle_agreement(messageD.data["vote"])
+
+ def submit_vote(self):
+ v = self.on_vote()
+ if v == None:
+ print('Could not get vote')
+ return
+ print("Got Vote")
+ vote = SubmitVote(v, self.messenger.id)
+ print('Created Vote Message')
+ self.messenger.broadcast_message(self.messenger.swarm, vote.serialise())
+ print('published vote')
+
+ def send_connect(self):
+ # Send a connected message to let any commanders know that
+ # it is available.
+ self.messenger.broadcast_message(self.messenger.swarm, ConnectSwarm(self.messenger.id).serialise())
+
+ def request_vote(self):
+ """Sends a request to the leader to start collecting votes."""
+ self.messenger.broadcast_message(self.messenger.swarm, ClientVoteRequest(self.messenger.id).serialise())
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/cameraserver.py b/car/DecisionSystem/CentralisedDecision/cameraserver.py
new file mode 100644
index 0000000..6cac3b6
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/cameraserver.py
@@ -0,0 +1,95 @@
+from DecisionSystem.CentralisedDecision.ballotvoter import BallotVoter
+from DecisionSystem.CentralisedDecision.messenger import MqttMessenger
+import numpy as np
+import cv2
+import time
+import argparse
+import os.path
+import sys
+from GestureRecognition.simplehandrecogniser import SimpleHandRecogniser
+from threading import Thread
+from queue import Queue
+
+import MyRaft.node as raft
+import MyRaft.leader as leader
+import DecisionSystem.CentralisedDecision.commander as commander
+import DecisionSystem.CentralisedDecision.messenger as messenger
+import DecisionSystem.CentralisedDecision.ballotvoter as voter
+
+print("Parsing args")
+parser = argparse.ArgumentParser(description="Runs a file with OpenCV and gets consensus from the swarm.")
+
+parser.add_argument('-V', '--video', help="Path to video file.")
+
+args = parser.parse_args()
+
+recogniser = SimpleHandRecogniser(None)
+
+# Checks if video file is specified and if that file exists.
+if(args.video):
+ print('finding video')
+ if not os.path.isfile(args.video):
+ print("Input video file ", args.video, " doesn't exist")
+ sys.exit(1)
+else:
+ # Exit if no video file specified - we aren't using webcam here.
+ sys.exit(1)
+
+def on_vote():
+ # Get the current frame of the camera and process what hand
+ # is currently being seen.
+ print('getting frame')
+ # Need to copy rather than just take a reference, as frame will
+ # constantly be changing.
+ global vd
+ recogniser.set_frame(np.copy(vd.frame))
+ print('Got frame, voting with recogniser')
+ return recogniser.get_gesture()
+
+def connect_to_broker(mqtt):
+ print("Connecting to broker")
+ max_collisions = 100
+ collisions = 1
+ while not mqtt.connect() and collisions <= max_collisions:
+ time.sleep(2 ** collisions - 1)
+ print("Reconnecting in %s" %(2 ** collisions - 1))
+ collisions += 1
+
+mqtt = MqttMessenger()
+v = BallotVoter(on_vote, mqtt)
+
+def on_disconnect(rc):
+ print("Client disconnected from broker")
+ i = input("Would you like to reconnnect? (y|n)")
+ if i == 'y':
+ global mqtt
+ connect_to_broker(mqtt)
+
+mqtt.add_disconnect_callback(on_disconnect)
+connect_to_broker(mqtt)
+
+# Start the video capture at the next whole minute.
+current_time_sec = time.gmtime(time.time()).tm_sec
+if current_time_sec < 40:
+ time.sleep(60 - current_time_sec)
+else:
+ time.sleep(60 - current_time_sec + 60)
+print('loading video')
+
+
+
+print('Press q to quit the server, g to get votes/consensus')
+
+while True:
+ if vd.frame is None:
+ continue
+ frame = np.copy(vd.frame)
+ cv2.imshow('Frame', frame)
+ k = cv2.waitKey(33)
+ if k == ord('q'):
+ break
+ elif k == -1:
+ continue
+ elif k == ord('g'):
+ # Get votes
+ pass
diff --git a/car/DecisionSystem/CentralisedDecision/central_server.py b/car/DecisionSystem/CentralisedDecision/central_server.py
new file mode 100644
index 0000000..c310410
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/central_server.py
@@ -0,0 +1,15 @@
+from DecisionSystem.CentralisedDecision import commander
+from DecisionSystem.CentralisedDecision.messenger import MqttMessenger
+
+mqtt = MqttMessenger()
+c = commander.Commander(mqtt, 10)
+mqtt.connect()
+
+f = input("Press any key and enter other than q to get current observation of the swarm: ")
+
+while f != "q":
+ print("Vote is: ")
+ print(c.get_votes())
+ f = input("Press any key and enter other than q to get current observation of the swarm: ")
+
+print("Thanks for trying!")
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/centralisedinstance.py b/car/DecisionSystem/CentralisedDecision/centralisedinstance.py
new file mode 100644
index 0000000..923124e
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/centralisedinstance.py
@@ -0,0 +1,106 @@
+"""This module provides an instance of the centralised, distributed voter"""
+
+from queue import Queue
+import json
+import argparse
+
+import numpy as np
+import cv2
+
+import MyRaft.node as raft
+import MyRaft.leader as leader
+import DecisionSystem.CentralisedDecision.commander as commander
+import DecisionSystem.CentralisedDecision.messenger as messenger
+import DecisionSystem.CentralisedDecision.ballotvoter as voter
+import DecisionSystem.CentralisedDecision.videoget as videoget
+import GestureRecognition.simplehandrecogniser as shr
+import GestureRecognition.starkaleid as sk
+
+class Instance:
+ """An instance of the centralised, distributed approach to voting.
+ """
+ def __init__(self, node_config='config.json', video_file=0):
+ with open(node_config) as f:
+ self.cfg= json.load(f)
+ self.mqtt = messenger.MqttMessenger(self.cfg)
+ self.we_lead = False
+ self.node = raft.RaftGrpcNode(node_config)
+ print("Node initialised")
+ self.node.add_state_change(self.on_state_changed)
+
+ self.voter = voter.BallotVoter(self.on_vote, self.handle_agreement, self.mqtt)
+ self.commander = commander.Commander(self.mqtt)
+ self.recogniser = shr.SimpleHandRecogniser(None)
+
+ self.last_vote = -1
+
+ self.q = Queue(5)
+ self.frame = None
+ self.vd = videoget.VideoGet(self.q, video_file)
+
+ self.kaleid = False
+ print("Initialised the instance")
+
+ def on_state_changed(self):
+ """Callback method for state of the raft node changing"""
+ if isinstance(self.node._current_state, leader.Leader):
+ # We are now the commander (or leader)
+ self.commander = commander.Commander(self.mqtt)
+ else:
+ # No longer or never were a leader.
+ try:
+ del(self.commander)
+ except SyntaxError:
+ pass
+
+ def start(self):
+ self.vd.start()
+ self.mqtt.connect()
+ go = True
+ while go:
+ if self.kaleid:
+ go = self.show_kaleidoscope
+ else:
+ go = self.show_normal
+
+ def show_normal(self):
+ self.frame = np.copy(self.q.get())
+ cv2.imshow('Frame', self.frame)
+ if cv2.waitKey(1) & 0xFF == ord('q'):
+ return False
+ elif cv2.waitKey(1) & 0xFF == ord('g'):
+ self.voter.request_vote()
+
+ def show_kaleidoscope(self):
+ self.frame = sk.make_kaleidoscope(np.copy(self.q.get()), 12)
+ cv2.imshow('Frame', self.frame)
+ if cv2.waitKey(1) & 0xFF == ord('q'):
+ return False
+ elif cv2.waitKey(1) & 0xFF == ord('g'):
+ self.voter.request_vote()
+
+ def on_vote(self):
+ # Get the current frame of the camera and process what hand
+ # is currently being seen.
+ print('getting frame')
+ # Need to copy rather than just take a reference, as frame will
+ # constantly be changing.
+ self.recogniser.set_frame(np.copy(self.frame))
+ print('Got frame, voting with recogniser')
+ gesture = self.recogniser.get_gesture()
+ self.last_vote = gesture
+ return gesture
+
+ def handle_agreement(self, vote):
+ if vote == 5:
+ self.kaleid = True
+ else:
+ self.kaleid = False
+
+
+parser = argparse.ArgumentParser(description="An instance of CAIDE")
+
+if __name__ == "__main__":
+ instance = Instance(video_file="/Users/piv/Documents/Projects/Experiments/Camera1/video.mp4")
+ instance.start()
+
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/commander.py b/car/DecisionSystem/CentralisedDecision/commander.py
new file mode 100644
index 0000000..d84e7cf
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/commander.py
@@ -0,0 +1,119 @@
+import time
+from DecisionSystem.messages import Message, CommanderWill, RequestVote, GetSwarmParticipants, deserialise, ClientVoteRequest, VoteResult
+import json
+import numpy as np
+
+class Commander:
+ currentVote = None
+
+ # Stores voters that connect to maintain a majority.
+ # Voters who do not vote in latest round are removed.
+ _connectedVoters = []
+ # Dict has format: {clientId: vote}
+ _votes = {}
+ _taking_votes = False
+
+ def __init__(self, messenger, timeout = 60):
+ '''
+ Initial/default waiting time is 1 minute for votes to come in.
+ '''
+ self.timeout = timeout
+
+ self._messenger = messenger
+ self._messenger.add_connect(self.on_connect)
+ self._messenger.add_message_callback(self.on_message)
+ self._messenger.add_disconnect_callback(self.on_disconnect)
+ print('Connecting')
+
+ def make_decision(self):
+ # Should change this to follow strategy pattern, for different implementations of
+ # making a decision on the votes.
+ print("Making a decision")
+ votes = self._votes.values()
+ print(type(votes))
+ dif_votes = {}
+
+ for vote in votes:
+ # Get the count of different votes.
+ if vote in dif_votes:
+ dif_votes[vote] = dif_votes[vote] + 1
+ else:
+ dif_votes[vote] = 1
+
+ max_vote = ""
+ max_vote_num = 0
+ # Should try using a numpy array for this.
+
+ for vote in dif_votes.keys():
+ if dif_votes[vote] > max_vote_num:
+ max_vote = vote
+ max_vote_num = dif_votes[vote]
+
+ print("Made Decision!")
+ return max_vote
+
+ def get_votes(self):
+ # Should abstract messaging to another class.
+ print("Gathering Votes")
+ self._taking_votes = True
+ # Publish a message that votes are needed.
+ print("Sending request message")
+ self._messenger.broadcast_message(self._messenger.swarm, RequestVote(self._messenger.id).serialise())
+ print("published message")
+ time.sleep(self.timeout)
+ self._taking_votes = False
+ # TODO: Work out how to broadcast votes back to the swarm, maybe using raft?
+ return self.make_decision()
+
+ def on_message(self, message):
+ print("Message Received")
+ messageD = None
+ try:
+ messageD = deserialise(message.payload)
+ except:
+ print("Incorrect Message Has Been Sent")
+ return
+
+ # Need to consider that a malicious message may have a type with incorrect subtypes.
+ if messageD.type == "connect":
+ print("Voter connected!")
+ # Voter just connected/reconnnected.
+ if not messageD["client"] in self._connectedVoters:
+ self._connectedVoters.append(messageD["client"])
+ elif messageD.type == "vote":
+ print("Received a vote!")
+ # Voter is sending in their vote.
+ print(messageD.data["vote"])
+ print("From: ", messageD.sender)
+ if self._taking_votes:
+ # Commander must have requested their taking votes, and the timeout
+ # has not occurred.
+ # Only add vote to list if the client has not already voted.
+ if messageD.sender not in self._votes:
+ self._votes[messageD.sender] = int(messageD.data["vote"])
+ elif messageD.type == ClientVoteRequest().type:
+ # received a request to get votes/consensus.
+ self.get_votes()
+
+ elif messageD.type == "disconnected":
+ print("Voter disconnected :(")
+ self._connectedVoters.remove(messageD.sender)
+
+ def on_connect(self, rc):
+ # Subscribes now handled by the mqtt messenger, this is just here
+ # for convenience later.
+ pass
+
+ def get_participants(self):
+ self._messenger.broadcast_message(self._messenger.swarm, GetSwarmParticipants().serialise())
+ # Commander needs a will message too, for the decentralised version, so the
+ # voters know to pick a new commander.
+ # If using apache zookeeper this won't be needed.
+ # That's the wrong method for setting a will.
+ # self.client.publish("swarm1/voters", CommanderWill(self.client._client_id).serialise())
+
+ def on_disconnect(self, rc):
+ pass
+
+ def propogate_result(self, result):
+ self._messenger.broadcast_message(self._messenger.swarm, )
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/messenger.py b/car/DecisionSystem/CentralisedDecision/messenger.py
new file mode 100644
index 0000000..73330cb
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/messenger.py
@@ -0,0 +1,138 @@
+import paho.mqtt.client as mqtt
+import json
+import random
+
+class Messenger:
+ _connect_callbacks = []
+ _disconnect_callbacks = []
+ _message_callbacks = []
+
+ def broadcast_message(self, message):
+ """
+ Broadcasts the specified message to the swarm based upon its topic(or group).
+ """
+ raise NotImplementedError
+
+ def unicast_message(self, target, message):
+ """
+ Broadcasts the specified message to the single target.
+ """
+ raise NotImplementedError
+
+ def connect(self):
+ """
+ Connect to the swarm.
+ """
+ raise NotImplementedError
+
+ def disconnect(self):
+ """
+ Disconnect from the swarm.
+ """
+ raise NotImplementedError
+
+ def add_connect(self, connect):
+ """
+ Adds a callback to do something else once we are connected.
+ """
+ self._connect_callbacks.append(connect)
+
+ def on_connect(self, code = None):
+ """
+ Called once the messenger connects to the swarm.
+ """
+ for cb in self._connect_callbacks:
+ cb(code)
+
+ def on_disconnect(self, code = None):
+ """
+ Called when the messenger is disconnected from the swarm.
+ """
+ for cb in self._disconnect_callbacks:
+ cb(code)
+
+ def add_disconnect_callback(self, on_disconnect):
+ """
+ Adds a callback for when the messenger is disconnected.
+ """
+ self._disconnect_callbacks.append(on_disconnect)
+
+ def add_message_callback(self, on_message):
+ """
+ Adds a callback
+ """
+ self._message_callbacks.append(on_message)
+
+ def on_message(self, message):
+ """
+ Called when the messenger receives a message.
+ """
+ for cb in self._message_callbacks:
+ cb(message)
+
+ @property
+ def id(self):
+ """
+ The id for this messenger that is being used in communication.
+ """
+ raise NotImplementedError
+
+ @property
+ def swarm(self):
+ """
+ Gets the name of the swarm this instance is a part of.
+ """
+ raise NotImplementedError
+
+
+class MqttMessenger(Messenger):
+ """A messenger that uses MQTT."""
+ def __init__(self, configuration):
+ self._cfg = configuration
+ self._client = mqtt.Client(client_id=str(random.randint(0,500)))
+ self._client.on_connect = self.on_connect
+ self._client.on_message = self.on_message
+ self._client.on_disconnect = self.on_disconnect
+
+ def on_message(self, client, userdata, message):
+ Messenger.on_message(self, message)
+
+ def on_connect(self, client, userdata, flags, rc):
+ # Subscribe to the swarm specified in the config.
+ self._client.subscribe(self._cfg['mqtt']['swarm'])
+
+ # Also subscribe to our own topic for unicast messages.
+ self._client.subscribe(self._cfg['mqtt']['swarm'] + str(self._client._client_id))
+ Messenger.on_connect(self, rc)
+
+ def on_disconnect(self, client, userdata, rc):
+ Messenger.on_disconnect(self, rc)
+
+ def broadcast_message(self, message):
+ self._client.publish(self._cfg['mqtt']['swarm'], message, qos=1)
+
+ def unicast_message(self, target, message):
+ self._client.publish(target, message, qos=1)
+
+ def connect(self):
+ try:
+ self._client.connect(self._cfg['mqtt']['host'], \
+ int(self._cfg['mqtt']['port']), \
+ int(self._cfg['mqtt']['timeout']))
+ except:
+ print("Could not connect to broker")
+ return False
+
+ self._client.loop_start()
+ return True
+
+ def disconnect(self):
+ self._client.disconnect()
+
+ @property
+ def id(self):
+ return self._client._client_id
+
+ @property
+ def swarm(self):
+ return self._cfg['mqtt']['swarm']
\ No newline at end of file
diff --git a/car/DecisionSystem/CentralisedDecision/videoget.py b/car/DecisionSystem/CentralisedDecision/videoget.py
new file mode 100644
index 0000000..f5196c3
--- /dev/null
+++ b/car/DecisionSystem/CentralisedDecision/videoget.py
@@ -0,0 +1,45 @@
+import numpy as np
+import cv2
+from threading import Thread
+from queue import Queue
+import time
+
+class VideoGet:
+ '''
+ Code taken from Najam R Syed, available here:
+ https://github.com/nrsyed/computer-vision/tree/master/multithread
+ '''
+ def __init__(self, q, src):
+ '''
+ Must provide a source so we don't accidently start camera at work.
+ '''
+ self._stream = cv2.VideoCapture(src)
+ (self.grabbed, self.frame) = self._stream.read()
+ self.stopped = False
+ self.q = q
+ self.q.put(np.copy(self.frame))
+ self.src = src
+
+ def start(self):
+ Thread(target=self.get, args=()).start()
+ return self
+
+ def get(self):
+ while not self.stopped:
+ if not self.grabbed:
+ # self.stopped = True
+ print('frame not grabbed')
+ self._stream.release()
+ self._stream = cv2.VideoCapture(self.src)
+ # time.sleep(2)
+ self.grabbed, self.frame = self._stream.read()
+ else:
+ (self.grabbed, self.frame) = self._stream.read()
+ if self.q.full():
+ self.q.get()
+ self.q.put(np.copy(self.frame))
+ time.sleep(0.03) # Approximately 30fps
+ # Start a new feed.
+
+ def stop(self):
+ self.stopped = True
\ No newline at end of file
diff --git a/car/DecisionSystem/DecentralisedActivityFusion/voter.py b/car/DecisionSystem/DecentralisedActivityFusion/voter.py
new file mode 100644
index 0000000..c08fdb9
--- /dev/null
+++ b/car/DecisionSystem/DecentralisedActivityFusion/voter.py
@@ -0,0 +1,128 @@
+import paho.mqtt.client as mqtt
+import time
+import json
+import umsgpack
+import numpy as np
+
+class Voter:
+ '''
+ This class acts to replicate sensor information with the network to come to a consensus
+ of an activity occurrance. This is based upon research by Song et al. available at:
+ https://ieeexplore.ieee.org/document/5484586
+
+ The main advantage of this approach, as apposed to techniques such as by using zookeeper
+ or consul, is it can be completely decentralised and so works without a central server,
+ or needing to elect a central server. Additionally, it does not require all nodes
+ to run a Zookeeper/Consul server instance, which were not designed for these constrained
+ combat environments, which will fail if half the nodes fail, and also use a lot of resources
+ for handling services not required by this task.
+
+ The original approach in the paper requires some previous training before sensing, so
+ that there is a probability of a given action based upon the previous set of actions.
+ '''
+ _votes = {}
+ _connected_voters = []
+ _taking_votes = False
+
+ def __init__(self, on_vote, swarm_name):
+ '''
+ on_vote: Callback to get the required vote to broadcast.
+ '''
+ # Load config file
+ cfg = None
+ with open('config.json') as json_config:
+ cfg = json.load(json_config)
+ self._cfg = cfg
+ self.on_vote = on_vote
+ self._swarm = swarm_name
+ self._client = mqtt.Client()
+ self._client.on_message = self.on_message
+ self._client.on_connect = self.on_connect
+ self._client.connect(cfg["mqtt"]["host"], cfg["mqtt"]["port"], cfg["mqtt"]["timeout"])
+ self._client.loop_start()
+
+ def submit_vote(self):
+ # Publish to swarm where all other voters will receive a vote.
+ self._client.publish(self._swarm, self.collect_vote)
+ self._taking_votes = True
+ time.sleep(self._cfg["mqtt"]["timeout"])
+ self._taking_votes = False
+ # Wait a certain amount of time for responses, then fuse the information.
+ self.fuse_algorithm()
+
+ # Need the error and number of timestamps since voting started to finalise the consensus.
+
+ def fuse_algorithm(self):
+ # First calculate vi -> the actual vote that is taken
+ # (Or the probability that the observation is a label for each)
+ # We're just going to be doing 1 for the detected and 0 for all others.
+ # vi is for each hand (action in paper), but we're just going to do a single
+ # hand for our purposes. Will be able to use the CNN for all hands/gestures if we want to.
+ vi = np.zeros(6,1)
+ # Set correct vi.
+ vote = self.on_vote()
+ vi[vote] = 1
+ # Now send this off to the other nodes. Potentially using gossip...
+
+ # Set diagonal of ANDvi to elements of vi.
+ # This should actually be ANDvj, as it is for each observation received.
+ ANDvi = np.diag(vi.flatten())
+
+ # Nee
+
+ # M is the probability of going from one state to the next, which
+ # is assumed to be uniform for our situation - someone is just as likely
+ # to raise 5 fingers from two or any other.
+ # And so a 6x6 matrix is generated with all same probability to show this.
+ # Remember they could be holding up no fingers...
+ # m = np.full((6,6), 0.2)
+
+ # Y1T = np.full((6,1),1)
+
+ # Compute consensus state estimate by taking difference between our observations
+ # and all others individually.
+
+ # Moving to an approach that does not require the previous
+ # timestep (or so much math...)
+ # First take other information and fuse, using algorithm
+ # as appropriate.
+ pass
+
+ def custom_fuse(self):
+ vi = np.zeros(6,1)
+ # Set correct vi.
+ vote = self.on_vote()
+ vi[vote] = 1
+
+
+ def on_message(self, client, userdata, message):
+ try:
+ message_dict = umsgpack.unpackb(message.payload)
+ except:
+ print("Incorrect message received")
+ return
+
+ if message_dict["type"] == "vote":
+ # received a vote
+ if self._taking_votes:
+ self._votes[message_dict["client"]] = message_dict["vote"]
+
+ elif message_dict["type"] == "connect":
+ # voter connected to the swarm
+ self._connected_voters.append(message_dict["client"])
+
+ elif message_dict["type"] == "disconnect":
+ # Sent as the voter's will message
+ self._connected_voters.remove(message_dict["client"])
+
+ def on_connect(self, client, userdata, flags, rc):
+ print("Connected with result code " + str(rc))
+ self._client.subscribe(self._swarm)
+
+ def collect_vote(self):
+ vote_message = umsgpack.packb({"type": "vote",
+ "client":self._client._client_id, "vote": self.on_vote()})
+ return vote_message
+
+ def start_vote(self):
+ pass
\ No newline at end of file
diff --git a/car/DecisionSystem/__init__.py b/car/DecisionSystem/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/DecisionSystem/messages.py b/car/DecisionSystem/messages.py
new file mode 100644
index 0000000..5d47435
--- /dev/null
+++ b/car/DecisionSystem/messages.py
@@ -0,0 +1,101 @@
+import umsgpack
+import uuid
+
+class Message:
+ _type = None
+ def __init__(self, sender = "", data = {}):
+ self._sender = sender
+ self._data = data
+
+ @property
+ def sender(self):
+ return self._sender
+
+ @sender.setter
+ def sender(self, value):
+ self._sender = value
+
+ @property
+ def data(self):
+ return self._data
+
+ # I love using keywords...
+ @property
+ def type(self):
+ return self._type
+
+ @type.setter
+ def type(self, value):
+ self._type = value
+
+ def serialise(self):
+ return umsgpack.packb({"type":self.type, "sender": self.sender, "data": self.data})
+
+# SHould make this static in Message class.
+def deserialise(obj):
+ """
+ Deserialises a given messagepack object into a Message.
+ """
+ m = Message()
+ unpacked = umsgpack.unpackb(obj)
+ print('Unpacked Object')
+ print(unpacked)
+ m.type = unpacked["type"]
+ m._sender = unpacked["sender"]
+ m._data = unpacked["data"]
+ return m
+
+class RequestLeader(Message):
+ _type = "RequestLeader"
+
+class ProposeMessage(Message):
+ _type = "Propose"
+
+class ElectionVote(Message):
+ _type = "Elect"
+
+class Commit(Message):
+ _type = "Commit"
+
+class ConnectSwarm(Message):
+ _type = "connect"
+
+class RequestVote(Message):
+ _type = "reqvote"
+
+class ConnectResponse(Message):
+ _type = "accepted"
+
+class VoterWill(Message):
+ _type = "disconnectedvoter"
+
+class CommanderWill(Message):
+ _type = "disconnectedcommander"
+
+class SubmitVote(Message):
+ _type = "vote"
+
+ def __init__(self, vote = None, sender = "", data = {}):
+ Message.__init__(self, sender, data)
+ self._data["vote"] = vote
+
+ @property
+ def vote(self):
+ return self._data["vote"]
+
+ @vote.setter
+ def vote(self, value):
+ self._data["vote"] = value
+
+class GetSwarmParticipants(Message):
+ _type = "listening"
+
+class VoteResult(Message):
+ _type = "voteresult"
+
+ def __init__(self, vote, sender='', data={}):
+ super().__init__(sender=sender, data=data)
+ self._data["vote"] = vote
+
+class ClientVoteRequest(Message):
+ _type = "clientvoterequest"
\ No newline at end of file
diff --git a/car/Dockerfile b/car/Dockerfile
new file mode 100644
index 0000000..3de27be
--- /dev/null
+++ b/car/Dockerfile
@@ -0,0 +1,30 @@
+FROM python:3.6-slim
+
+RUN apt-get update
+# OpenCV has a LOT of dependencies.
+RUN apt-get install -y \
+ libglib2.0-0 \
+ libsm6 \
+ libxext6 \
+ libswscale-dev \
+ libtbb2 \
+ libtbb-dev \
+ libjpeg-dev \
+ libpng-dev \
+ libtiff-dev \
+ libavformat-dev \
+ libpq-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /
+RUN pip install --trusted-host pypi.python.org -r requirements.txt
+
+WORKDIR /app
+
+COPY . /app
+
+# We aren't listening, just connecting, so probs won't need this.
+# EXPOSE 1883
+ENV PYTHONPATH=/app
+
+CMD ["python", "DecisionSystem/CentralisedDecision/cameraserver.py", "-V", "/app/HandRecognitionMacbookFixed.mp4"]
\ No newline at end of file
diff --git a/car/GestureRecognition/HandRecHSV.py b/car/GestureRecognition/HandRecHSV.py
new file mode 100644
index 0000000..2f0222a
--- /dev/null
+++ b/car/GestureRecognition/HandRecHSV.py
@@ -0,0 +1,121 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Nov 22 10:51:21 2018
+
+@author: pivatom
+"""
+
+import numpy as np
+import cv2
+
+img = cv2.imread('H:\car\GestureRecognition\IMG_0825.jpg', 1)
+# img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
+
+# Downscale the image
+img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
+
+e1 = cv2.getTickCount()
+
+# Hand Localization... possibly with YOLOv3? v2 is faster though...
+
+
+img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+# Need to shift red pixels so they can be 0-20 rather than 250-~20
+img_hsv[:,:,0] = img_hsv[:,:,0] + 30
+img_hsv[:,:,0] = np.where(img_hsv[:,:,0] > 179, img_hsv[:,:,0] - 179, img_hsv[:,:,0])
+
+img_hsv = cv2.GaussianBlur(img_hsv,(5,5),0)
+
+lower_skin = (0, 0, 153)
+upper_skin = (45, 153, 255)
+
+# Only need mask, as we can just use this to do the hand segmentation.
+mask = cv2.inRange(img_hsv, lower_skin, upper_skin)
+
+# This takes a whole millisecond (approx), and does not seem very worth the cost.
+blur = cv2.GaussianBlur(mask,(5,5),0)
+ret, img_thresh = cv2.threshold(blur, 50, 255, cv2.THRESH_BINARY)
+
+# Uncomment if not using blur and threshold.
+# img_thresh = mask
+
+k = np.sum(img_thresh) / 255
+
+# Taking indices for num of rows.
+x_ind = np.arange(0,img_thresh.shape[1])
+y_ind = np.arange(0,img_thresh.shape[0])
+coords_x = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
+coords_y = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
+coords_x[:,:] = x_ind
+
+
+# Even this is extremely quick as it goes through rows in the numpy array, which in python is much faster than columns
+for element in y_ind:
+ coords_y[element,:] = element
+
+# Now need to get the average x value and y value for centre of gravity
+xb = int(np.sum(coords_x[img_thresh == 255])/k)
+yb = int(np.sum(coords_y[img_thresh == 255])/k)
+
+centre = (int(np.sum(coords_x[img_thresh == 255])/k), int(np.sum(coords_y[img_thresh == 255])/k))
+
+# Calculate radius of circle:
+# May need to calculate diameter as well.
+# Just take min/max x values and y values
+x_min = np.min(coords_x[img_thresh == 255])
+x_max = np.max(coords_x[img_thresh == 255])
+y_min = np.min(coords_y[img_thresh == 255])
+y_max = np.max(coords_y[img_thresh == 255])
+
+candidate_pts = [(x_min, y_min), (x_min, y_max), (x_max, y_min), (x_max, y_max)]
+radius = 0
+
+# Check with each point to see which is furthest from the centre.
+for pt in candidate_pts:
+ # Calculate Euclydian Distance
+ new_distance = ((pt[0] - centre[0])**2 + (pt[1] - centre[1])**2)**(1/2)
+ if new_distance > radius:
+ radius = new_distance
+
+radius = int(radius * 0.52)
+
+# 140 needs to be replaced with a predicted value. i.e. not be a magic number.
+# cv2.circle(img_thresh, centre, radius, (120,0,0), 3)
+
+def calc_pos_y(x):
+ return int((radius**2 - (x - centre[0])**2)**(1/2) + centre[1])
+
+# Now go around the circle to calculate num of times going 0->255 or vice-versa.
+# First just do it the naive way with loops.
+# Equation of the circle:
+# y = sqrt(r2 - (x-c)2) + c
+# Will just increment x to check, no need to loop y as well.
+# This is extremely slow, need to speed it up by removing for loop.
+# Brings speed down to 20 fps.
+# This is actually fast, it was just the print debug statements that made it slow, takes just 6ms...
+# Could try a kerel method?
+prev_x = centre[0] - radius
+prev_y = [calc_pos_y(centre[0] - radius), calc_pos_y(centre[0] - radius)]
+num_change = 0
+for x in range(centre[0] - radius + 1, centre[0] + radius):
+ ypos = calc_pos_y(x)
+ y = [ypos, centre[1] - (ypos-centre[1])]
+ if(img_thresh[y[0], x] != img_thresh[prev_y[0], prev_x]):
+ num_change += 1
+ if img_thresh[y[1], x] != img_thresh[prev_y[1], prev_x] and y[0] != y[1]:
+ num_change += 1
+ prev_x = x
+ prev_y = y
+
+fingers = num_change / 2 - 1
+
+print("Num Fingers: " + str(fingers))
+
+e2 = cv2.getTickCount()
+t = (e2 - e1)/cv2.getTickFrequency()
+print( t )
+
+cv2.imshow("Threshold", img_thresh)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/car/GestureRecognition/HandRecV2.py b/car/GestureRecognition/HandRecV2.py
new file mode 100644
index 0000000..c2c7c53
--- /dev/null
+++ b/car/GestureRecognition/HandRecV2.py
@@ -0,0 +1,49 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Nov 22 09:21:04 2018
+
+@author: pivatom
+"""
+
+import numpy as np
+import cv2
+
+min_seg_threshold = 1.05
+max_seg_threshold = 4
+
+def calcSkinSample(event, x, y, flags, param):
+ if event == cv2.EVENT_FLAG_LBUTTON:
+ sample = img[x:x+10, y:y+10]
+ min = 255
+ max = 0
+ for line in sample:
+ avg = np.sum(line)/10
+ if avg < min:
+ min = avg
+ if avg > max:
+ max = avg
+ min_seg_threshold = min
+ max_seg_threshold = max
+
+def draw_rect(event, x, y, flags, param):
+ if event == cv2.EVENT_FLAG_LBUTTON:
+ print("LbuttonClick")
+ cv2.rectangle(img, (x,y), (x+10, y+10), (0,0,255), 3)
+
+img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
+
+# Downscale the image
+img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
+
+cv2.namedWindow("Hand")
+cv2.setMouseCallback("Hand", draw_rect)
+
+# prevent divide by zero, by just forcing pixel to be ignored.
+#np.where(img[:,:,1] == 0, 0, img[:,:,1])
+#img[(img[:,:,2]/img[:,:,1] > min_seg_threshold) & (img[:,:,2]/img[:,:,1] < max_seg_threshold)] = [255,255,255]
+
+while(1):
+ cv2.imshow("Hand", img)
+ if cv2.waitKey(0):
+ break
+cv2.destroyAllWindows()
diff --git a/car/GestureRecognition/IMG_0818.png b/car/GestureRecognition/IMG_0818.png
new file mode 100644
index 0000000..b4f9d25
Binary files /dev/null and b/car/GestureRecognition/IMG_0818.png differ
diff --git a/car/GestureRecognition/IMG_0825.jpg b/car/GestureRecognition/IMG_0825.jpg
new file mode 100644
index 0000000..dde1722
Binary files /dev/null and b/car/GestureRecognition/IMG_0825.jpg differ
diff --git a/car/GestureRecognition/Neural Network hand Tracking.pdf b/car/GestureRecognition/Neural Network hand Tracking.pdf
new file mode 100644
index 0000000..d4da4ed
Binary files /dev/null and b/car/GestureRecognition/Neural Network hand Tracking.pdf differ
diff --git a/car/GestureRecognition/SimpleHandRecogniser.py b/car/GestureRecognition/SimpleHandRecogniser.py
new file mode 100644
index 0000000..ff78ce8
--- /dev/null
+++ b/car/GestureRecognition/SimpleHandRecogniser.py
@@ -0,0 +1,381 @@
+import numpy as np
+import cv2
+
+from GestureRecognition.handrecogniser import HandRecogniser
+
+class SimpleHandRecogniser(HandRecogniser):
+ def __init__(self, frame):
+ self.img = frame
+ self.graph = None
+ self.sess = None
+ self.img_cut = None
+
+ def __calc_pos_y(self, x, radius, centre):
+ """
+ Calculates the position of y on a given circle radius and centre, given coordinate x.
+ """
+ return int((radius**2 - (x - centre[0])**2)**(1/2) + centre[1])
+
+ def __segment_image(self):
+ """
+ Segments the hand from the rest of the image to get a threshold.
+ """
+ self.img_cut = cv2.GaussianBlur(self.img_cut, (5, 5), 0)
+
+ lower_skin = (0, 0, 153)
+ upper_skin = (45, 153, 255)
+
+ # Only need mask, as we can just use this to do the hand segmentation.
+ self.img_cut = cv2.inRange(self.img_cut, lower_skin, upper_skin)
+
+ # Apply another blur to rmeove any small holes/noise
+ self.img_cut = self.__denoise(self.img_cut)
+ _, self.img_cut = cv2.threshold(self.img_cut, 50, 255, cv2.THRESH_BINARY)
+
+ def __denoise(self, image):
+ """
+ Applies a 5x5 gaussian blur to remove noise from the image.
+ """
+ return cv2.GaussianBlur(image, (5, 5), 0)
+
+ def __calc_circle(self, image, radius_percent=0.6):
+ """
+ Calculates the equation of the circle (radius, centre) from a given
+ threshold image, so that the circle is the center of gravity of the
+ given threshold pixels, and the radius is by default 55% of the total
+ size.
+ """
+ k = np.sum(self.img_cut) / 255
+
+ # Taking indices for num of rows.
+ x_ind = np.arange(0, self.img_cut.shape[1])
+ y_ind = np.arange(0, self.img_cut.shape[0])
+ coords_x = np.zeros((self.img_cut.shape[0], self.img_cut.shape[1]))
+ coords_y = np.zeros((self.img_cut.shape[0], self.img_cut.shape[1]))
+ coords_x[:, :] = x_ind
+
+ # Even this is extremely quick as it goes through rows in the numpy array,
+ # which in python is much faster than columns
+ for element in y_ind:
+ coords_y[element, :] = element
+
+ # Now need to get the average x value and y value for centre of gravity
+ centre = (int(np.sum(coords_x[self.img_cut == 255])/k), int(np.sum(coords_y[self.img_cut == 255])/k))
+
+ # Calculate radius of circle:
+ # May need to calculate diameter as well.
+ # Just take min/max x values and y values
+ x_min = np.min(coords_x[self.img_cut == 255])
+ x_max = np.max(coords_x[self.img_cut == 255])
+ y_min = np.min(coords_y[self.img_cut == 255])
+ y_max = np.max(coords_y[self.img_cut == 255])
+
+ candidate_pts = [(x_min, y_min), (x_min, y_max), (x_max, y_min), (x_max, y_max)]
+ radius = 0
+
+ # Check with each point to see which is furthest from the centre.
+ for pt in candidate_pts:
+ # Calculate Euclydian Distance
+ new_distance = ((pt[0] - centre[0])**2 + (pt[1] - centre[1])**2)**(1/2)
+ if new_distance > radius:
+ radius = new_distance
+
+ radius = int(radius * radius_percent)
+
+ return radius, centre
+
+ def __calc_circles(self, image, radius_percent_range=[0.6, 0.8], step = 0.1):
+ """
+ Calculates the equation of the circle (radius, centre), but with
+ several radii so that we can get a more accurate estimate of from a given
+ threshold image, so that the circle is the center of gravity of the
+ given threshold pixels.
+ """
+ k = np.sum(self.img_cut) / 255
+
+ # Taking indices for num of rows.
+ x_ind = np.arange(0,self.img_cut.shape[1])
+ y_ind = np.arange(0,self.img_cut.shape[0])
+ coords_x = np.zeros((self.img_cut.shape[0], self.img_cut.shape[1]))
+ coords_y = np.zeros((self.img_cut.shape[0], self.img_cut.shape[1]))
+ coords_x[:,:] = x_ind
+
+ # Even this is extremely quick as it goes through rows in the numpy array, which in python is much faster than columns
+ for element in y_ind:
+ coords_y[element,:] = element
+
+ # Now need to get the average x value and y value for centre of gravity
+ centre = (int(np.sum(coords_x[self.img_cut == 255])/k), int(np.sum(coords_y[self.img_cut == 255])/k))
+
+ # Calculate radius of circle:
+ # May need to calculate diameter as well.
+ # Just take min/max x values and y values
+ x_min = np.min(coords_x[self.img_cut == 255])
+ x_max = np.max(coords_x[self.img_cut == 255])
+ y_min = np.min(coords_y[self.img_cut == 255])
+ y_max = np.max(coords_y[self.img_cut == 255])
+
+ candidate_pts = [(x_min, y_min), (x_min, y_max), (x_max, y_min), (x_max, y_max)]
+ radius = 0
+
+ # Check with each point to see which is furthest from the centre.
+ for pt in candidate_pts:
+ # Calculate Euclydian Distance
+ new_distance = ((pt[0] - centre[0])**2 + (pt[1] - centre[1])**2)**(1/2)
+ if new_distance > radius:
+ radius = new_distance
+
+ radii = []
+ for i in range(radius_percent_range[0], radius_percent_range[1], step):
+ radii += int(radius * i)
+
+ return radii, centre
+
+ def __shift_pixels(self, image, shift_radius):
+ image[:, :, 0] = image[:, :, 0] + shift_radius
+ image[:, :, 0] = np.where(image[:, :, 0] > 179, image[:, :, 0] - 179, image[:, :, 0])
+ return image
+
+ def set_frame(self, frame):
+ self.img = frame
+
+ # Source: Victor Dibia
+ # Link: https://github.com/victordibia/handtracking
+ # Taken the code straight from his example, as it works perfectly. This is specifically
+ # from the load_inference_graph method that he wrote, and will load the graph into
+ # memory if one has not already been loaded for this object.
+ # def load_inference_graph(self):
+ # """Loads a tensorflow model checkpoint into memory"""
+
+ # if self.graph != None and self.sess != None:
+ # # Don't load more than once, to save time...
+ # return
+
+ # PATH_TO_CKPT = '/Users/piv/Documents/Projects/car/GestureRecognition/frozen_inference_graph.pb'
+ # # load frozen tensorflow model into memory
+ # detection_graph = tf.Graph()
+ # with detection_graph.as_default():
+ # od_graph_def = tf.GraphDef()
+ # with tf.gfile.GFile(PATH_TO_CKPT, 'rb') as fid:
+ # serialized_graph = fid.read()
+ # od_graph_def.ParseFromString(serialized_graph)
+ # tf.import_graph_def(od_graph_def, name='')
+ # sess = tf.Session(graph=detection_graph)
+ # self.graph = detection_graph
+ # self.sess = sess
+
+
+ # Source: Victor Dibia
+ # Link: https://github.com/victordibia/handtracking
+ # Taken the code straight from his example, as it works perfectly. This is specifically
+ # from the detect_hand method that he wrote, as other processing is required for the
+ # hand recognition to work correctly.
+ # def detect_hand_tensorflow(self, detection_graph, sess):
+ # """ Detects hands in a frame using a CNN
+
+ # detection_graph -- The CNN to use to detect the hand.
+ # sess -- THe tensorflow session for the given graph
+ # """
+
+ # image_tensor = detection_graph.get_tensor_by_name('image_tensor:0')
+
+ # detection_boxes = detection_graph.get_tensor_by_name('detection_boxes:0')
+
+ # detection_scores = detection_graph.get_tensor_by_name('detection_scores:0')
+
+ # detection_classes = detection_graph.get_tensor_by_name('detection_classes:0')
+
+ # num_detections = detection_graph.get_tensor_by_name('num_detections:0')
+
+ # img_expanded = np.expand_dims(self.img, axis=0)
+
+ # (boxes, scores, classes, num) = sess.run(
+ # [detection_boxes, detection_scores, detection_classes, num_detections],
+ # feed_dict={image_tensor: img_expanded})
+ # print('finished detection')
+ # return np.squeeze(boxes), np.squeeze(scores)
+
+ def load_cv_net(self, graph_path, names_path):
+ """Loads a tensorflow neural object detection network using openCV
+
+ Arguments
+ graph_path: Path to the tensorflow frozen inference graph (something.pb)
+ names_path: Path to the tensorflow (something.pbtext) file.
+ """
+ self.net = cv2.dnn.readNetFromTensorflow(graph_path, names_path)
+
+ def detect_hand_opencv(self):
+ """Performs hand detection using a CNN from tensorflow using opencv.
+
+ detection_graph -- The CNN to use to detect the hand.
+ sess -- THe tensorflow session for the given graph
+ """
+ if self.img is None:
+ return
+
+ rows = self.img.shape[0]
+ cols = self.img.shape[1]
+
+ self.net.setInput(cv2.dnn.blobFromImage(self.img, size=(300, 300), swapRB=True, crop=False))
+ cv_out = self.net.forward()
+
+ boxes = []
+ scores = []
+
+ for detection in cv_out[0, 0, :, :]:
+ score = float(detection[2])
+ # TODO: Need to make this the confidence threshold...
+ if score > 0.6:
+ left = detection[3] * cols
+ top = detection[4] * rows
+ right = detection[5] * cols
+ bottom = detection[6] * rows
+ boxes.append((left, top, right, bottom))
+ scores.append(score)
+ else:
+ # Scores are in descending order...
+ break
+
+ return boxes, scores
+
+ def get_best_hand(self, boxes, scores, conf_thresh, nms_thresh):
+ """
+ Gets the best hand bounding box by inspecting confidence scores and overlapping
+ boxes, as well as the overall size of each box to determine which hand (if multiple present)
+ should be tested to recognise.
+ """
+ print(scores)
+ boxes = boxes[scores > conf_thresh]
+ scores = scores[scores > conf_thresh]
+ # Use NMS to get rid of heavily overlapping boxes.
+ # This wasn't used in the tensorflow example that was found, however probably a
+ # good idea to use it just in case.
+ print(boxes.shape)
+ if boxes.shape[0] == 0:
+ print("No good boxes found")
+ return None
+ elif boxes.shape[0] == 1:
+ print("Only one good box!")
+ box = boxes[0]
+ box[0] = box[0] * self.img.shape[0]
+ box[1] = box[1] * self.img.shape[1]
+ box[2] = box[2] * self.img.shape[0]
+ box[3] = box[3] * self.img.shape[1]
+ return box.astype(int)
+ else:
+ boxes[:][2] = ((boxes[:][2] - boxes[:][0]) * self.img.shape[0]).astype(int)
+ boxes[:][3] = ((boxes[:][3] - boxes[:][1]) * self.img.shape[1]).astype(int)
+ boxes[:][0] = (boxes[:][0] * self.img.shape[0]).astype(int)
+ boxes[:][1] = (boxes[:][1] * self.img.shape[1]).astype(int)
+
+ # Can't seem to get this to work...
+ # indices = cv2.dnn.NMSBoxes(boxes, scores, conf_thresh, nms_thresh)
+
+ print("Num boxes: %s" % boxes.shape[0])
+ # Finally calculate area of each box to determine which hand is clearest (biggest in image)
+ # Just does the most confident for now.
+ best_box = boxes[0]
+ best_index = None
+ i = 0
+ for box in boxes:
+ if box[2] * box[3] > best_box[2] * best_box[3]:
+ best_box = box
+ best_index = i
+ i += 1
+ return boxes[i - 1]
+
+ def get_gesture(self):
+ """
+ Calculates the actual gesture, returning the number of fingers
+ seen in the image.
+ """
+ print('Getting Gesture')
+ if self.img is None:
+ print('There is no image')
+ return -1
+ # First cut out the frame using the neural network.
+ # self.load_inference_graph()
+ # print("loaded inference graph")
+ # detections, scores = self.detect_hand_tensorflow(self.graph, self.sess)
+
+ print('Loading openCV net')
+ self.load_cv_net('/Users/piv/Documents/Projects/car/GestureRecognition/frozen_inference_graph.pb',
+ '/Users/piv/Documents/Projects/car/GestureRecognition/graph.pbtxt')
+
+ detections, scores = self.detect_hand_opencv()
+
+ # print("Getting best hand")
+ # best_hand = self.get_best_hand(detections, scores, 0.7, 0.5)
+ # if best_hand is not None:
+ # self.img = self.img[best_hand[0] - 30:best_hand[2] + 30, best_hand[1] - 30:best_hand[3] + 30]
+
+ if len(detections) > 0:
+ print("Cutting out the hand!")
+ self.img_cut = self.img[detections[0] - 30:detections[2] + 30, detections[1] - 30:detections[3] + 30]
+ else:
+ self.img_cut = self.img
+
+ print('Attempting to use pure hand recognition')
+ self.img_cut = cv2.cvtColor(self.img_cut, cv2.COLOR_BGR2HSV)
+
+ # Need to shift red pixels so they can be 0-20 rather than 250-~20
+ self.img_cut = self.__shift_pixels(self.img_cut, 30)
+
+ self.img_cut = self.__denoise(self.img_cut)
+ self.__segment_image()
+
+ print('calculating circle')
+ # Could calculate multiple circles to get probability
+ # for each gesture (i.e. calc num of each gesture recongised and take percentage
+ # as the probability).
+ radius, centre = self.__calc_circle(self.img_cut)
+ print('Got circle')
+
+ # Now go around the circle to calculate num of times going 0->255 or vice-versa.
+ # First just do it the naive way with loops.
+ # Equation of the circle:
+ # y = sqrt(r2 - (x-c)2) + c
+ prev_x = centre[0] - radius
+ prev_y = [self.__calc_pos_y(centre[0] - radius, radius, centre),
+ self.__calc_pos_y(centre[0] - radius, radius, centre)]
+ num_change = 0
+
+ # Make sure x is also within bounds.
+ x_start = centre[0] - radius + 1
+ if x_start < 0:
+ x_start = 0
+
+ x_end = centre[0] + radius
+ if x_end >= self.img_cut.shape[1]:
+ x_end = self.img_cut.shape[1] - 1
+
+ for x in range(x_start, x_end):
+ # Need to check circle is inside the bounds.
+ ypos = self.__calc_pos_y(x, radius, centre)
+ # y above centre (ypos) and y below radius)
+ y = [ypos, centre[1] - (ypos-centre[1])]
+
+ if y[0] < 0:
+ y[0] = 0
+ if y[0] >= self.img_cut.shape[0]:
+ y[0] = self.img_cut.shape[0] - 1
+ if y[1] < 0:
+ y[1] = 0
+ if y[1] >= self.img_cut.shape[0]:
+ y[1] = self.img_cut.shape[0] - 1
+ if(self.img_cut[y[0], x] != self.img_cut[prev_y[0], prev_x]):
+ num_change += 1
+ if self.img_cut[y[1], x] != self.img_cut[prev_y[1], prev_x] and y[0] != y[1]:
+ num_change += 1
+ prev_x = x
+ prev_y = y
+
+ print('Finished calculating, returning')
+ print(num_change)
+ return int(num_change / 2 - 1), self.img
+
+ def get_gesture_multiple_radii(self):
+ pass
+
+ def calc_hand_batch(self, batch):
+ pass
diff --git a/car/GestureRecognition/__init__.py b/car/GestureRecognition/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/GestureRecognition/frozen_inference_graph.pb b/car/GestureRecognition/frozen_inference_graph.pb
new file mode 100644
index 0000000..0be3459
Binary files /dev/null and b/car/GestureRecognition/frozen_inference_graph.pb differ
diff --git a/car/GestureRecognition/graph.pbtxt b/car/GestureRecognition/graph.pbtxt
new file mode 100644
index 0000000..8c3a660
--- /dev/null
+++ b/car/GestureRecognition/graph.pbtxt
@@ -0,0 +1,3146 @@
+node {
+ name: "image_tensor"
+ op: "Placeholder"
+ attr {
+ key: "dtype"
+ value {
+ type: DT_UINT8
+ }
+ }
+ attr {
+ key: "shape"
+ value {
+ shape {
+ dim {
+ size: -1
+ }
+ dim {
+ size: -1
+ }
+ dim {
+ size: -1
+ }
+ dim {
+ size: 3
+ }
+ }
+ }
+ }
+}
+node {
+ name: "Preprocessor/mul"
+ op: "Mul"
+ input: "image_tensor"
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+ input: "FeatureExtractor/MobilenetV1/Conv2d_12_pointwise/BatchNorm/moving_mean"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_12_pointwise/BatchNorm/FusedBatchNorm"
+}
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+ name: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_depthwise/depthwise"
+ op: "DepthwiseConv2dNative"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_12_pointwise/Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_depthwise/depthwise_weights"
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+}
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+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_depthwise/BatchNorm/moving_mean"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_depthwise/BatchNorm/FusedBatchNorm"
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_depthwise/Relu6"
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+}
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+ op: "FusedBatchNorm"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_pointwise/convolution"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise/BatchNorm/gamma"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise/BatchNorm/moving_mean"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise/BatchNorm/moving_variance"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_pointwise/BatchNorm/FusedBatchNorm"
+}
+node {
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_pointwise/Relu6"
+ input: "BoxPredictor_1/ClassPredictor/weights"
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+}
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+ op: "BiasAdd"
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+ input: "BoxPredictor_1/ClassPredictor/biases"
+ attr {
+ key: "data_format"
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+ }
+ }
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_pointwise/Relu6"
+ input: "BoxPredictor_1/BoxEncodingPredictor/weights"
+ attr {
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+}
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+ op: "BiasAdd"
+ input: "BoxPredictor_1/BoxEncodingPredictor/convolution"
+ input: "BoxPredictor_1/BoxEncodingPredictor/biases"
+ attr {
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+ }
+ }
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/MobilenetV1/Conv2d_13_pointwise/Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/weights"
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+}
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+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/BatchNorm/moving_mean"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/BatchNorm/moving_variance"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/BatchNorm/FusedBatchNorm"
+}
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+ name: "FeatureExtractor/MobilenetV1/concat"
+ op: "ConcatV2"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_2_1x1_256/Relu6"
+ input: "FeatureExtractor/MobilenetV1/concat/axis"
+}
+node {
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+ op: "ConcatV2"
+ input: "FeatureExtractor/MobilenetV1/concat"
+ input: "FeatureExtractor/MobilenetV1/concat_1/axis"
+}
+node {
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/concat_1"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/weights"
+ attr {
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+}
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+ op: "FusedBatchNorm"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/convolution"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/BatchNorm/gamma"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/BatchNorm/moving_mean"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/BatchNorm/moving_variance"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/BatchNorm/FusedBatchNorm"
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/Relu6"
+ input: "BoxPredictor_2/ClassPredictor/weights"
+ attr {
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+}
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+ op: "BiasAdd"
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+ input: "BoxPredictor_2/ClassPredictor/biases"
+ attr {
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+ }
+ }
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/Relu6"
+ input: "BoxPredictor_2/BoxEncodingPredictor/weights"
+ attr {
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+}
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+ op: "BiasAdd"
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+ input: "BoxPredictor_2/BoxEncodingPredictor/biases"
+ attr {
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+ }
+ }
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_2_3x3_s2_512/Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/weights"
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+}
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+ op: "FusedBatchNorm"
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+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/BatchNorm/gamma"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/BatchNorm/moving_mean"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/BatchNorm/moving_variance"
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/BatchNorm/FusedBatchNorm"
+}
+node {
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+ op: "ConcatV2"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_3_1x1_128/Relu6"
+ input: "FeatureExtractor/MobilenetV1/concat_2/axis"
+}
+node {
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+ op: "ConcatV2"
+ input: "FeatureExtractor/MobilenetV1/concat_2"
+ input: "FeatureExtractor/MobilenetV1/concat_3/axis"
+}
+node {
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/concat_3"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/weights"
+ attr {
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+}
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+ op: "FusedBatchNorm"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/convolution"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/BatchNorm/gamma"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/BatchNorm/moving_mean"
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+ attr {
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+}
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+ op: "Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/BatchNorm/FusedBatchNorm"
+}
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/Relu6"
+ input: "BoxPredictor_3/ClassPredictor/weights"
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+}
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+ op: "BiasAdd"
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+ input: "BoxPredictor_3/ClassPredictor/biases"
+ attr {
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+ value {
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+ }
+ }
+}
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+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/Relu6"
+ input: "BoxPredictor_3/BoxEncodingPredictor/weights"
+ attr {
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+}
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+ op: "BiasAdd"
+ input: "BoxPredictor_3/BoxEncodingPredictor/convolution"
+ input: "BoxPredictor_3/BoxEncodingPredictor/biases"
+ attr {
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+ }
+ }
+}
+node {
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+ op: "Conv2D"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_2_Conv2d_3_3x3_s2_256/Relu6"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/weights"
+ attr {
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+}
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+ op: "FusedBatchNorm"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/convolution"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/BatchNorm/gamma"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/BatchNorm/beta"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/BatchNorm/moving_mean"
+ input: "FeatureExtractor/MobilenetV1/Conv2d_13_pointwise_1_Conv2d_4_1x1_128/BatchNorm/moving_variance"
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+ key: "flip"
+ value {
+ b: false
+ }
+ }
+ attr {
+ key: "height"
+ value {
+ tensor {
+ dtype: DT_FLOAT
+ float_val: 284.9999964237
+ float_val: 201.52543010934002
+ float_val: 403.05086021868004
+ float_val: 164.5448246542656
+ float_val: 493.6591616338313
+ float_val: 292.40382850966574
+ tensor_shape {
+ dim {
+ size: 6
+ }
+ }
+ }
+ }
+ }
+ attr {
+ key: "variance"
+ value {
+ tensor {
+ dtype: DT_FLOAT
+ float_val: 0.1
+ float_val: 0.1
+ float_val: 0.2
+ float_val: 0.2
+ tensor_shape {
+ dim {
+ size: 4
+ }
+ }
+ }
+ }
+ }
+ attr {
+ key: "width"
+ value {
+ tensor {
+ dtype: DT_FLOAT
+ float_val: 284.9999964237
+ float_val: 403.05086021868016
+ float_val: 201.52543010934008
+ float_val: 493.6344739627967
+ float_val: 164.53659584212716
+ float_val: 292.40382850966574
+ tensor_shape {
+ dim {
+ size: 6
+ }
+ }
+ }
+ }
+ }
+}
+node {
+ name: "PriorBox/concat"
+ op: "ConcatV2"
+ input: "PriorBox_0"
+ input: "PriorBox_1"
+ input: "PriorBox_2"
+ input: "PriorBox_3"
+ input: "PriorBox_4"
+ input: "PriorBox_5"
+ input: "concat/axis_flatten"
+}
+node {
+ name: "ClassPredictor/concat/sigmoid"
+ op: "Sigmoid"
+ input: "ClassPredictor/concat"
+}
+node {
+ name: "detection_out"
+ op: "DetectionOutput"
+ input: "BoxEncodingPredictor/concat"
+ input: "ClassPredictor/concat/sigmoid"
+ input: "PriorBox/concat"
+ attr {
+ key: "background_label_id"
+ value {
+ i: 0
+ }
+ }
+ attr {
+ key: "code_type"
+ value {
+ s: "CENTER_SIZE"
+ }
+ }
+ attr {
+ key: "confidence_threshold"
+ value {
+ f: 0.01
+ }
+ }
+ attr {
+ key: "keep_top_k"
+ value {
+ i: 100
+ }
+ }
+ attr {
+ key: "nms_threshold"
+ value {
+ f: 0.6
+ }
+ }
+ attr {
+ key: "num_classes"
+ value {
+ i: 2
+ }
+ }
+ attr {
+ key: "share_location"
+ value {
+ b: true
+ }
+ }
+ attr {
+ key: "top_k"
+ value {
+ i: 100
+ }
+ }
+}
diff --git a/car/GestureRecognition/handrecogniser.py b/car/GestureRecognition/handrecogniser.py
new file mode 100644
index 0000000..40d279e
--- /dev/null
+++ b/car/GestureRecognition/handrecogniser.py
@@ -0,0 +1,15 @@
+class HandRecogniser:
+ """
+ Interface for Recognising simple hand gestures from an image (or frame of a video)
+ """
+ def load_image(self, image_path = ""):
+ """
+ Loads the given image, can be lazy loading.
+ """
+ pass
+
+ def get_gesture(self):
+ """
+ Gets a the gesture recognised in the image.
+ """
+ pass
diff --git a/car/GestureRecognition/kaleidoscope.py b/car/GestureRecognition/kaleidoscope.py
new file mode 100644
index 0000000..3af817a
--- /dev/null
+++ b/car/GestureRecognition/kaleidoscope.py
@@ -0,0 +1,73 @@
+import numpy as np
+import cv2
+
+def make_triangle(start_img):
+ h, w, d = start_img.shape
+
+ #crop square
+ inset = int((max(w,h) - min(w,h)) / 2)
+ # sqrimg = start_img.crop(inset, inset, h-inset, w-inset)
+ insetW = inset if w > h else 0
+ insetH = inset if h > w else 0
+ sqrimg = start_img[insetH:h-insetH, insetW:w-insetW]
+
+ #solve equilateral triangle
+ w, h, d = sqrimg.shape
+ print((w,h))
+
+ mask = np.zeros((w,h,d))
+
+ t_height = w/2 * np.tan(60)
+ pts = np.array([[0,w],[h/2,t_height],[h,w]], np.int32)
+ pts = pts.reshape((-1,1,2))
+ mask = cv2.fillPoly(mask, [pts], (255,0,0))
+
+ # With mask, get the triangle from the original image.
+ sqrimg[:,:,0] = np.where(mask[:,:,0] == 255, sqrimg[:,:,0], 0)
+ sqrimg[:,:,1] = np.where(mask[:,:,0] == 255, sqrimg[:,:,1], 0)
+ sqrimg[:,:,2] = np.where(mask[:,:,0] == 255, sqrimg[:,:,2], 0)
+ return sqrimg
+
+def rotate(im, rotation):
+ M = cv2.getRotationMatrix2D((im.shape[1]/2,im.shape[0]/2),rotation,1)
+ im[:,:,0] = cv2.warpAffine(im[:,:,0],M,(im.shape[1],im.shape[0]))
+ im[:,:,1] = cv2.warpAffine(im[:,:,1],M,(im.shape[1],im.shape[0]))
+ im[:,:,2] = cv2.warpAffine(im[:,:,2],M,(im.shape[1],im.shape[0]))
+ return im
+
+def make_kaleidoscope(img):
+ triangle = make_triangle(img)
+
+def make_trapezoid(triangle, save=False):
+
+ w, h = triangle.size
+ can_w, can_h = w*3, h
+ output = np.array((can_w, can_h, 3))
+ output = Image.new('RGBA', (can_w, can_h), color=255)
+
+ def mirror_paste(last_img, coords):
+ mirror = rotate(cv2.flip(last_img, 1), 60)
+ output.paste(mirror, (coords), mirror)
+ return mirror, coords
+
+ #paste in bottom left corner
+ output.paste(triangle,(0, can_h-h), triangle)
+
+ last_img, coords = mirror_paste(triangle, (int(w/4.4), -int(h/2.125)))
+ last_img, coords = mirror_paste(rotateIm(last_img, 120), (int(can_w/7.3), -228))
+
+ output = output.crop((0,15, w*2-22, h))
+ if save:
+ path = 'output/trapezoid_{}'.format(filename.split('/')[1])
+ output.save(path)
+ return output, path
+ return output
+
+if __name__ == "__main__":
+ img = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/IMG_0818.png")
+ triangle = make_triangle(img)
+ triangle = cv2.resize(triangle, None, fx=0.3, fy=0.3, interpolation = cv2.INTER_AREA)
+ triangle = rotate(triangle, 180)
+ cv2.imshow("", triangle)
+ cv2.waitKey(0)
+ cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/car/GestureRecognition/keras_ex.py b/car/GestureRecognition/keras_ex.py
new file mode 100644
index 0000000..150ed6f
--- /dev/null
+++ b/car/GestureRecognition/keras_ex.py
@@ -0,0 +1,28 @@
+import time
+import os
+
+import numpy as np
+
+os.environ["KERAS_BACKEND"] = "plaidml.keras.backend"
+
+import keras
+import keras.applications as kapp
+from keras.datasets import cifar10
+
+(x_train, y_train_cats), (x_test, y_test_cats) = cifar10.load_data()
+batch_size = 8
+x_train = x_train[:batch_size]
+x_train = np.repeat(np.repeat(x_train, 7, axis=1), 7, axis=2)
+model = kapp.VGG19()
+model.compile(optimizer='sgd', loss='categorical_crossentropy',
+ metrics=['accuracy'])
+
+print("Running initial batch (compiling tile program)")
+y = model.predict(x=x_train, batch_size=batch_size)
+
+# Now start the clock and run 10 batches
+print("Timing inference...")
+start = time.time()
+for i in range(10):
+ y = model.predict(x=x_train, batch_size=batch_size)
+print("Ran in {} seconds".format(time.time() - start))
\ No newline at end of file
diff --git a/car/GestureRecognition/opencvtensorflowex.py b/car/GestureRecognition/opencvtensorflowex.py
new file mode 100644
index 0000000..27b5354
--- /dev/null
+++ b/car/GestureRecognition/opencvtensorflowex.py
@@ -0,0 +1,23 @@
+import cv2 as cv
+
+cvNet = cv.dnn.readNetFromTensorflow('frozen_inference_graph.pb', 'graph.pbtxt')
+
+img = cv.imread('IMG_0825.jpg')
+img = cv.resize(img, None, fx=0.1, fy=0.1, interpolation = cv.INTER_AREA)
+rows = img.shape[0]
+cols = img.shape[1]
+print(str(rows) + " " + str(cols))
+cvNet.setInput(cv.dnn.blobFromImage(img, size=(300, 300), swapRB=True, crop=False))
+cvOut = cvNet.forward()
+
+for detection in cvOut[0,0,:,:]:
+ score = float(detection[2])
+ if score > 0.6:
+ left = detection[3] * cols
+ top = detection[4] * rows
+ right = detection[5] * cols
+ bottom = detection[6] * rows
+ cv.rectangle(img, (int(left), int(top)), (int(right), int(bottom)), (23, 230, 210), thickness=2)
+
+cv.imshow('img', img)
+cv.waitKey()
\ No newline at end of file
diff --git a/car/GestureRecognition/starkaleid.py b/car/GestureRecognition/starkaleid.py
new file mode 100644
index 0000000..d6b266a
--- /dev/null
+++ b/car/GestureRecognition/starkaleid.py
@@ -0,0 +1,58 @@
+import numpy as np
+import cv2
+
+def make_triangle(img, num_triangles):
+ print(img.shape)
+ y,x = (img.shape[0]//2, img.shape[1]//2)
+ angles = 2 * np.pi/num_triangles
+ print(angles/2)
+ w,h,d = img.shape
+ print(np.tan(angles/2))
+ z = int(np.tan(angles/2) * (h/2))
+ print(z)
+ print(h)
+ u = (x + z, y + h/2)
+ v = (x - z, y + h/2)
+ mask = np.zeros((w,h,d))
+
+ pts = np.array([v,(x,y),u], np.int32)
+ pts = pts.reshape((-1,1,2))
+ mask = cv2.fillPoly(mask, [pts], (255,0,0))
+
+ # With mask, get the triangle from the original image.
+ img[:,:,0] = np.where(mask[:,:,0] == 255, img[:,:,0], 0)
+ img[:,:,1] = np.where(mask[:,:,0] == 255, img[:,:,1], 0)
+ img[:,:,2] = np.where(mask[:,:,0] == 255, img[:,:,2], 0)
+ return img
+
+def rotate(im, rotation):
+ M = cv2.getRotationMatrix2D((im.shape[1]/2,im.shape[0]/2), rotation, 1)
+ im[:,:,0] = cv2.warpAffine(im[:,:,0],M,(im.shape[1],im.shape[0]))
+ im[:,:,1] = cv2.warpAffine(im[:,:,1],M,(im.shape[1],im.shape[0]))
+ im[:,:,2] = cv2.warpAffine(im[:,:,2],M,(im.shape[1],im.shape[0]))
+ return im
+
+def _stitch(img, to_stitch):
+ img[:,:,0] = np.where((img[:,:,0] == 0) & (to_stitch[:,:,0] != 0), to_stitch[:,:,0], img[:,:,0])
+ img[:,:,1] = np.where((img[:,:,1] == 0) & (to_stitch[:,:,1] != 0), to_stitch[:,:,1], img[:,:,1])
+ img[:,:,2] = np.where((img[:,:,2] == 0) & (to_stitch[:,:,2] != 0), to_stitch[:,:,2], img[:,:,2])
+
+def make_kaleidoscope(img, num):
+ triangle = make_triangle(img, num)
+ iters = num
+ while iters > 0:
+ new_triangle = np.copy(triangle)
+ new_triangle = cv2.flip(new_triangle, 1) if iters % 2 != 0 else new_triangle
+ rotate(new_triangle, 360/num * iters)
+ _stitch(triangle, new_triangle)
+ iters -= 1
+ return triangle
+
+if __name__ == "__main__":
+ img = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/IMG_0818.png")
+ img = cv2.resize(img, None, fx=0.3, fy=0.3, interpolation = cv2.INTER_AREA)
+ num = 12
+ kaleid = make_kaleidoscope(img, num)
+ cv2.imshow("", kaleid)
+ cv2.waitKey(0)
+ cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/car/Messaging/__init__.py b/car/Messaging/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/Messaging/message_factory.py b/car/Messaging/message_factory.py
new file mode 100644
index 0000000..1888468
--- /dev/null
+++ b/car/Messaging/message_factory.py
@@ -0,0 +1,64 @@
+import zmq
+
+
+class ZmqPubSubStreamer:
+ '''
+ Not thread-safe. Always get this inside the thread/process where you intend
+ to use it.
+ '''
+
+ def __init__(self, port):
+ self._socket = zmq.Context.instance().socket(zmq.PUB)
+ print('Starting socket with address: ' + 'tcp://*:' + str(port))
+ self._socket.bind("tcp://*:" + str(port))
+
+
+ def send_message(self, message):
+ '''
+ Args
+ ----
+ message: A message type that has the serialise() method.
+ '''
+ self.send_message_topic("", message)
+
+ def send_message_topic(self, topic, message):
+ self._socket.send_multipart([bytes(topic), message.serialise()])
+
+
+class BluetoothStreamer:
+ def __init__(self):
+ pass
+
+ def send_message(self, message_bytes):
+ pass
+
+class TestStreamer:
+ def __init__(self):
+ self._listeners = []
+
+ def send_message(self, message_bytes):
+ print('Got a message')
+
+ def send_message_topic(self, topic, message):
+ print('Got a message with topic: ' + str(topic))
+ self._fire_message_received(message)
+
+ def add_message_listener(self, listener):
+ self._listeners.append(listener)
+
+ def _fire_message_received(self, message):
+ for listener in self._listeners:
+ listener(message)
+
+def getZmqPubSubStreamer(port):
+ '''
+ Not thread-safe. Always get this inside the thread/process where you intend
+ to use it.
+ '''
+ return ZmqPubSubStreamer(port)
+
+def getTestingStreamer():
+ return TestStreamer()
+
+# TODO: Create a general get method that will get the streamer based on an
+# environment variable that is set.
\ No newline at end of file
diff --git a/car/Messaging/messages.py b/car/Messaging/messages.py
new file mode 100644
index 0000000..d38c9c7
--- /dev/null
+++ b/car/Messaging/messages.py
@@ -0,0 +1,34 @@
+import umsgpack
+
+
+class Message():
+ def __init__(self, message=None):
+ self.message = message
+
+ def serialise(self):
+ raise NotImplementedError
+
+ def deserialise(self, message):
+ raise NotImplementedError
+
+
+class PackMessage(Message):
+
+ def serialise(self):
+ return umsgpack.packb(self.message)
+
+ def deserialise(self, message):
+ return PackMessage(umsgpack.unpackb(self.message))
+
+
+class ProtoMessage(Message):
+
+ def __init__(self, proto_type=None, message=None):
+ super().__init__(message)
+ self._type = proto_type
+
+ def serialise(self):
+ return self.message.SerializeToString()
+
+ def deserialise(self, message):
+ return ProtoMessage(self._type, self._type.ParseFromString(message))
diff --git a/car/Messaging/mqttsession.py b/car/Messaging/mqttsession.py
new file mode 100644
index 0000000..7353eaf
--- /dev/null
+++ b/car/Messaging/mqttsession.py
@@ -0,0 +1,64 @@
+import paho.mqtt.client as mqtt
+
+"""
+Wrapper module for paho mqtt library, providing a singleton instance of the client to be used.
+Also adds some convenience functions such as having multiple connected callbacks,
+and managing whether the client is still connected.
+"""
+
+
+client = mqtt.Client()
+host = None
+
+connect_callbacks = []
+disconnect_callbacks = []
+
+def on_connect(client, userdata, flags, rc):
+ print("Connected with result code " + str(rc))
+ if rc == 0:
+ global connected
+ connected = True
+
+ for callback in connect_callbacks:
+ callback()
+
+ client.subscribe('hello/test', qos=1)
+
+# Arguably not needed, just want to make the client static, but here anyway.
+def connect():
+ global client
+ if client is None or host is None:
+ print("Error: Client and/or host are not initialised.")
+ else:
+ client.connect(host, port=1883, keepalive=60, bind_address="")
+ client.loop_start()
+
+def add_connect_callback(callback):
+ global connect_callbacks
+ connect_callbacks += callback
+ connectted = True
+
+def add_disconnect_callback(callback):
+ global
+
+def disconnect():
+ global client
+ if client is not None:
+ client.loop_stop()
+ client.disconnect()
+ else:
+ print("Error: Client is not initialised.")
+
+def on_disconnect(client, userdata, rc):
+ if rc != 0:
+ print("Unexpected disconnection.")
+
+ global connected
+ connected = False
+
+def Client():
+ global client
+ if client is None:
+ client = mqtt.Client()
+
+ return client
diff --git a/car/MyRaft/Experiment/node1/config.json b/car/MyRaft/Experiment/node1/config.json
new file mode 100644
index 0000000..e399fe9
--- /dev/null
+++ b/car/MyRaft/Experiment/node1/config.json
@@ -0,0 +1,28 @@
+{
+ "raft":
+ {
+ "min_election_timeout": 8,
+ "varying_election_timeout": 2,
+ "majority": 2
+ },
+ "messaging":
+ {
+ "me":
+ {
+ "ip": "127.0.0.1",
+ "port": 50051
+ },
+ "neighbours":
+ [
+ {
+ "ip": "127.0.0.1",
+ "port": 50052
+ },
+ {
+ "ip": "127.0.0.1",
+ "port": 50053
+ }
+ ]
+ }
+}
+
diff --git a/car/MyRaft/Experiment/node2/config.json b/car/MyRaft/Experiment/node2/config.json
new file mode 100644
index 0000000..143284b
--- /dev/null
+++ b/car/MyRaft/Experiment/node2/config.json
@@ -0,0 +1,28 @@
+{
+ "raft":
+ {
+ "min_election_timeout": 8,
+ "varying_election_timeout": 2,
+ "majority": 2
+ },
+ "messaging":
+ {
+ "me":
+ {
+ "ip": "127.0.0.1",
+ "port": 50052
+ },
+ "neighbours":
+ [
+ {
+ "ip": "127.0.0.1",
+ "port": 50051
+ },
+ {
+ "ip": "127.0.0.1",
+ "port": 50053
+ }
+ ]
+ }
+}
+
diff --git a/car/MyRaft/Experiment/node3/config.json b/car/MyRaft/Experiment/node3/config.json
new file mode 100644
index 0000000..70781fb
--- /dev/null
+++ b/car/MyRaft/Experiment/node3/config.json
@@ -0,0 +1,28 @@
+{
+ "raft":
+ {
+ "min_election_timeout": 8,
+ "varying_election_timeout": 2,
+ "majority": 3
+ },
+ "messaging":
+ {
+ "me":
+ {
+ "ip": "127.0.0.1",
+ "port": 50053
+ },
+ "neighbours":
+ [
+ {
+ "ip": "127.0.0.1",
+ "port": 50052
+ },
+ {
+ "ip": "127.0.0.1",
+ "port": 50051
+ }
+ ]
+ }
+}
+
diff --git a/car/MyRaft/candidate.py b/car/MyRaft/candidate.py
new file mode 100644
index 0000000..a025957
--- /dev/null
+++ b/car/MyRaft/candidate.py
@@ -0,0 +1,49 @@
+import MyRaft.state as state
+import MyRaft.leader as leader
+# import MyRaft.follower as follower
+import MyRaft.node as node
+import MyRaft.raft_pb2 as raft_pb2
+
+class Candidate(state.State):
+ def __init__(self, context:node.RaftNode, majority = 2):
+ state.State.__init__(self, context)
+ print("We're a candidate!")
+ context.currentTerm += 1
+ self._votes_received = [] # List of voters who have voted.
+ self._votes_received.append(self._context._id)
+ self._majority = majority
+ self._context.set_timeout(self._context._min_timout, self._context._vary_timeout)
+ print("Sending RequestVote to other nodes")
+ self._context.send_RequestVote()
+
+ def rcv_vote(self, request):
+ print("Received Vote")
+ # Checks the term...
+ if not request.voteGranted:
+ print("They rejected us!")
+ if request.voterId not in self._votes_received:
+ print("Added a vote!")
+ self._votes_received.append(request.voterId)
+ if len(self._votes_received) >= self._majority:
+ self._context.set_state(leader.Leader(self._context))
+
+ def heartbeat_elapsed(self):
+ # Start a new election.
+ self._context.currentTerm += 1
+ self._context.set_timeout(self._context._min_timout, self._context._vary_timeout)
+ print("Sending RequestVote to other nodes")
+ self._context.send_RequestVote()
+
+ def rcv_AppendEntries(self, request):
+ if request.term >= self._context.currentTerm:
+ self._context.set_state(follower.Follower(self._context))
+
+ def rcv_RequestVote(self, request):
+ print("Received a vote request")
+ if request.term > self._context.currentTerm:
+ print("They're more important, going back to a follower")
+ self._context.set_state(follower.Follower(self._context))
+ self._context.votedFor = request.candidateId
+ return raft_pb2.RequestVoteResponse(term = self._context.currentTerm,
+ voteGranted = True,
+ voterId = self._context._id)
\ No newline at end of file
diff --git a/car/MyRaft/config.ini b/car/MyRaft/config.ini
new file mode 100644
index 0000000..da25e2c
--- /dev/null
+++ b/car/MyRaft/config.ini
@@ -0,0 +1,5 @@
+[RAFT]
+min_election_timeout = 100
+varying_election_timeout = 200
+heartbeat_timeout = 50
+majority = 3
\ No newline at end of file
diff --git a/car/MyRaft/config.json b/car/MyRaft/config.json
new file mode 100644
index 0000000..8fbe6eb
--- /dev/null
+++ b/car/MyRaft/config.json
@@ -0,0 +1,27 @@
+{
+ "raft":
+ {
+ "min_election_timeout": 8,
+ "varying_election_timeout": 2,
+ "majority": 2
+ },
+ "messaging":
+ {
+ "me":
+ {
+ "ip": "127.0.0.1",
+ "port": 50051
+ },
+ "neighbours":
+ [
+ {
+ "ip": "127.0.0.1",
+ "port": 50052
+ },
+ {
+ "ip": "127.0.0.1",
+ "port": 50053
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/car/MyRaft/follower.py b/car/MyRaft/follower.py
new file mode 100644
index 0000000..1742928
--- /dev/null
+++ b/car/MyRaft/follower.py
@@ -0,0 +1,39 @@
+import MyRaft.state as state
+import MyRaft.candidate as candidate
+import MyRaft.raft_pb2 as raft_pb2
+
+class Follower(state.State):
+ def __init__(self, context):
+ state.State.__init__(self, context)
+ self._context.set_timeout(self._context._min_timout, self._context._vary_timeout)
+
+ def heartbeat_elapsed(self):
+ print("Becoming a candidate")
+ self._context.set_state(candidate.Candidate(self._context))
+
+ def rcv_AppendEntries(self, request):
+ """Called when an append entries message is received"""
+
+ self._context.set_timeout(self._context._min_timout, self._context._vary_timeout)
+
+ def rcv_RequestVote(self, request):
+ print("Received a vote request")
+ # Ignoring log for now.
+ if request.term < self._context.currentTerm:
+ print("They're term is worse than ours.")
+ # If our current term is already the same, then we must have voted already.
+ return raft_pb2.RequestVoteResponse(term = self._context.currentTerm, voteGranted = False)
+ elif request.term == self._context.currentTerm and self._context.votedFor is not None:
+ return raft_pb2.RequestVoteResponse(term = self._context.currentTerm, voteGranted = False)
+ else:
+ print("We'll be voting for them!")
+ # We vote yes, so reset our timeout.
+ self._context.set_timeout(self._context._min_timout, self._context._vary_timeout)
+ self._context.currentTerm = request.term
+ print("setting candidate id")
+ self._context.votedFor = request.candidateId
+ print("Returning result.")
+ return raft_pb2.RequestVoteResponse(term = self._context.currentTerm,
+ voteGranted = True,
+ voterId = self._context._id)
+
diff --git a/car/MyRaft/leader.py b/car/MyRaft/leader.py
new file mode 100644
index 0000000..defac60
--- /dev/null
+++ b/car/MyRaft/leader.py
@@ -0,0 +1,24 @@
+import MyRaft.state as state
+import MyRaft.node as node
+
+class Leader(state.State):
+ """The leader class represents the leader state in the raft algorithm"""
+ def __init__(self, context: node.RaftNode):
+ state.State.__init__(self, context)
+ print("We're a leader!")
+
+ # For indexes for each server to send.
+ self.nextIndex = []
+ self.matchIndex = []
+
+ # Change our timeout.
+ self._context.set_timeout(self._context._heartbeat_timeout, 0)
+ # Send empty AppendEntries.
+ self._context.send_empty_AppendEntries()
+
+ def heartbeat_elapsed(self):
+ print("Sending an append entries message")
+ self._context.send_empty_AppendEntries()
+
+ # Don't forget to reset timer, otherwise they'll try run for leader.
+ self._context.set_timeout(self._context._heartbeat_timeout, 0)
\ No newline at end of file
diff --git a/car/MyRaft/messages.py b/car/MyRaft/messages.py
new file mode 100644
index 0000000..836413e
--- /dev/null
+++ b/car/MyRaft/messages.py
@@ -0,0 +1,129 @@
+""" This module holds the messages for raft to use.
+
+Message -- Base message class
+
+AppendEntries -- Message representing raft append entries.
+
+RequestVote -- Message representing raft request vote.
+
+RequestVoteReponse -- Message for responding to a request vote.
+
+Response -- Response to an append entries message.
+"""
+import umsgpack
+from enum import Enum
+
+class Messages(Enum):
+ AppendEntries = 1
+ RequestVote = 2
+ RequestVoteResponse = 3
+ AppendEntriesResponse = 4
+
+class Message:
+ """The base class of all messages used in raft"""
+ _type = None
+
+ def __init__(self, sender, data = {}, term = 0):
+ self._sender = sender
+ self._data = data
+ self._term = term
+
+ @property
+ def sender(self):
+ return self._sender
+
+ @property
+ def type(self):
+ return self._type
+
+ def serialise(self):
+ """Serialises a Message object into a message pack byte array"""
+ raise NotImplementedError
+
+ @staticmethod
+ def deserialise(message):
+ """Deserialises from a byte array into a Message object
+
+ message -- Message to deserialise.
+
+ Returns -- Deserialised message object, None if incorrect input message.
+ """
+ m = None
+ try:
+ m = umsgpack.unpackb(m)
+ except:
+ print("Could not decode message")
+ return m
+
+ m = Message('tbd')
+ raise NotImplementedError
+
+ def __eq__(self, other):
+ if not isinstance(other, Message):
+ return False
+
+ if other.type != self.type:
+ return False
+
+ if other._data != self._data:
+ return False
+
+ if other._sender != self._sender:
+ return False
+
+ return True
+
+class AppendEntries(Message):
+ _type = "AppendEntries"
+
+ def __init__(self, term, leaderId, prevLogIndex, prevLogTerm, leaderCommit, entries = None):
+ self._data["term"] = term
+ self._data["leaderId"] = leaderId
+ self._data["prevLogIndex"] = prevLogIndex
+ self._data["prevLogTerm"] = prevLogTerm
+ self._data["entries"] = entries
+ self._data["leaderCommit"] = leaderCommit # Leader's commit index.
+
+
+class RequestVote(Message):
+ _type = "RequestVote"
+
+ def __init__(self, term, candidate_id, last_log_index, last_log_term):
+ self._data["candidateId"] = candidate_id
+ self._data["lastLogIndex"] = last_log_index
+ self._data["lastLogTerm"] = last_log_term
+
+ @property
+ def candidate_id(self):
+ return self._data["candidateId"]
+
+ @property
+ def last_log_index(self):
+ return self._data["lastLogIndex"]
+
+ @property
+ def last_log_term(self):
+ return self._data["lastLogTerm"]
+
+
+class RequestVoteResponse(Message):
+ _type = "RequestVoteResponse"
+
+ def __init__(self, term, vote_granted):
+ self._data["voteGranted"] = vote_granted
+
+ @property
+ def vote_granted(self):
+ return self._data["voteGranted"]
+
+class Response(Message):
+ _type = "Response"
+
+ def __init__(self, term, success):
+ self._data["success"] = success
+
+ @property
+ def success(self):
+ return self._data["success"]
+
+
\ No newline at end of file
diff --git a/car/MyRaft/messagestrategy.py b/car/MyRaft/messagestrategy.py
new file mode 100644
index 0000000..26f8ed2
--- /dev/null
+++ b/car/MyRaft/messagestrategy.py
@@ -0,0 +1,215 @@
+import json
+from concurrent import futures
+import time
+import multiprocessing as mp
+import threading
+
+import grpc
+import zmq
+
+import MyRaft.raft_pb2_grpc as raft_pb2_grpc
+import MyRaft.raft_pb2 as raft_pb2
+
+class MessageStrategy:
+ def __init__(self):
+ pass
+
+ def send_RequestVote(self, request):
+ raise NotImplementedError
+
+ def send_AppendEntries(self, request):
+ raise NotImplementedError
+
+ def on_VoteReceived(self, future):
+ raise NotImplementedError
+
+ def on_EntriesResponse(self, future):
+ raise NotImplementedError
+
+ def connect_channels(self):
+ raise NotImplementedError
+
+
+class NodeGrpcServer(raft_pb2_grpc.RaftServicer):
+ """Contains the gRPC server for the raft node."""
+
+ def __init__(self, raftNode, port: int):
+ self.server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
+ self.server.add_insecure_port('[::]:%d' % port)
+ self._raft = raftNode
+
+ def AppendEntriesRPC(self, request, context):
+ """AppendEntries remote procedural call for raft.
+
+ Args:
+ request: The AppendEntries message sent by the leader
+ context: RPC-related information and actions -> more here: https://grpc.io/grpc/python/grpc.html
+
+ Returns:
+ An AppendEntriesResponse message.
+ """
+ print("Received append entries rpc")
+ # Leaving this here for now, just in case we need it later (gets the client ip address)
+ # str(context._rpc_event.call_details.host)
+ return self._raft.rcv_AppendEntries(request)
+
+ def RequestVoteRPC(self, request, context):
+ """RequestVote remote procedural call for raft.
+
+ Args:
+ request: The RequestVote message sent by the leader
+ context: RPC-related information and actions -> more here: https://grpc.io/grpc/python/grpc.html
+
+ Returns:
+ A RequestVoteResponse message
+ """
+ print("Received request vote rpc")
+ print(request)
+ result = self._raft.vote_requested(request)
+ print("Now returning our vote.")
+ print(result)
+ print(type(result))
+ return result
+
+ def start_server(self):
+ print("Starting servicer")
+ raft_pb2_grpc.add_RaftServicer_to_server(self, self.server)
+ self.server.start()
+ while True:
+ time.sleep(60*60)
+
+
+class GrpcMessageStrategy(MessageStrategy):
+ """This class uses gRPC to communicate between raft nodes."""
+ # Only create the channels if we become a candidate or leader.
+ # Also need to close the channels when we become the follower.
+
+ def __init__(self, server: NodeGrpcServer, config):
+ # Also need to consider TLS/secure connection
+ self._cfg = config
+ self._neighbours = self._cfg['messaging']['neighbours']
+ self._server = server
+ self.message_callbacks = []
+ self._futures = []
+ self.channels = None
+
+ def connect_channels(self):
+ print("Creating channels")
+ self.channels = []
+ for n in self._neighbours:
+ channel = grpc.insecure_channel('%s:%d' % (n['ip'], n['port']))
+ self.channels.append(channel)
+
+ def send_RequestVote(self, vote):
+ print("Sending Request Vote")
+ if self.channels is None:
+ self.connect_channels()
+ for channel in self.channels:
+ print("In channel")
+ try:
+ stub = raft_pb2_grpc.RaftStub(channel)
+ print("connected")
+ # vote = stub.RequestVoteRPC(vote)
+ future = stub.RequestVoteRPC.future(vote)
+ future.add_done_callback(self.on_VoteReceived)
+ # print("sending vote received back to node.")
+ # self._server._raft.vote_received(vote)
+ except Exception as e:
+ # print("Couldn't message.")
+ # print(e)
+ pass
+
+ def on_VoteReceived(self, future):
+ print("A vote was returned")
+ print("sending vote received back to node.")
+ self._server._raft.vote_received(future.result())
+
+ def send_AppendEntries(self, entries):
+ for channel in self.channels:
+ stub = raft_pb2_grpc.RaftStub(channel)
+ future = stub.AppendEntriesRPC.future(entries)
+ future.add_done_callback(self.on_EntriesResponse)
+
+ def on_EntriesResponse(self, future):
+ # Pass to leader? Doesn't matter for now since we aren't using the
+ # log yet.
+ print("Received append entries response.")
+
+
+class ZmqServer:
+ # Zmq subscribers can subscribe to multiple publishers. However,
+ # subscribers are not thread safe - Radio-dish pattern aims to solve that.
+ def __init__(self, config):
+ self._cfg = config
+ self.context = zmq.Context()
+ self.socketSub = self.context.socket(zmq.SUB)
+ self.started = True
+
+ def connect_channels(self):
+ # Also need to subscribe to other nodes...
+ for n in self._cfg["messaging"]["neighbours"]:
+ self.socketSub.connect("tcp://%s:%d" % (n["ip"], n["port"]))
+
+ print("Neighbours are connected.")
+
+ def start(self):
+ # Start receiving on a new thread.
+ t = threading.Thread(target=self.start_receiving)
+ t.start()
+
+ def start_receiving(self):
+ while self.started:
+ self.on_message(self.socketSub.recv())
+
+ def stop(self):
+ self.started = False
+
+ def on_message(self, message):
+ m = message.deserialise()
+ try:
+ a = m.leaderId
+ # We have append entries
+ a = self.context.rcv_AppendEntries(m)
+ # Need to send back a message with our response. May be easier
+ # to do this with a request reply mechanism, rather than publish
+ # subscribe.
+ except:
+ pass
+
+ try:
+ a = m.leaderId
+ # We have request vote.
+ self.context.rcv_AppendEntries(m)
+ except:
+ pass
+
+ def on_RequestVote(self, message):
+ pass
+
+ def on_AppendEntries(self, messages):
+ pass
+
+class ZmqMessageStrategy(MessageStrategy):
+
+ def __init__(self, config, vote_callback, entries_callback):
+ self._cfg = config
+ self._vote_callback = vote_callback
+ self._entries_callback = entries_callback
+
+ def connect_nodes(self):
+ print("Creating publish socket.")
+ self.context = zmq.Context()
+ self.socketPub = self.context.socket(zmq.REQ)
+ self.socketPub.bind("tcp://%s:%d" % (self._cfg["messaging"]["me"]["ip"], self._cfg["messaging"]["me"]["port"]))
+
+ def send_RequestVote(self, request):
+ self.socketPub.send(request.serialize)
+
+ def send_AppendEntries(self, request):
+ self.socketPub.send(request.serialize)
+
+ def on_VoteReceived(self, message):
+ self._vote_callback(message)
+
+ def on_EntriesResponse(self, message):
+ self._entries_callback(message)
\ No newline at end of file
diff --git a/car/MyRaft/node.py b/car/MyRaft/node.py
new file mode 100644
index 0000000..2253b9a
--- /dev/null
+++ b/car/MyRaft/node.py
@@ -0,0 +1,127 @@
+from threading import Timer, Thread
+import random
+import uuid
+import json
+import time
+
+from MyRaft.messagestrategy import MessageStrategy, GrpcMessageStrategy, NodeGrpcServer
+import MyRaft.raft_pb2 as raft_pb2
+
+class RaftNode:
+ def __init__(self, message_strategy: MessageStrategy, config):
+ """
+ message_strategy -- Strategy used to send messagesfor the node.
+ """
+ import MyRaft.follower as follower
+ # Do we need to know who the current leader is? For the purposes of
+ # the cameras knowing, (as the leader of raft is the leader of out
+ # swarm) we should know this on each node. VotedFor may work, as it is
+ # who we last voted for, and therefore who we think is leader. We also need
+ # this to redirect client requests to the leader.
+
+ self._current_state = None
+ self._timer = None
+ self._message_strategy = None
+
+ # Persistent State
+ self.currentTerm = 0
+ self.votedFor = None
+ self.log = []
+
+ # Volatile state
+ self.commitIndex = 0
+ self.lastApplied = 0
+
+ # We only need this for candidates/leaders...
+ self._id = str(uuid.uuid1())
+ if message_strategy is None or not isinstance(message_strategy, MessageStrategy):
+ raise ValueError(MessageStrategy)
+
+ self._message_strategy = message_strategy
+
+ self._cfg = config
+ self._min_timout = self._cfg["raft"]["min_election_timeout"]
+ self._vary_timeout = self._cfg["raft"]["varying_election_timeout"]
+ self._heartbeat_timeout = self._min_timout // 2
+ # Also need to check if we can load log from stable storage in case of
+ # restart.
+
+ # All nodes start as a follower. State starts the timeout always.
+ self._current_state = follower.Follower(self)
+ self._state_changed = []
+
+ def add_state_change(self, on_change):
+ """Adds a callback for when the current state of the node changes.
+
+ Args
+ on_change: function to call when the state changes.
+ """
+ self._state_changed.append(on_change)
+
+ def set_state(self, state):
+ """Sets the current state of the raft node.
+
+ state -- New state of the node.
+ """
+ # State Pattern: https://en.wikipedia.org/wiki/State_pattern
+ del(self._current_state)
+ self._current_state = state
+ for cb in self._state_changed:
+ cb()
+
+ def timeout_elapsed(self):
+ """Election or heartbeat timeout has elapsed."""
+ print("Node timeout elapsed")
+ self._current_state.heartbeat_elapsed()
+
+ def set_timeout(self, min_timeout, vary_timeout):
+ """Stops the old timer and restarts it to the specified time.
+
+ min_timeout -- The minimum time that can be used for the timer.
+ vary_timout -- Default 200, the additional random varying time (0 - vary_timeout) to add to timer.
+ """
+ if self._timer is not None:
+ self._timer.cancel()
+ randy = random.randint(0,vary_timeout)
+ self._timer = Timer(min_timeout + randy, self.timeout_elapsed)
+ self._timer.start()
+
+ def send_RequestVote(self):
+ self._message_strategy.send_RequestVote(raft_pb2.RequestVote(term = self.currentTerm,
+ candidateId = self._id))
+
+ def vote_requested(self, request):
+ return self._current_state.rcv_RequestVote(request)
+
+ def vote_received(self, voter):
+ print("Node received vote")
+ self._current_state.rcv_vote(voter)
+
+ def send_AppendEntries(self, entry):
+ pass
+
+ def send_empty_AppendEntries(self):
+ self._message_strategy.send_AppendEntries(raft_pb2.AppendEntries(term = self.currentTerm,
+ leaderId = self._id))
+
+ def entries_response_received(self, entryResponse):
+ self._current_state.rcv_AppendEntriesResponse(entryResponse)
+
+ def rcv_AppendEntries(self, entries, host):
+ # Always let leader know if fallen behind.
+ if entries.term < self.currentTerm:
+ return raft_pb2.AppendEntriesResponse(term = self.currentTerm, success = False)
+ return self._current_state.rcv_AppendEntries(entries)
+
+class RaftGrpcNode(RaftNode):
+
+ def __init__(self, config):
+ cfg = None
+ with open(config) as f:
+ cfg = json.load(f)
+ port = cfg["messaging"]["me"]["port"]
+ self.servicer = NodeGrpcServer(self, port)
+ RaftNode.__init__(self, GrpcMessageStrategy(self.servicer, cfg), cfg)
+ servicer_thread = Thread(target=self.servicer.start_server)
+ servicer_thread.start()
+ print("Servicer started")
diff --git a/car/MyRaft/protos/raft.proto b/car/MyRaft/protos/raft.proto
new file mode 100644
index 0000000..f8321b7
--- /dev/null
+++ b/car/MyRaft/protos/raft.proto
@@ -0,0 +1,35 @@
+syntax = "proto3";
+
+package raft;
+
+service Raft{
+ rpc AppendEntriesRPC(AppendEntries) returns (AppendEntriesResponse) {}
+ rpc RequestVoteRPC(RequestVote) returns (RequestVoteResponse) {}
+}
+
+message AppendEntries{
+ uint32 term = 1;
+ string leaderId = 2;
+ uint32 prevLogIndex = 3;
+ uint32 prevLogTerm = 4;
+ uint32 leaderCommit = 5;
+ repeated string entry = 6;
+}
+
+message AppendEntriesResponse{
+ uint32 term = 1;
+ bool success = 2;
+}
+
+message RequestVote{
+ uint32 term = 1;
+ string candidateId = 2;
+ uint32 lastLogIndex = 3;
+ uint32 lastLogTerm = 4;
+}
+
+message RequestVoteResponse{
+ uint32 term = 1;
+ bool voteGranted = 2;
+ string voterId = 3;
+}
\ No newline at end of file
diff --git a/car/MyRaft/raft_pb2.py b/car/MyRaft/raft_pb2.py
new file mode 100644
index 0000000..ad2f5a0
--- /dev/null
+++ b/car/MyRaft/raft_pb2.py
@@ -0,0 +1,296 @@
+# Generated by the protocol buffer compiler. DO NOT EDIT!
+# source: raft.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+ name='raft.proto',
+ package='raft',
+ syntax='proto3',
+ serialized_options=None,
+ serialized_pb=_b('\n\nraft.proto\x12\x04raft\"\x7f\n\rAppendEntries\x12\x0c\n\x04term\x18\x01 \x01(\r\x12\x10\n\x08leaderId\x18\x02 \x01(\t\x12\x14\n\x0cprevLogIndex\x18\x03 \x01(\r\x12\x13\n\x0bprevLogTerm\x18\x04 \x01(\r\x12\x14\n\x0cleaderCommit\x18\x05 \x01(\r\x12\r\n\x05\x65ntry\x18\x06 \x03(\t\"6\n\x15\x41ppendEntriesResponse\x12\x0c\n\x04term\x18\x01 \x01(\r\x12\x0f\n\x07success\x18\x02 \x01(\x08\"[\n\x0bRequestVote\x12\x0c\n\x04term\x18\x01 \x01(\r\x12\x13\n\x0b\x63\x61ndidateId\x18\x02 \x01(\t\x12\x14\n\x0clastLogIndex\x18\x03 \x01(\r\x12\x13\n\x0blastLogTerm\x18\x04 \x01(\r\"I\n\x13RequestVoteResponse\x12\x0c\n\x04term\x18\x01 \x01(\r\x12\x13\n\x0bvoteGranted\x18\x02 \x01(\x08\x12\x0f\n\x07voterId\x18\x03 \x01(\t2\x90\x01\n\x04Raft\x12\x46\n\x10\x41ppendEntriesRPC\x12\x13.raft.AppendEntries\x1a\x1b.raft.AppendEntriesResponse\"\x00\x12@\n\x0eRequestVoteRPC\x12\x11.raft.RequestVote\x1a\x19.raft.RequestVoteResponse\"\x00\x62\x06proto3')
+)
+
+
+
+
+_APPENDENTRIES = _descriptor.Descriptor(
+ name='AppendEntries',
+ full_name='raft.AppendEntries',
+ filename=None,
+ file=DESCRIPTOR,
+ containing_type=None,
+ fields=[
+ _descriptor.FieldDescriptor(
+ name='term', full_name='raft.AppendEntries.term', index=0,
+ number=1, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='leaderId', full_name='raft.AppendEntries.leaderId', index=1,
+ number=2, type=9, cpp_type=9, label=1,
+ has_default_value=False, default_value=_b("").decode('utf-8'),
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='prevLogIndex', full_name='raft.AppendEntries.prevLogIndex', index=2,
+ number=3, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='prevLogTerm', full_name='raft.AppendEntries.prevLogTerm', index=3,
+ number=4, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='leaderCommit', full_name='raft.AppendEntries.leaderCommit', index=4,
+ number=5, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='entry', full_name='raft.AppendEntries.entry', index=5,
+ number=6, type=9, cpp_type=9, label=3,
+ has_default_value=False, default_value=[],
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ ],
+ extensions=[
+ ],
+ nested_types=[],
+ enum_types=[
+ ],
+ serialized_options=None,
+ is_extendable=False,
+ syntax='proto3',
+ extension_ranges=[],
+ oneofs=[
+ ],
+ serialized_start=20,
+ serialized_end=147,
+)
+
+
+_APPENDENTRIESRESPONSE = _descriptor.Descriptor(
+ name='AppendEntriesResponse',
+ full_name='raft.AppendEntriesResponse',
+ filename=None,
+ file=DESCRIPTOR,
+ containing_type=None,
+ fields=[
+ _descriptor.FieldDescriptor(
+ name='term', full_name='raft.AppendEntriesResponse.term', index=0,
+ number=1, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='success', full_name='raft.AppendEntriesResponse.success', index=1,
+ number=2, type=8, cpp_type=7, label=1,
+ has_default_value=False, default_value=False,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ ],
+ extensions=[
+ ],
+ nested_types=[],
+ enum_types=[
+ ],
+ serialized_options=None,
+ is_extendable=False,
+ syntax='proto3',
+ extension_ranges=[],
+ oneofs=[
+ ],
+ serialized_start=149,
+ serialized_end=203,
+)
+
+
+_REQUESTVOTE = _descriptor.Descriptor(
+ name='RequestVote',
+ full_name='raft.RequestVote',
+ filename=None,
+ file=DESCRIPTOR,
+ containing_type=None,
+ fields=[
+ _descriptor.FieldDescriptor(
+ name='term', full_name='raft.RequestVote.term', index=0,
+ number=1, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='candidateId', full_name='raft.RequestVote.candidateId', index=1,
+ number=2, type=9, cpp_type=9, label=1,
+ has_default_value=False, default_value=_b("").decode('utf-8'),
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='lastLogIndex', full_name='raft.RequestVote.lastLogIndex', index=2,
+ number=3, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='lastLogTerm', full_name='raft.RequestVote.lastLogTerm', index=3,
+ number=4, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ ],
+ extensions=[
+ ],
+ nested_types=[],
+ enum_types=[
+ ],
+ serialized_options=None,
+ is_extendable=False,
+ syntax='proto3',
+ extension_ranges=[],
+ oneofs=[
+ ],
+ serialized_start=205,
+ serialized_end=296,
+)
+
+
+_REQUESTVOTERESPONSE = _descriptor.Descriptor(
+ name='RequestVoteResponse',
+ full_name='raft.RequestVoteResponse',
+ filename=None,
+ file=DESCRIPTOR,
+ containing_type=None,
+ fields=[
+ _descriptor.FieldDescriptor(
+ name='term', full_name='raft.RequestVoteResponse.term', index=0,
+ number=1, type=13, cpp_type=3, label=1,
+ has_default_value=False, default_value=0,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='voteGranted', full_name='raft.RequestVoteResponse.voteGranted', index=1,
+ number=2, type=8, cpp_type=7, label=1,
+ has_default_value=False, default_value=False,
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ _descriptor.FieldDescriptor(
+ name='voterId', full_name='raft.RequestVoteResponse.voterId', index=2,
+ number=3, type=9, cpp_type=9, label=1,
+ has_default_value=False, default_value=_b("").decode('utf-8'),
+ message_type=None, enum_type=None, containing_type=None,
+ is_extension=False, extension_scope=None,
+ serialized_options=None, file=DESCRIPTOR),
+ ],
+ extensions=[
+ ],
+ nested_types=[],
+ enum_types=[
+ ],
+ serialized_options=None,
+ is_extendable=False,
+ syntax='proto3',
+ extension_ranges=[],
+ oneofs=[
+ ],
+ serialized_start=298,
+ serialized_end=371,
+)
+
+DESCRIPTOR.message_types_by_name['AppendEntries'] = _APPENDENTRIES
+DESCRIPTOR.message_types_by_name['AppendEntriesResponse'] = _APPENDENTRIESRESPONSE
+DESCRIPTOR.message_types_by_name['RequestVote'] = _REQUESTVOTE
+DESCRIPTOR.message_types_by_name['RequestVoteResponse'] = _REQUESTVOTERESPONSE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+AppendEntries = _reflection.GeneratedProtocolMessageType('AppendEntries', (_message.Message,), dict(
+ DESCRIPTOR = _APPENDENTRIES,
+ __module__ = 'raft_pb2'
+ # @@protoc_insertion_point(class_scope:raft.AppendEntries)
+ ))
+_sym_db.RegisterMessage(AppendEntries)
+
+AppendEntriesResponse = _reflection.GeneratedProtocolMessageType('AppendEntriesResponse', (_message.Message,), dict(
+ DESCRIPTOR = _APPENDENTRIESRESPONSE,
+ __module__ = 'raft_pb2'
+ # @@protoc_insertion_point(class_scope:raft.AppendEntriesResponse)
+ ))
+_sym_db.RegisterMessage(AppendEntriesResponse)
+
+RequestVote = _reflection.GeneratedProtocolMessageType('RequestVote', (_message.Message,), dict(
+ DESCRIPTOR = _REQUESTVOTE,
+ __module__ = 'raft_pb2'
+ # @@protoc_insertion_point(class_scope:raft.RequestVote)
+ ))
+_sym_db.RegisterMessage(RequestVote)
+
+RequestVoteResponse = _reflection.GeneratedProtocolMessageType('RequestVoteResponse', (_message.Message,), dict(
+ DESCRIPTOR = _REQUESTVOTERESPONSE,
+ __module__ = 'raft_pb2'
+ # @@protoc_insertion_point(class_scope:raft.RequestVoteResponse)
+ ))
+_sym_db.RegisterMessage(RequestVoteResponse)
+
+
+
+_RAFT = _descriptor.ServiceDescriptor(
+ name='Raft',
+ full_name='raft.Raft',
+ file=DESCRIPTOR,
+ index=0,
+ serialized_options=None,
+ serialized_start=374,
+ serialized_end=518,
+ methods=[
+ _descriptor.MethodDescriptor(
+ name='AppendEntriesRPC',
+ full_name='raft.Raft.AppendEntriesRPC',
+ index=0,
+ containing_service=None,
+ input_type=_APPENDENTRIES,
+ output_type=_APPENDENTRIESRESPONSE,
+ serialized_options=None,
+ ),
+ _descriptor.MethodDescriptor(
+ name='RequestVoteRPC',
+ full_name='raft.Raft.RequestVoteRPC',
+ index=1,
+ containing_service=None,
+ input_type=_REQUESTVOTE,
+ output_type=_REQUESTVOTERESPONSE,
+ serialized_options=None,
+ ),
+])
+_sym_db.RegisterServiceDescriptor(_RAFT)
+
+DESCRIPTOR.services_by_name['Raft'] = _RAFT
+
+# @@protoc_insertion_point(module_scope)
diff --git a/car/MyRaft/raft_pb2_grpc.py b/car/MyRaft/raft_pb2_grpc.py
new file mode 100644
index 0000000..6dd6884
--- /dev/null
+++ b/car/MyRaft/raft_pb2_grpc.py
@@ -0,0 +1,63 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+
+import MyRaft.raft_pb2 as raft__pb2
+
+
+class RaftStub(object):
+ # missing associated documentation comment in .proto file
+ pass
+
+ def __init__(self, channel):
+ """Constructor.
+
+ Args:
+ channel: A grpc.Channel.
+ """
+ self.AppendEntriesRPC = channel.unary_unary(
+ '/raft.Raft/AppendEntriesRPC',
+ request_serializer=raft__pb2.AppendEntries.SerializeToString,
+ response_deserializer=raft__pb2.AppendEntriesResponse.FromString,
+ )
+ self.RequestVoteRPC = channel.unary_unary(
+ '/raft.Raft/RequestVoteRPC',
+ request_serializer=raft__pb2.RequestVote.SerializeToString,
+ response_deserializer=raft__pb2.RequestVoteResponse.FromString,
+ )
+
+
+class RaftServicer(object):
+ # missing associated documentation comment in .proto file
+ pass
+
+ def AppendEntriesRPC(self, request, context):
+ # missing associated documentation comment in .proto file
+ pass
+ context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+ context.set_details('Method not implemented!')
+ raise NotImplementedError('Method not implemented!')
+
+ def RequestVoteRPC(self, request, context):
+ # missing associated documentation comment in .proto file
+ pass
+ context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+ context.set_details('Method not implemented!')
+ raise NotImplementedError('Method not implemented!')
+
+
+def add_RaftServicer_to_server(servicer, server):
+ rpc_method_handlers = {
+ 'AppendEntriesRPC': grpc.unary_unary_rpc_method_handler(
+ servicer.AppendEntriesRPC,
+ request_deserializer=raft__pb2.AppendEntries.FromString,
+ response_serializer=raft__pb2.AppendEntriesResponse.SerializeToString,
+ ),
+ 'RequestVoteRPC': grpc.unary_unary_rpc_method_handler(
+ servicer.RequestVoteRPC,
+ request_deserializer=raft__pb2.RequestVote.FromString,
+ response_serializer=raft__pb2.RequestVoteResponse.SerializeToString,
+ ),
+ }
+ generic_handler = grpc.method_handlers_generic_handler(
+ 'raft.Raft', rpc_method_handlers)
+ server.add_generic_rpc_handlers((generic_handler,))
diff --git a/car/MyRaft/state.py b/car/MyRaft/state.py
new file mode 100644
index 0000000..25287f9
--- /dev/null
+++ b/car/MyRaft/state.py
@@ -0,0 +1,33 @@
+"""This module contains the base state for all other raft states"""
+
+import MyRaft.node as node
+import MyRaft.raft_pb2 as raft_pb2
+
+class State:
+ """Base class to represent state of the system at any point in time.
+
+ Default behaviour for all messaging methods is to check if term of
+ message is greater than node's term, and if so convert the current
+ node to a follower.
+ """
+
+ def __init__(self, context: node.RaftNode):
+ self._context = context
+ self._currentTerm = 0
+
+ def heartbeat_elapsed(self):
+ raise NotImplementedError
+
+ def rcv_RequestVote(self, request):
+ raise NotImplementedError
+
+ def rcv_AppendEntries(self, request):
+ raise NotImplementedError
+
+ def rcv_vote(self, request):
+ raise NotImplementedError
+
+ def rcv_AppendEntriesResponse(self, request):
+ pass
+
+
\ No newline at end of file
diff --git a/car/MyRaft/test.py b/car/MyRaft/test.py
new file mode 100644
index 0000000..8ee46e8
--- /dev/null
+++ b/car/MyRaft/test.py
@@ -0,0 +1,22 @@
+import argparse
+import os.path
+import sys
+from MyRaft.node import RaftGrpcNode
+
+# parser = argparse.ArgumentParser(description="Runs a raft node for leader election")
+# parser.add_argument('-C', '--config', help='Path to config file.')
+
+# args = parser.parse_args()
+
+# if args.config:
+# print("Getting config")
+# if not os.path.isfile(args.config):
+# print("Could not find configuration file, aborting")
+# sys.exit(1)
+# else:
+# sys.exit(1)
+
+# print("Loading gRPC raft node")
+
+node = RaftGrpcNode('config.json')
+
diff --git a/car/MyRaft/voter.py b/car/MyRaft/voter.py
new file mode 100644
index 0000000..70d64b2
--- /dev/null
+++ b/car/MyRaft/voter.py
@@ -0,0 +1,8 @@
+from MyRaft.state import State
+from MyRaft.node import RaftNode
+
+class Voter(State):
+ def __init__(self, context: RaftNode):
+ State.__init__(self, context)
+
+
\ No newline at end of file
diff --git a/car/__init__.py b/car/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/bitbucket-pipelines.yml b/car/bitbucket-pipelines.yml
new file mode 100644
index 0000000..c10cd23
--- /dev/null
+++ b/car/bitbucket-pipelines.yml
@@ -0,0 +1,14 @@
+# This is a sample build configuration for Python.
+# Check our guides at https://confluence.atlassian.com/x/x4UWN for more examples.
+# Only use spaces to indent your .yml configuration.
+# -----
+# You can specify a custom docker image from Docker Hub as your build environment.
+image: python:3.7.3
+
+pipelines:
+ default:
+ - step:
+ caches:
+ - pip
+ script: # Modify the commands below to build your repository.
+ - pip install -r requirements.txt
diff --git a/car/build.gradle b/car/build.gradle
new file mode 100644
index 0000000..9f1b034
--- /dev/null
+++ b/car/build.gradle
@@ -0,0 +1,16 @@
+configurations {
+ python {
+ canBeResolved = true
+ canBeConsumed = false
+ }
+}
+
+dependencies {
+ python project(path: ':protobuf', configuration: 'python')
+}
+
+task copyPythonCode(type: Copy, dependsOn: configurations.python){
+ // Copy python protobuf code from proto project.
+ from zipTree(configurations.python.asPath)
+ into '.'
+}
\ No newline at end of file
diff --git a/car/car.iml b/car/car.iml
new file mode 100644
index 0000000..49cf236
--- /dev/null
+++ b/car/car.iml
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/car/config.json b/car/config.json
new file mode 100644
index 0000000..5c2a972
--- /dev/null
+++ b/car/config.json
@@ -0,0 +1,34 @@
+{
+ "mqtt":
+ {
+ "host": "127.0.0.1",
+ "port":1883,
+ "timeout":60,
+ "swarm": "swarm1"
+ },
+ "raft":
+ {
+ "min_election_timeout": 8,
+ "varying_election_timeout": 2,
+ "majority": 2
+ },
+ "messaging":
+ {
+ "me":
+ {
+ "ip": "127.0.0.1",
+ "port": 50051
+ },
+ "neighbours":
+ [
+ {
+ "ip": "127.0.0.1",
+ "port": 50052
+ },
+ {
+ "ip": "127.0.0.1",
+ "port": 50053
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/car/control/PythonRemoteController.py b/car/control/PythonRemoteController.py
new file mode 100644
index 0000000..4b2a5af
--- /dev/null
+++ b/car/control/PythonRemoteController.py
@@ -0,0 +1,33 @@
+print("Connecting to pi")
+
+import grpc
+from concurrent import futures
+import motorService_pb2_grpc
+from motorService_pb2 import SteeringRequest, ThrottleRequest
+import time
+
+throttle = 0.1
+timer = None
+
+class ThrottleIterator:
+ '''
+ Class to get the current throttle for the car.
+ Will return a random throttle between
+ '''
+ def __iter__(self):
+ return self
+
+ def __next__(self):
+ if throttle > 1 or throttle < -1:
+ raise StopIteration
+ time.sleep(1)
+ return ThrottleRequest(throttle=throttle)
+
+
+channel = grpc.insecure_channel('10.0.0.53:50051')
+stub = motorService_pb2_grpc.CarControlStub(channel)
+
+response = stub.SetThrottle(ThrottleIterator())
+
+while True:
+ throttle = int(input('Please enter a value for the throttle between -100 and 100'))
diff --git a/car/control/__init__.py b/car/control/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/control/gpio/__init__.py b/car/control/gpio/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/control/gpio/mockvehicle.py b/car/control/gpio/mockvehicle.py
new file mode 100644
index 0000000..9b0c8ec
--- /dev/null
+++ b/car/control/gpio/mockvehicle.py
@@ -0,0 +1,42 @@
+
+
+# A dummy vehicle class to use when
+class MockVehicle:
+ def __init__(self, motor_pin=19, servo_pin=18):
+ self.motor_pin = motor_pin
+ self.steering_pin = servo_pin
+
+ @property
+ def throttle(self):
+ return self._throttle
+
+ @throttle.setter
+ def throttle(self, value):
+ self._throttle = value
+
+ @property
+ def steering(self):
+ return self._steering
+
+ @steering.setter
+ def steering(self, value):
+ self._steering = value
+
+ @property
+ def motor_pin(self):
+ return self._motor_pin
+
+ @motor_pin.setter
+ def motor_pin(self, value):
+ self._motor_pin = value
+
+ @property
+ def steering_pin(self):
+ return self._steering_pin
+
+ @steering_pin.setter
+ def steering_pin(self, value):
+ self._steering_pin = value
+
+ def stop(self):
+ self.throttle = 0
diff --git a/car/control/gpio/vehicle.py b/car/control/gpio/vehicle.py
new file mode 100644
index 0000000..9ae941b
--- /dev/null
+++ b/car/control/gpio/vehicle.py
@@ -0,0 +1,83 @@
+from gpiozero import Servo, Device
+from gpiozero.pins.pigpio import PiGPIOFactory
+import subprocess
+
+
+def _safely_set_servo_value(servo, value):
+ try:
+ if value < -1 or value > 1:
+ print("Not setting throttle, invalid value set.")
+ return False
+ servo.value = value
+ except TypeError:
+ print("throttle should be a number, preferably a float.")
+ return False
+ return True
+
+def _is_pin_valid(pin):
+ if isinstance(pin, int):
+ if pin < 2 or pin > 21:
+ print("Invalid GPIO pin")
+ return False
+ return True
+ else:
+ print("Value must be an int.")
+ return False
+
+# TODO: Allow a vector to be set to change the throttle/steering, for vehicles that don't use
+# two servos for controls (e.g. drone, dog)
+class Vehicle:
+ def __init__(self, motor_pin=19, servo_pin=18):
+ subprocess.call(['sudo', 'pigpiod'])
+ Device.pin_factory = PiGPIOFactory()
+ print('Using pin factory:')
+ print(Device.pin_factory)
+ self.motor_pin = motor_pin
+ self.steering_pin = servo_pin
+ self.initialise_motor()
+
+ def initialise_motor(self):
+ self._motor_servo = Servo(
+ self._motor_pin, pin_factory=Device.pin_factory)
+ self._steering_servo = Servo(self._steering_pin, pin_factory=Device.pin_factory)
+
+ @property
+ def throttle(self):
+ return self._motor_servo.value
+
+ @throttle.setter
+ def throttle(self, value):
+ _safely_set_servo_value(self._motor_servo, value)
+
+ @property
+ def steering(self):
+ return self._motor_servo.value
+
+ @steering.setter
+ def steering(self, value):
+ _safely_set_servo_value(self._motor_servo, value)
+
+ @property
+ def motor_pin(self):
+ return self._motor_pin
+
+ @motor_pin.setter
+ def motor_pin(self, value):
+ # TODO: Reinitialise the servo when the pin changes, or discard this method
+ # (probably don't want to allow pin changes whilst the device is in use anyway)
+ self._motor_pin = value if _is_pin_valid(value) else self._motor_pin
+
+ @property
+ def steering_pin(self):
+ return self._steering_pin
+
+ @steering_pin.setter
+ def steering_pin(self, value):
+ self._steering_pin = value if _is_pin_valid(value) else self._steering_pin
+
+ def stop(self):
+ self.throttle = 0
+ self.steering = 0
+
+ def change_with_vector(self, vector):
+ pass
diff --git a/car/control/motor_servicer.py b/car/control/motor_servicer.py
new file mode 100644
index 0000000..4e24b68
--- /dev/null
+++ b/car/control/motor_servicer.py
@@ -0,0 +1,40 @@
+from threading import Timer, Thread
+from concurrent import futures
+import time
+
+import control.motorService_pb2 as motorService_pb2
+import control.motorService_pb2_grpc as motorService_pb2_grpc
+
+class MotorServicer(motorService_pb2_grpc.CarControlServicer):
+ def __init__(self, vehicle):
+ self.vehicle = vehicle
+ self._timer = None
+
+ def SetThrottle(self, request, context):
+ # gRPC streams currently don't work between python and android.
+ # If we don't get a response every 3 seconds, stop the car.
+ print('Setting throttle to: ' + str(request.throttle))
+ self.set_timeout(3)
+ self.vehicle.throttle = request.throttle
+ return motorService_pb2.ThrottleResponse(throttleSet=True)
+
+ def SetSteering(self, request, context):
+ print('Setting steering to: ' + str(request.steering))
+ self.vehicle.steering = request.steering
+ return motorService_pb2.SteeringResponse(steeringSet=True)
+
+ def set_timeout(self, min_timeout):
+ """Stops the old timer and restarts it to the specified time.
+
+ min_timeout -- The minimum time that can be used for the timer.
+ """
+ if self._timer is not None:
+ self._timer.cancel()
+ self._timer = Timer(min_timeout, self.timeout_elapsed)
+ self._timer.start()
+
+ def timeout_elapsed(self):
+ """Election or heartbeat timeout has elapsed."""
+ print("Node timeout elapsed")
+ self.vehicle.stop()
+
diff --git a/car/controller.py b/car/controller.py
new file mode 100755
index 0000000..b49d8d5
--- /dev/null
+++ b/car/controller.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+
+from threading import Timer, Thread
+from concurrent import futures
+import time
+
+import grpc
+
+import control.motorService_pb2_grpc as motorService_pb2_grpc
+from control.gpio.vehicle import Vehicle
+from control.motor_servicer import MotorServicer
+from slam.slam_servicer import SlamServicer
+import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
+import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
+from tracking.lidar_servicer import LidarServicer
+
+
+class CarServer():
+
+ def __init__(self, vehicle):
+ self.vehicle = vehicle
+
+ def start_server(self):
+ server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
+ motorService_pb2_grpc.add_CarControlServicer_to_server(self.create_motor_servicer(), server)
+ SlamController_pb2_grpc.add_SlamControlServicer_to_server(
+ self.create_slam_servicer(), server)
+ lidar_tracker_pb2_grpc.add_PersonTrackingServicer_to_server(
+ self.create_lidar_servicer(), server)
+ # Disable tls for local testing.
+ # server.add_secure_port('[::]:50051', self.create_credentials())
+ server.add_insecure_port('[::]:50051')
+ server.start()
+ while True:
+ time.sleep(60*60)
+
+ def create_motor_servicer(self):
+ return MotorServicer(self.vehicle)
+
+ def create_slam_servicer(self):
+ return SlamServicer()
+
+ def create_lidar_servicer(self):
+ return LidarServicer()
+
+ def create_credentials(self):
+ # Relativise this stuff.
+ pvtKeyPath = '/home/pi/tls/device.key'
+ pvtCertPath = '/home/pi/tls/device.crt'
+
+ pvtKeyBytes = open(pvtKeyPath, 'rb').read()
+ pvtCertBytes = open(pvtCertPath, 'rb').read()
+
+ return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
+
+
+if __name__ == '__main__':
+ vehicle = Vehicle()
+ server = CarServer(vehicle)
+
+ # Can't remember why I do this, is it even needed?
+ service_thread = Thread(target=server.start_server)
+ service_thread.start()
diff --git a/car/docker-compose.yml b/car/docker-compose.yml
new file mode 100644
index 0000000..16ea5d2
--- /dev/null
+++ b/car/docker-compose.yml
@@ -0,0 +1,9 @@
+version: '3'
+services:
+ cameraserver:
+ build: .
+ volumes:
+ - .:/app
+
+ eclipse-mqtt:
+ image: "eclipse-mosquitto"
diff --git a/car/generate-proto b/car/generate-proto
new file mode 100755
index 0000000..6ca8031
--- /dev/null
+++ b/car/generate-proto
@@ -0,0 +1,3 @@
+python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/control/motorService.proto
+python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/slam/SlamController.proto
+python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/tracking/lidar_tracker.proto
\ No newline at end of file
diff --git a/car/malima_SIU06.pdf b/car/malima_SIU06.pdf
new file mode 100644
index 0000000..f761a05
Binary files /dev/null and b/car/malima_SIU06.pdf differ
diff --git a/car/requirements.txt b/car/requirements.txt
new file mode 100644
index 0000000..03863bb
--- /dev/null
+++ b/car/requirements.txt
@@ -0,0 +1,8 @@
+numpy
+opencv-python
+six
+paho-mqtt
+u-msgpack-python
+grpcio-tools
+rplidar
+pyzmq
\ No newline at end of file
diff --git a/car/setup.py b/car/setup.py
new file mode 100644
index 0000000..7a9facf
--- /dev/null
+++ b/car/setup.py
@@ -0,0 +1,8 @@
+from setuptools import setup, find_packages
+
+setup(
+ name="CarController",
+ packages=find_packages(),
+ author="Michael Pivato",
+ version="0.1"
+)
\ No newline at end of file
diff --git a/car/slam/__init__.py b/car/slam/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/slam/slam_servicer.py b/car/slam/slam_servicer.py
new file mode 100644
index 0000000..5209d34
--- /dev/null
+++ b/car/slam/slam_servicer.py
@@ -0,0 +1,31 @@
+import slam.SlamController_pb2_grpc as grpc
+import slam.SlamController_pb2 as proto
+import slam.slam_streamer as slam
+from multiprocessing import Process
+
+
+class SlamServicer(grpc.SlamControlServicer):
+ slam_thread = None
+
+ def __init__(self):
+ print('Servicer initialised')
+ self.slam = slam.SlamStreamer()
+
+ def start_map_streaming(self, request, context):
+ print('Received Map Start Streaming Request')
+ if self.slam_thread is None:
+ print('initialising slam_thread')
+ # Don't bother creating and starting slam more than once.
+ self.slam.port = request.port
+ self.slam.map_pixels = request.map_size_pixels
+ self.slam.map_meters = request.map_size_meters
+ self.slam_thread = Process(target=self.slam.start)
+ self.slam_thread.start()
+ return proto.Empty()
+
+ def stop_streaming(self, request, context):
+ if self.slam_thread is not None:
+ self.slam.stop_scanning()
+ self.slam_thread.join()
+ self.slam = None
+ return proto.Empty()
diff --git a/car/slam/slam_streamer.py b/car/slam/slam_streamer.py
new file mode 100644
index 0000000..601a186
--- /dev/null
+++ b/car/slam/slam_streamer.py
@@ -0,0 +1,122 @@
+import zmq
+from breezyslam.algorithms import RMHC_SLAM
+from breezyslam.sensors import RPLidarA1 as LaserModel
+from slam.SlamController_pb2 import SlamScan, SlamLocation
+import messaging.message_factory as mf
+import messaging.messages as messages
+import tracking.devices.factory as lidar_fact
+
+
+# Left here as was used in the example, configure as necessary.
+# MAP_SIZE_PIXELS = 500
+# MAP_SIZE_METERS = 10
+# LIDAR_DEVICE = '/dev/ttyUSB0'
+
+class SlamStreamer:
+ can_scan = False
+
+ def __init__(self, map_pixels=None, map_meters=None, port=None):
+ self._map_pixels = map_pixels
+ self._map_meters = map_meters
+ self._port = port
+
+ def start(self):
+ '''
+ Does scanning and constructs the slam map,
+ and pushes to subscribers through a zmq pub socket.
+ This is done on the main thread, so you'll need
+ to run this method on a separate thread yourself.
+
+ All constructor parameters must be set prior
+ to calling this method, and changing those values after
+ calling this method will have no effect.
+ '''
+ self.can_scan = True
+ print('Starting to stream')
+ self._mFactory = mf.getZmqPubSubStreamer(self._port)
+
+ print('Started and bound zmq socket.')
+
+ # Adapted from BreezySLAM rpslam example.
+ # Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
+ lidar = lidar_fact.get_lidar()
+ lidar = lidar_fact.get_lidar()
+
+ print('Initialised lidar')
+
+ # Create an RMHC SLAM object with a laser model and optional robot model
+ slam = RMHC_SLAM(LaserModel(), self._map_pixels, self._map_meters)
+
+ print('initialised slam')
+
+ # Initialize empty map
+ mapbytes = bytearray(self.map_pixels * self.map_pixels)
+
+ print('Initialised byte []')
+
+ # Create an iterator to collect scan data from the RPLidar
+ iterator = lidar.iter_scans()
+
+ print('Scanning')
+
+ while self.can_scan:
+ # Extract (quality, angle, distance) triples from current scan
+ items = [item for item in next(iterator)]
+
+ # Extract distances and angles from triples
+ distances = [item[2] for item in items]
+ angles = [item[1] for item in items]
+ print('Updating map')
+ # Update SLAM with current Lidar scan and scan angles
+ slam.update(distances, scan_angles_degrees=angles)
+ print('Map updated')
+ slam.getmap(mapbytes)
+ self._push_map(mapbytes, slam.getpos())
+
+ def _push_map(self, mapbytes, location):
+ '''
+ Pushes a scan over zmq using protocol buffers.
+ map should be the result of slam.getmap.
+ location should be a tuple, the result of slam.getpos()
+ '''
+ protoScan = messages.ProtoMessage(message=SlamScan(map=bytes(mapbytes),
+ location=SlamLocation(x=location[0], y=location[1], theta=location[2])))
+ print('Sending map')
+ self._mFactory.send_message_topic(
+ 'slam_map', protoScan)
+
+ def stop_scanning(self):
+ self.can_scan = False
+
+ # Properties
+ @property
+ def map_pixels(self):
+ return self._map_pixels
+
+ @map_pixels.setter
+ def map_pixels(self, value):
+ self._map_pixels = value
+
+ @property
+ def map_meters(self):
+ return self._map_meters
+
+ @map_meters.setter
+ def map_meters(self, value):
+ self._map_meters = value
+
+ @property
+ def lidar_connection(self):
+ return self._lidar_connection
+
+ @lidar_connection.setter
+ def lidar_connection(self, value):
+ self._lidar_connection = value
+
+ @property
+ def port(self):
+ return self._port
+
+ @port.setter
+ def port(self, value):
+ self._port = value
diff --git a/car/slam/zmq_pair_testing/pair.py b/car/slam/zmq_pair_testing/pair.py
new file mode 100644
index 0000000..510a2be
--- /dev/null
+++ b/car/slam/zmq_pair_testing/pair.py
@@ -0,0 +1,28 @@
+import zmq
+from threading import Thread
+import time
+
+context = zmq.Context.instance()
+
+def client(context):
+ print('in thread')
+ socket = context.socket(zmq.SUB)
+ print('created socket')
+ socket.connect('tcp://localhost:5050')
+ socket.subscribe(b'slam_map')
+ while True:
+ print(socket.recv())
+
+def server(context):
+ print('in thread')
+ socket = context.socket(zmq.PUB)
+ print('created socket')
+ socket.bind('tcp://*:5050')
+ while True:
+ socket.send_multipart([b'slam_map', b'Hi'])
+ time.sleep(1)
+
+# client_thread = Thread(target=client, args=[context])
+server_thread = Thread(target=server, args=[context])
+server_thread.start()
+# client_thread.start()
\ No newline at end of file
diff --git a/car/tests/test_ballot_voter.py b/car/tests/test_ballot_voter.py
new file mode 100644
index 0000000..c5aec10
--- /dev/null
+++ b/car/tests/test_ballot_voter.py
@@ -0,0 +1,8 @@
+import unittest
+from DecisionSystem.CentralisedDecision.ballotvoter import BallotVoter
+
+class TestBallotVoter(unittest.TestCase):
+ def setUp(self):
+ pass
+
+
\ No newline at end of file
diff --git a/car/tests/test_commander.py b/car/tests/test_commander.py
new file mode 100644
index 0000000..53dec6e
--- /dev/null
+++ b/car/tests/test_commander.py
@@ -0,0 +1,13 @@
+import unittest
+import Messaging.mqttsession as ms
+
+class TestCommander(unittest.TestCase):
+ ms.client = FakeMQTT()
+
+class FakeMQTT:
+
+ def __init__(self):
+ pass
+
+ def add_subsc
+
\ No newline at end of file
diff --git a/car/tests/test_hand_recogniser.py b/car/tests/test_hand_recogniser.py
new file mode 100644
index 0000000..caaa834
--- /dev/null
+++ b/car/tests/test_hand_recogniser.py
@@ -0,0 +1,30 @@
+import unittest
+from GestureRecognition.simplehandrecogniser import SimpleHandRecogniser
+import cv2
+
+class TestSimpleHandRecogniser(unittest.TestCase):
+
+ def test_5_digits(self):
+ self.assertEqual(self.recogniser_5.get_gesture(), 5)
+
+ def test_3_digits(self):
+ self.assertEqual(self.recogniser_3.get_gesture(), 3)
+
+ def test_s_photo(self):
+ self.assertEqual(self.recogniser_s.get_gesture(), 5)
+
+ def setUp(self):
+ img_3 = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/IMG_0825.jpg")
+ img_3 = cv2.resize(img_3, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
+ self.recogniser_3 = SimpleHandRecogniser(img_3)
+
+ img_5 = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/IMG_0818.png")
+ img_5 = cv2.resize(img_5, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
+ self.recogniser_5 = SimpleHandRecogniser(img_5)
+
+ # img_s = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/Screen Shot hand.png")
+ # img_s = cv2.resize(img_s, None, fx=0.5, fy=0.5, interpolation = cv2.INTER_AREA)
+ # self.recogniser_s = SimpleHandRecogniser(img_s)
+
+if __name__ == '__main__':
+ unittest.main()
\ No newline at end of file
diff --git a/car/tests/test_messages.py b/car/tests/test_messages.py
new file mode 100644
index 0000000..2961ce6
--- /dev/null
+++ b/car/tests/test_messages.py
@@ -0,0 +1,33 @@
+import unittest
+from DecisionSystem.messages import Message, deserialise, RequestLeader
+
+class TestMessages(unittest.TestCase):
+ def test_base_empty(self):
+ self.assertEqual(self.m.sender, "")
+ self.assertEqual(self.m.data, {})
+ self.assertIsNone(self.m.type)
+
+ def test_base_set(self):
+ self.m2.type = "Michael"
+ self.assertEqual(self.m2.type, "Michael")
+ self.assertEqual(self.m2.data, self.data)
+ self.assertEqual(self.m2.sender, 33)
+
+ def test_serialistion(self):
+ serialised = self.m2.serialise()
+ self.m3 = deserialise(serialised)
+ self.assertEqual(self.m2.sender, self.m3.sender)
+ self.assertEqual(self.m2.data, self.m3.data)
+
+ def test_RequestLeader(self):
+ self.m3 = RequestLeader()
+ self.assertEqual(self.m3.type, "RequestLeader")
+
+ def setUp(self):
+ self.m = Message()
+ self.data = {"hi": 3}
+ self.sender = 33
+ self.m2 = Message(self.sender,self.data)
+
+if __name__ == '__main__':
+ unittest.main()
\ No newline at end of file
diff --git a/car/tests/test_mqtt_voter.py b/car/tests/test_mqtt_voter.py
new file mode 100644
index 0000000..17ba79f
--- /dev/null
+++ b/car/tests/test_mqtt_voter.py
@@ -0,0 +1,21 @@
+import unittest
+from DecisionSystem.CentralisedDecision.ballotvoter import BallotVoter
+
+class TestMqttVoter(unittest.TestCase):
+
+ def test_vote_property(self):
+ self.assertTrue(self.voter.set_vote(Vote()))
+ self.assertEquals(self.voter.get_vote(), Vote())
+
+ def test_invalid_vote_set(self):
+ self.assertFalse(self.voter.set_vote("Hi"))
+
+ @unittest.skip
+ def test_submit_vote(self):
+ pass
+
+ def setUp(self):
+ self.voter = MqttVoter()
+
+if __name__ == '__main__':
+ unittest.main()
\ No newline at end of file
diff --git a/car/tracking/__init__.py b/car/tracking/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/tracking/algorithms.py b/car/tracking/algorithms.py
new file mode 100644
index 0000000..f61741c
--- /dev/null
+++ b/car/tracking/algorithms.py
@@ -0,0 +1,212 @@
+import math
+
+
+class Group:
+
+ def __init__(self, number, points=[]):
+ self._points = points
+ self._number = number
+ self._minX = None
+ self._maxX = None
+ self._minY = None
+ self._maxY = None
+
+ def add_point(self, point):
+ self._points.append(point)
+ self._update_min_max(point)
+
+ def get_points(self):
+ return self._points
+
+ @property
+ def number(self):
+ return self._number
+
+ @number.setter
+ def number(self, number):
+ self._number = number
+
+ def _update_min_max(self, new_point):
+ """
+ Updates the in and max points for this group.
+ This is to determine when assigning groups whether the
+ same group is selected.
+ """
+ converted_point = convert_lidar_to_cartesian(new_point)
+
+ if self._minX is None or self._minX > converted_point[0]:
+ self._minX = converted_point[0]
+
+ if self._maxX is None or self._maxX < converted_point[0]:
+ self._maxX = converted_point[0]
+
+ if self._minY is None or self._minY > converted_point[1]:
+ self._minY = converted_point[1]
+
+ if self._maxY is None or self._maxY < converted_point[1]:
+ self._maxY = converted_point[1]
+
+ def get_minX(self):
+ return self._minY
+
+ def get_maxX(self):
+ return self._maxY
+
+ def get_minY(self):
+ return self._minY
+
+ def get_maxY(self):
+ return self._maxY
+
+
+def convert_lidar_to_cartesian(new_point):
+ x = new_point[2] * math.sin(new_point[1])
+ y = new_point[2] * math.cos(new_point[1])
+ return (x, y)
+
+
+def convert_cartesian_to_lidar(x, y):
+ """
+ Converts a point on the grid (with car as the origin) to a lidar tuple (distance, angle)
+
+ Parameters
+ ----------
+ x
+ Horizontal component of point to convert.
+
+ y
+ Vertical component of point to convert.
+
+ Returns
+ -------
+ converted
+ A tuple (distance, angle) that represents the point. Angle is in degrees.
+ """
+ # Angle depends on x/y position.
+ # if x is positive and y is positive, then angle = tan-1(y/x)
+ # if x is positive and y is negative, then angle = 360 + tan-1(y/x)
+ # if x is negative and y is positive, then angle = 180 + tan-1(y/x)
+ # if x is negative and y is negative, then angle = 180 + tan-1(y/x)
+ return (math.sqrt(x ** 2 + y ** 2), math.degrees(math.atan(y/x)) + (180 if x < 0 else 270 if y < 0 else 0))
+
+
+def calc_groups(scan):
+ """
+ Calculates groups of points from a lidar scan. The scan should
+ already be sorted.
+
+ Parameters
+ ----------
+
+ scan: Iterable
+ The lidar scan data to get groups of.
+ Should be of format: (quality, angle, distance)
+
+ Returns
+ -------
+ list
+ List of groups that were found.
+ """
+ prevPoint = None
+ currentGroup = None
+ allGroups = []
+ currentGroupNumber = 0
+
+ # assume the list is already sorted.
+ for point in scan:
+ if prevPoint is None:
+ prevPoint = point
+ continue
+
+ # Distances are in mm.
+ # within 1cm makes a group. Will need to play around with this.
+ if (point[2] - prevPoint[2]) ** 2 < 10 ** 2:
+ if currentGroup is None:
+ currentGroup = Group(currentGroupNumber)
+ allGroups.append(currentGroup)
+ currentGroup.add_point(point)
+ else:
+ if currentGroup is not None:
+ currentGroupNumber += 1
+ currentGroup = None
+
+ prevPoint = point
+
+ return allGroups
+
+
+def find_centre(group):
+ """
+ Gets a tuple (x,y) of the centre of the group.
+
+ Parameters
+ ----------
+ group: Group
+ A group of points to find the centre of.
+
+ Returns
+ -------
+ tuple (x,y)
+ The centre in the form of a tuple (x,y)
+ """
+ return ((group.get_maxX() + group.get_minX()) / 2, (group.get_maxY() + group.get_minY()) / 2)
+
+
+def assign_groups(prev_groups, new_groups):
+ """
+ Assigns group numbers to a new scan based on the groups of an old scan.
+ """
+ for group in prev_groups:
+ old_centre = find_centre(group)
+ for new_group in new_groups:
+ new_centre = find_centre(new_group)
+ # They are considered the same if the new group and old group centres are within 5cm.
+ if ((new_centre[0] - old_centre[0]) ** 2 + (new_centre[1] - old_centre[1]) ** 2) < 50 ** 2:
+ new_group.number = group.number
+
+ return new_groups
+
+
+def updateCarVelocity(oldGroup, newGroup):
+ """
+ Return a tuple (DistanceChange, AngleChange) indicating how the tracked groups have changed, which can
+ be used to then update the steering/throttle of the car (or other vehicle that
+ may be used)
+
+ Parameters
+ ----------
+ oldGroup: Group
+ The positioning of points for the group in the last scan.
+
+ newGroup: Group
+ The positioning of points for the group in the latest scan.
+
+ Returns
+ -------
+ tuple (DistanceChange, AngleChange)
+ A tuple containing how the groups' centres changed in the form (distance,angle)
+ """
+ old_polar = convert_cartesian_to_lidar(*find_centre(oldGroup))
+ new_centre = convert_cartesian_to_lidar(*find_centre(newGroup))
+ return (new_centre[0] - old_polar[0], new_centre[1] - old_polar[1])
+
+
+def dualServoChange(newCentre, changeTuple):
+ """
+ Gets a tuple (throttleChange, steeringChange) indicating the change that should be applied to the current
+ throttle/steering of an rc car that uses dual servos.
+
+ Parameters
+ ---------
+ newCentre
+ Tuple (distance, angle) of the new centre of the tracked group.
+
+ changeTuple
+ Tuple (distanceChange, angleChange) from the old centre to the new centre.
+
+ Returns
+ -------
+ tuple
+ Tuple of (throttleChange, steeringChange) to apply to the 2 servos.
+ """
+ return ((changeTuple[0] / 3) - (newCentre[0] / 4) + 1, 0)
diff --git a/car/tracking/all_scans.txt b/car/tracking/all_scans.txt
new file mode 100644
index 0000000..6446f4f
Binary files /dev/null and b/car/tracking/all_scans.txt differ
diff --git a/car/tracking/animate.py b/car/tracking/animate.py
new file mode 100755
index 0000000..451ec7f
--- /dev/null
+++ b/car/tracking/animate.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+'''Animates distances and measurment quality'''
+from tracking.mock_lidar import MockLidar
+import matplotlib.pyplot as plt
+import numpy as np
+import matplotlib.animation as animation
+import tracking.lidar_loader as loader
+
+
+PORT_NAME = '/dev/ttyUSB0'
+DMAX = 4000
+IMIN = 0
+IMAX = 50
+
+
+def update_line(num, iterator, line):
+ scan = next(iterator)
+ offsets = np.array([(np.radians(meas[1]), meas[2]) for meas in scan])
+ line.set_offsets(offsets)
+ intens = np.array([meas[0] for meas in scan])
+ line.set_array(intens)
+ return line,
+
+
+def run():
+ lidar = MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
+ fig = plt.figure()
+ ax = plt.subplot(111, projection='polar')
+ line = ax.scatter([0, 0], [0, 0], s=5, c=[IMIN, IMAX],
+ cmap=plt.cm.Greys_r, lw=0)
+ ax.set_rmax(DMAX)
+ ax.grid(True)
+
+ iterator = lidar.iter_scans()
+ ani = animation.FuncAnimation(fig, update_line,
+ fargs=(iterator, line), interval=50)
+ plt.show()
+ lidar.stop()
+ lidar.disconnect()
+
+
+if __name__ == '__main__':
+ run()
diff --git a/car/tracking/animate_alg.py b/car/tracking/animate_alg.py
new file mode 100644
index 0000000..879b12c
--- /dev/null
+++ b/car/tracking/animate_alg.py
@@ -0,0 +1,55 @@
+"""
+Animates distances and angle of lidar
+Uses model-free algorithms to track grouping of points (objects/groups)
+"""
+from tracking.mock_lidar import MockLidar
+import matplotlib.pyplot as plt
+import numpy as np
+import matplotlib.animation as animation
+import tracking.lidar_loader as loader
+import tracking.algorithms as alg
+
+
+PORT_NAME = '/dev/ttyUSB0'
+DMAX = 4000
+IMIN = 0
+IMAX = 50
+
+def update_line(num, iterator, line, prev_groups):
+ scan = next(iterator)
+ # Now update the groups, and then update the maps with different colours for different groups.
+ if(prev_groups.groups is None):
+ prev_groups = alg.calc_groups(scan)
+ groups = alg.assign_groups(prev_groups, alg.calc_groups(scan))
+ offsets = np.array([(np.radians(meas[1]), meas[2]) for meas in scan])
+ line.set_offsets(offsets)
+ intens = np.array([meas[0] for meas in scan])
+ line.set_array(intens)
+ # Set the colour matrix: Just set the colours to 2 * np.pi * group number (for every group number)
+ # line.set_color()
+ return line,
+
+class Bunch:
+ def __init__(self, **kwds):
+ self.__dict__.update(kwds)
+
+
+def run():
+ lidar = MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
+ fig = plt.figure()
+ ax = plt.subplot(111, projection='polar')
+ line = ax.scatter([0, 0], [0, 0], s=5, c=[IMIN, IMAX],
+ cmap=plt.cm.Greys_r, lw=0)
+ ax.set_rmax(DMAX)
+ ax.grid(True)
+ prev_groups = Bunch(groups=None)
+ iterator = lidar.iter_scans()
+ ani = animation.FuncAnimation(fig, update_line,
+ fargs=(iterator, line, prev_groups), interval=50)
+ plt.show()
+ lidar.stop()
+ lidar.disconnect()
+
+
+if __name__ == '__main__':
+ run()
diff --git a/car/tracking/devices/__init__.py b/car/tracking/devices/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/car/tracking/devices/factory.py b/car/tracking/devices/factory.py
new file mode 100644
index 0000000..dfcb704
--- /dev/null
+++ b/car/tracking/devices/factory.py
@@ -0,0 +1,13 @@
+from tracking.devices.mock_lidar import MockLidar
+from rplidar import RPLidar
+import tracking.lidar_loader as loader
+
+connection = "TEST"
+# connection = '/dev/ttyUSB0'
+
+def get_lidar():
+ # Need a way to configure this, maybe with environment variables
+ if connection == 'TEST':
+ return MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
+ else:
+ return RPLidar(connection)
diff --git a/car/tracking/devices/mock_lidar.py b/car/tracking/devices/mock_lidar.py
new file mode 100644
index 0000000..f5ccea6
--- /dev/null
+++ b/car/tracking/devices/mock_lidar.py
@@ -0,0 +1,43 @@
+"""
+This module contains a MockLidar class, for use in place of RPLidar.
+Importantly, it implements iter_scans, so it can be substituted for RPLidar
+in the lidar_cache for testing (or anywhere else the rplidar may be used)
+"""
+
+import tracking.lidar_loader as loader
+
+
+class MockLidar:
+
+ def __init__(self, scan_iter=None):
+ """
+ Create mock lidar with an iterator that can be used as fake (or reused) scan data.
+
+ Examples
+ --------
+ lidar = MockLidar(scans)
+ first_scan = next(lidar.iter_scans(measurements=100))
+
+ Parameters
+ ----------
+
+ scan_iter: Iterable
+ An iterator that will generate/provide the fake/old scan data.
+
+ """
+ self._iter = scan_iter
+
+ def iter_scans(self, min_len=100):
+ return iter(self._iter)
+
+ def get_health(self):
+ return "Mock Lidar has scans" if self._iter is not None else "Mock lidar won't work properly!"
+
+ def get_info(self):
+ return self.get_health()
+
+ def stop(self):
+ pass
+
+ def disconnect(self):
+ pass
diff --git a/car/tracking/lidar_cache.py b/car/tracking/lidar_cache.py
new file mode 100644
index 0000000..f74b6f1
--- /dev/null
+++ b/car/tracking/lidar_cache.py
@@ -0,0 +1,84 @@
+from threading import Thread
+from tracking import algorithms
+import tracking.lidar_tracker_pb2 as tracker_pb
+import zmq
+
+
+class LidarCache():
+ """
+ A class that retrieves scans from the lidar,
+ runs grouping algorithms between scans and
+ keeps a copy of the group data.
+ """
+
+ def __init__(self, lidar, measurements=100):
+ self.lidar = lidar
+ self.measurements = measurements
+ print('Info: ' + self.lidar.get_info())
+ print('Health: ' + self.lidar.get_health())
+ self.run = True
+ self.tracking_group_number = -1
+ self.currentGroups = None
+ self._group_listeners = []
+
+ def start_cache(self):
+ self.thread = Thread(target=self.do_scanning)
+ self.thread.start()
+
+ def do_scanning(self):
+ """Performs scans whilst cache is running, and will pass calculated groups data to the sender.
+
+ Parameters
+ ----------
+ listener:
+ Any object that includes the onGroupsChanged method.
+
+ """
+
+ # Batch over scans, so we don't need to do our own batching to determine groups
+ # TODO: Implement custom batching, as iter_scans can be unreliable
+ for scan in self.lidar.iter_scans(min_len=self.measurements):
+ print('Got %d measurments' % (len(scan)))
+ if len(scan) < self.measurements:
+ # Poor scan, likely since it was the first scan.
+ continue
+
+ if not self.run:
+ break
+
+ # Now process the groups.
+ if self.currentGroups is not None:
+ self.currentGroups = algorithms.assign_groups(
+ self.currentGroups, algorithms.calc_groups(scan))
+ else:
+ self.currentGroups = algorithms.calc_groups(scan)
+
+ self.fireGroupsChanged()
+
+ def fireGroupsChanged(self):
+ # Send the updated groups to 0MQ socket.
+ # Rename this to be a generic listener method, rather than an explicit 'send' (even though it can be treated as such already)
+ pointScan = tracker_pb.PointScan()
+ for group in self.currentGroups:
+ for point in group.get_points():
+ pointScan.points.append(tracker_pb.Point(
+ angle=point[1], distance=point[2], group_number=group.number))
+
+ for listener in self._group_listeners:
+ listener.onGroupsChanged(pointScan)
+
+ def add_groups_changed_listener(self, listener):
+ """
+ Add a listener for a change in scans. THis will provide a tuple with the new group
+ scans, which can then be sent off to a network listener for display, or to update the
+ vehicle with a new velocity.
+
+ Parameters
+ ----------
+ listener
+ An object that implements the onGroupsChanged(message) method.
+ """
+ self._group_listeners.append(listener)
+
+ def stop_scanning(self):
+ self.run = False
diff --git a/car/tracking/lidar_loader.py b/car/tracking/lidar_loader.py
new file mode 100644
index 0000000..ced6b1b
--- /dev/null
+++ b/car/tracking/lidar_loader.py
@@ -0,0 +1,26 @@
+# -*- coding: utf-8 -*-
+"""
+This module is a utility to load and save lidar
+scans to disk.
+As such, it is useful for testing, to create real lidar
+data that can be reused later, without needing to connect the lidar.
+"""
+
+from rplidar import RPLidar
+import pickle
+
+
+def get_scans(num_scans, device='/dev/ttyUSB0', measurements_per_scan=100):
+ lidar = RPLidar(device)
+ scans = lidar.iter_scans(measurements_per_scan)
+ return [next(scans) for i in range(0, num_scans)]
+
+
+def save_scans_bytes(scans, filename='out.pickle'):
+ with open(filename, 'wb') as f:
+ pickle.dump(scans, f)
+
+
+def load_scans_bytes_file(filename):
+ with open(filename, 'rb') as f:
+ return pickle.load(f)
diff --git a/car/tracking/lidar_servicer.py b/car/tracking/lidar_servicer.py
new file mode 100644
index 0000000..5386fc3
--- /dev/null
+++ b/car/tracking/lidar_servicer.py
@@ -0,0 +1,44 @@
+import tracking.lidar_tracker_pb2 as lidar_tracker_pb2
+from tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
+from tracking.lidar_cache import LidarCache
+from multiprocessing import Process
+import messaging.message_factory as mf
+import tracking.devices.factory as lidar_factory
+
+from messaging import messages
+import tracking.algorithms as alg
+
+class LidarServicer(PersonTrackingServicer):
+
+ def __init__(self, vehicle=None):
+ # TODO: Put the rplidar creation in a factory or something, to make it possible to test this servicer.
+ # Also, it would allow creating the service without the lidar being connected.
+ self.cache = LidarCache(lidar_factory.get_lidar(), measurements=100)
+ self.cache.add_groups_changed_listener(self)
+ self._mFactory = None
+ self._port = None
+ self._vehicle = vehicle
+ self._tracked_group = None
+
+ def set_tracking_group(self, request, context):
+ self._tracked_group = request.value
+
+ def stop_tracking(self, request, context):
+ self.cache.stop_scanning()
+
+ def start_tracking(self, request, context):
+ """Starts the lidar cache, streaming on the provided port."""
+ self._port = request.value
+ self.cache.start_cache()
+
+ def onGroupsChanged(self, message):
+ if self._mFactory is None:
+ # Create the zmq socket in the thread that it will be used, just to be safe.
+ self._mFactory = mf.getZmqPubSubStreamer(self._port)
+ self._mFactory.send_message_topic("lidar_map", messages.ProtoMessage(message=message.SerializeToString()))
+
+ if self._tracked_group is not None and self._vehicle is not None:
+ # Update vehicle to correctly follow the tracked group.
+ # Leave for now, need to work out exactly how this will change.
+ # alg.dualServoChange(alg.find_centre())
+ pass
diff --git a/car/tracking/lidar_tester.py b/car/tracking/lidar_tester.py
new file mode 100644
index 0000000..d41215d
--- /dev/null
+++ b/car/tracking/lidar_tester.py
@@ -0,0 +1,5 @@
+from tracking.lidar_cache import LidarCache
+import Messaging.message_factory as mf
+
+
+
diff --git a/car/tracking/out.pickle b/car/tracking/out.pickle
new file mode 100644
index 0000000..cd86fea
Binary files /dev/null and b/car/tracking/out.pickle differ
diff --git a/car/tracking/readme.txt b/car/tracking/readme.txt
new file mode 100644
index 0000000..f7fe842
--- /dev/null
+++ b/car/tracking/readme.txt
@@ -0,0 +1,4 @@
+To load the lidar dummy scans in all_scans.txt,
+use python pickle:
+with open('path/to/all_scans.txt', 'rb') as fp:
+ all_scans = pickle.load(fp)
\ No newline at end of file