97 lines
2.7 KiB
Python
97 lines
2.7 KiB
Python
print("It's happening!")
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from DecisionSystem.CentralisedDecision.ballotvoter import BallotVoter
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from DecisionSystem.CentralisedDecision.messenger import MqttMessenger
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import numpy as np
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import cv2
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import time
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import argparse
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import os.path
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import sys
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from GestureRecognition.simplehandrecogniser import SimpleHandRecogniser
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from threading import Thread
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from queue import Queue
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import MyRaft.node as raft
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import MyRaft.leader as leader
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import DecisionSystem.CentralisedDecision.commander as commander
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import DecisionSystem.CentralisedDecision.messenger as messenger
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import DecisionSystem.CentralisedDecision.ballotvoter as voter
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print("Parsing args")
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parser = argparse.ArgumentParser(description="Runs a file with OpenCV and gets consensus from the swarm.")
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parser.add_argument('-V', '--video', help="Path to video file.")
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args = parser.parse_args()
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recogniser = SimpleHandRecogniser(None)
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# Checks if video file is specified and if that file exists.
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if(args.video):
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print('finding video')
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if not os.path.isfile(args.video):
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print("Input video file ", args.video, " doesn't exist")
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sys.exit(1)
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else:
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# Exit if no video file specified - we aren't using webcam here.
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sys.exit(1)
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def on_vote():
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# Get the current frame of the camera and process what hand
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# is currently being seen.
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print('getting frame')
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# Need to copy rather than just take a reference, as frame will
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# constantly be changing.
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global vd
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recogniser.set_frame(np.copy(vd.frame))
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print('Got frame, voting with recogniser')
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return recogniser.get_gesture()
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def connect_to_broker(mqtt):
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print("Connecting to broker")
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max_collisions = 100
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collisions = 1
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while not mqtt.connect() and collisions <= max_collisions:
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time.sleep(2 ** collisions - 1)
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print("Reconnecting in %s" %(2 ** collisions - 1))
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collisions += 1
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mqtt = MqttMessenger()
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v = BallotVoter(on_vote, mqtt)
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def on_disconnect(rc):
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print("Client disconnected from broker")
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i = input("Would you like to reconnnect? (y|n)")
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if i == 'y':
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global mqtt
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connect_to_broker(mqtt)
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mqtt.add_disconnect_callback(on_disconnect)
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connect_to_broker(mqtt)
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# Start the video capture at the next whole minute.
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current_time_sec = time.gmtime(time.time()).tm_sec
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if current_time_sec < 40:
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time.sleep(60 - current_time_sec)
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else:
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time.sleep(60 - current_time_sec + 60)
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print('loading video')
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print('Press q to quit the server, g to get votes/consensus')
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while True:
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if vd.frame is None:
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continue
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frame = np.copy(vd.frame)
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cv2.imshow('Frame', frame)
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k = cv2.waitKey(33)
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if k == ord('q'):
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break
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elif k == -1:
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continue
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elif k == ord('g'):
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# Get votes
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pass
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