initial commit #65

Author: previ

event.py

@@ -0,0 +1,38 @@
+import logging
+import threading
+import rospy
+import std_msgs
+
+class EventManager:
+  _instance = None
+  @classmethod
+  def get_instance(cls, node_name=None):
+    if cls._instance is None and node_name is not None:
+      cls._instance = EventManager(node_name)
+    return cls._instance
+
+  def __init__(self, node_name):
+    rospy.init_node(node_name)
+    self._publishers = {}
+    self._event_generators = []
+
+  def register_publisher(self, topic):
+    publisher = rospy.Publisher("/" + node_name + "/" + topic, String, queue_size=10)
+    self._publishers[topic] = publisher
+    return publisher 
+    
+  def register_listener(self, topic, callback):
+    rospy.Subscriber("/" + node_name + "/" + topic, std_msgs.msg.String, callback)
+
+  def register_event_generator(self, generator_func):
+    generator = threading.Thread(target=generator_func)
+    self._event_generators.append(generator)
+    generator.start()
+
+  def start_event_generators(self):
+    for g in self._event_generators:
+      g.start()
+
+  def wait_event_generators(self):
+    for g in self._event_generators:
+      g.join()

main.py

@@ -32,6 +32,7 @@
 from program import ProgramEngine, Program
 from config import Config
 from cnn_manager import CNNManager
+from event import EventManager
 
 from flask import Flask, render_template, request, send_file, redirect, Response, jsonify
 from flask_babel import Babel
@@ -49,6 +50,7 @@
 motion = None
 audio = None
 cnn = None
+event = None
 
 app = Flask(__name__,static_url_path="")
 #app.config.from_pyfile('coderbot.cfg')
@@ -353,20 +355,13 @@ def run_server():
       audio.say(app.bot_config.get("sound_start"))
       try:
 	cam = Camera.get_instance()
-        #motion = Motion.get_instance()
+        motion = Motion.get_instance()
       except picamera.exc.PiCameraError:
         logging.error("Camera not present")
 
       cnn = CNNManager.get_instance()
-      """
-      cnn.train_new_model(model_name="test3",
-                        architecture="mobilenet_0.25_128",
-                        image_tags=["apple", "kiwi", "other"],
-                        photos_meta=cam.get_photo_list(),
-                        training_steps=10,
-                        learning_rate=0.1)
-      logging.info("trained")
-      """
+      event = EventManager.get_instance("coderbot")
+
       if app.bot_config.get('load_at_start') and len(app.bot_config.get('load_at_start')):
         app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
         app.prog.execute()

program.py

@@ -28,6 +28,7 @@
 import motion
 import config
 import audio
+import event
 
 PROGRAM_PATH = "./data/"
 PROGRAM_PREFIX = "program_"
@@ -48,6 +49,9 @@ def get_audio():
 def get_prog_eng():
   return ProgramEngine.get_instance()
 
+def get_event():
+  return event.EventManager.get_instance()
+
 class ProgramEngine:
 
   _instance = None
@@ -139,7 +143,6 @@ def is_running(self):
 
   def run(self):
     try:
-      #print "run.1"
       bot = coderbot.CoderBot.get_instance()
       program = self
       try:
@@ -149,9 +152,8 @@ def run(self):
           logging.debug("starting video")
       except:
         logging.error("Camera not available")
-      
+     
       exec(self._code)
-      #print "run.2"
     except RuntimeError as re:
       logging.info("quit: " + str(re))
     finally:
@@ -162,6 +164,8 @@ def run(self):
         logging.error("Camera not available")
       self._running = False
 
+      get_event_manager().wait_event_generators()
+
   def as_json(self):
     return {'name': self.name,
             'dom_code': self._dom_code,