Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

git-subtree-dir: car
git-subtree-mainline: 1d29a5526c
git-subtree-split: eee0e8dc44

car/DecisionSystem/CentralisedDecision/cameraserver.py

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+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