Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

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

car/DecisionSystem/CentralisedDecision/centralisedinstance.py

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+"""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()
+