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Clean up for rewrite. License change.

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Tom Wilson 6 years ago
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MIT License
Copyright (c) 2018 Thomas Wilson
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under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

4
setup.py
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@ -2,7 +2,7 @@ from setuptools import setup
setup(
name='shepherd',
version='0.2dev',
version='0.3dev',
author='Thomas Wilson',
author_email='t.wilson@distreon.com.au',
packages=['shepherd', ],
@ -15,7 +15,7 @@ setup(
entry_points={
'console_scripts': ['shepherd=shepherd.core:cli'],
},
license='MIT license',
license='GPLv3+',
description='Herd your mob of physically remote nodes',
long_description=open('README.md').read(),
)

10
shepherd.toml
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@ -1,10 +0,0 @@
[shepherd]
plugin_path = "~/shepherd/"
plugins = ["picam","test"]
root_dir = "~/shepherd/"
conf_edit_path = "~/shepherd.toml"
test =1
[picam]
[[picam.trigger]]
hour = "00-23"
minute = "*"

80
shepherd/camtest.py
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@ -1,80 +0,0 @@
#!/usr/bin/env python3
import cv2
from PIL import Image, ImageDraw, ImageFont
print(cv2.__version__)
gst_str = ('v4l2src device=/dev/video0 ! '
'videoconvert ! appsink drop=true max-buffers=1 sync=false')
print(gst_str)
logo_im = Image.open('smallshepherd.png')
overlayfont = "DejaVuSansMono.ttf"
try:
fnt = ImageFont.truetype(overlayfont, 50)
except IOError:
fnt = ImageFont.load_default()
loaded_fonts={}
loaded_logos={}
vidcap = cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER)
while True:
breakpoint()
vidcap.grab()
read_flag, frame = vidcap.read()
print(read_flag)
#overlay = frame.copy()
# You may need to convert the color.
#Convert over to PIL. Mostly so we can use our own font.
img = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
im_pil = Image.fromarray(img)
font_size = int(im_pil.height/40)
margin_size = int(font_size/5)
if font_size not in loaded_fonts:
loaded_fonts[font_size] = ImageFont.truetype(overlayfont, int(font_size*0.9))
thisfont = loaded_fonts[font_size]
if font_size not in loaded_logos:
newsize = (int(logo_im.width*(font_size/logo_im.height)),font_size)
loaded_logos[font_size] = logo_im.resize(newsize, Image.BILINEAR)
thislogo = loaded_logos[font_size]
overlay = Image.new('RGBA',(im_pil.width,font_size+(2*margin_size)), (0,0,0))
overlay.paste(thislogo, (int((overlay.width-thislogo.width)/2),margin_size))
draw = ImageDraw.Draw(overlay)
draw.text((margin_size*2, margin_size), "SARDIcam-1", font=thisfont,
fill=(255, 255, 255, 255))
datetext = "2019-07-24 20:22:31"
datewidth, _ = draw.textsize(datetext,thisfont)
draw.text((overlay.width-(margin_size*2)-datewidth, margin_size), datetext, font=thisfont,
fill=(255, 255, 255, 255))
overlay.putalpha(128)
im_pil.paste(overlay, (0,im_pil.height-overlay.height),overlay)
im_pil.save("test.jpg", "JPEG", quality=90)
# For reversing the operation:
#im_np = np.asarray(im_pil)
#cv2.rectangle(overlay,(200,200),(500,500),(255,0,0),-1)
#cv2.addWeighted(overlay, 0.3, frame, 0.7, 0, frame)
#cv2.imwrite("frame.jpg", frame)
# print out build properties:
# print(cv2.getBuildInformation())

114
shepherd/freezedry.py
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@ -1,114 +0,0 @@
from enum import Enum, auto
import inspect
class RehydrateMethod(Enum):
DIRECT = auto()
INIT = auto()
CLASS_METHOD = auto()
#freezedry, for when pickling is just a bit too intense
# The class key is a reserved dict key used to flag that the dict should be unpacked back out to a class instance
class_key = "<freezedried>"
# The Pack module stores some state from init to keep a list of valid packable classes
freezedryables = {}
# Decorator to mark class as packable and keep track of associated names and classes. When packed, the
# special key string "<packable>" indicates what class the current dict should be unpacked to
# name argument is the string that will identify this class in a packed dict
def freezedryable(cls, rehydrate_method=RehydrateMethod.DIRECT, name=None):
if name is None:
cls._freezedry_name = cls.__name__
else:
if isinstance(name, str):
raise Exception("freezedryable name must be a string")
cls._freezedry_name = name
cls._rehydrate_method = rehydrate_method
if cls._freezedry_name in freezedryables:
raise Exception("Duplicate freezedryable class name "+cls._freezedry_name)
freezedryables[cls._freezedry_name] = cls
def _freezedry(self):
dried_dict=_freezedry_dict(vars(self))
dried_dict[class_key]=self._freezedry_name
return dried_dict
cls.freezedry=_freezedry
#setattr(cls, "freezedry", freezedry)
return cls
def freezedry(hydrated_obj):
# If it's a primitive, store it. If it's a dict or list, recursively freezedry that.
# If it's an instance of another freezedryable class, call its .freezedry() method.
if isinstance(hydrated_obj, (str, int, float, bool, type(None))):
return hydrated_obj
elif isinstance(hydrated_obj, dict):
return _freezedry_dict(hydrated_obj)
elif isinstance(hydrated_obj, list):
dried_list = []
for val in hydrated_obj:
dried_list.append(freezedry(val))
return dried_list
elif hasattr(hydrated_obj, "_freezedry_name"):
return hydrated_obj.freezedry()
else:
raise Exception("Object "+str(hydrated_obj)+" is not freezedryable")
def _freezedry_dict(hydrated_dict):
dried_dict = {}
for k,val in hydrated_dict.items():
if not isinstance(k,str):
raise Exception("Non-string dictionary keys are not freezedryable")
if k == class_key:
raise Exception("Key "+class_key+" is reserved for internal freezedry use")
dried_dict[k]=freezedry(val)
return dried_dict
def rehydrate(dried_obj):
if isinstance(dried_obj, (str, int, float, bool, type(None))):
return dried_obj
elif isinstance(dried_obj, dict):
return _rehydrate_dict(dried_obj)
elif isinstance(dried_obj, list):
hydrated_list = []
for val in dried_obj:
hydrated_list.append(rehydrate(val))
return hydrated_list
else:
raise Exception("Object "+str(dried_obj)+" is not rehydrateable")
def _rehydrate_dict(dried_dict):
hydrated_dict = {}
for k,val in dried_dict.items():
if not isinstance(k,str):
raise Exception("Non-string dictionary keys are not rehydrateable")
if k != class_key:
hydrated_dict[k]=rehydrate(val)
# Check if this is an object that needs to be unpacked back to an instance
if class_key in dried_dict:
if dried_dict[class_key] not in freezedryables:
raise Exception("Class "+dried_dict[class_key]+" has not been decorated as freezedryable")
f_class=freezedryables[dried_dict[class_key]]
# If DIRECT, skip __init__ and set attributes back directly
if f_class._rehydrate_method == RehydrateMethod.DIRECT:
hydrated_instance = f_class.__new__(f_class)
hydrated_instance.__dict__.update(hydrated_dict)
#if INIT, pass all attributes as keywords to __init__ method
elif f_class._rehydrate_method == RehydrateMethod.INIT:
hydrated_instance = f_class(**hydrated_dict)
# IF CLASS_METHOD, pass all attributes as keyword aguments to classmethod "unpack()"
elif f_class._rehydrate_method == RehydrateMethod.CLASS_METHOD:
if inspect.ismethod(getattr(f_class, "rehydrate", None)):
hydrated_instance = f_class.rehydrate(**hydrated_dict)
else:
raise Exception("Class "+str(f_class)+" does not have classmethod 'rehydrate()'")
else:
raise Exception("Class _rehydrate_method "+str(f_class._rehydrate_method)+" is not supported")
return hydrated_instance
else:
return hydrated_dict

BIN
shepherd/plugins/DejaVuSansMono.ttf
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77
shepherd/plugins/aphidtrap.py
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@ -1,77 +0,0 @@
#!/usr/bin/env python3
import shepherd.config
import shepherd.module
import sys
import os
import time
import argparse
from gpiozero import OutputDevice, Device
from gpiozero.pins.pigpio import PiGPIOFactory
from shepherd.modules.betterservo import BetterServo
Device.pin_factory = PiGPIOFactory()
APHIDTRAP_LED_PIN = 5 #Out2
class AphidtrapConfDef(shepherd.config.ConfDefinition):
def __init__(self):
super().__init__()
class AphidtrapModule(shepherd.module.SimpleModule):
conf_def = AphidtrapConfDef()
def setup(self):
print("Aphidtrap config:")
print(self.config)
self.led_power = OutputDevice(APHIDTRAP_LED_PIN,
active_high=True,
initial_value=False)
def setup_other_modules(self):
self.modules.picam.hook_pre_cam.attach(self.led_on)
self.modules.picam.hook_post_cam.attach(self.led_off)
def led_on(self):
self.led_power.on()
def led_off(self):
self.led_power.off()
def main(argv):
argparser = argparse.ArgumentParser(
description='Module for aphidtrap control functions. Run for testing')
argparser.add_argument("configfile", nargs='?', metavar="configfile",
help="Path to configfile", default="conf.toml")
args = argparser.parse_args()
confman = shepherd.config.ConfigManager()
srcdict = {"aphidtrap": {}}
if os.path.isfile(args.configfile):
confman.load(args.configfile)
else:
confman.load(srcdict)
aphidtrap_mod = AphidtrapModule(confman.get_config("aphidtrap", AphidtrapConfDef()),
shepherd.module.Interface(None))
aphidtrap_mod.led_on()
time.sleep(2)
aphidtrap_mod.led_off()
if __name__ == "__main__":
main(sys.argv[1:])

147
shepherd/plugins/betterservo.py
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@ -1,147 +0,0 @@
from gpiozero import PWMOutputDevice, SourceMixin, CompositeDevice
class BetterServo(SourceMixin, CompositeDevice):
"""
Copy of GPIOZero servo, but with control over pulse width and active_high
"""
def __init__(
self, pin=None, initial_value=0.0,
min_pulse_width=1/1000, max_pulse_width=2/1000,
frame_width=20/1000, pin_factory=None, active_high=True):
if min_pulse_width >= max_pulse_width:
raise ValueError('min_pulse_width must be less than max_pulse_width')
if max_pulse_width >= frame_width:
raise ValueError('max_pulse_width must be less than frame_width')
self._frame_width = frame_width
self._min_dc = min_pulse_width / frame_width
self._dc_range = (max_pulse_width - min_pulse_width) / frame_width
self._min_value = -1
self._value_range = 2
super(BetterServo, self).__init__(
pwm_device=PWMOutputDevice(
pin, frequency=int(1 / frame_width), pin_factory=pin_factory,
active_high=False
),
pin_factory=pin_factory
)
self.pwm_device.active_high=active_high
try:
self.value = initial_value
except:
self.close()
raise
@property
def frame_width(self):
"""
The time between control pulses, measured in seconds.
"""
return self._frame_width
@property
def min_pulse_width(self):
"""
The control pulse width corresponding to the servo's minimum position,
measured in seconds.
"""
return self._min_dc * self.frame_width
@property
def max_pulse_width(self):
"""
The control pulse width corresponding to the servo's maximum position,
measured in seconds.
"""
return (self._dc_range * self.frame_width) + self.min_pulse_width
@property
def pulse_width(self):
"""
Returns the current pulse width controlling the servo.
"""
if self.pwm_device.frequency is None:
return None
else:
return self.pwm_device.state * self.frame_width
@pulse_width.setter
def pulse_width(self, value):
if value is None:
self.pwm_device.frequency = None
elif self.min_pulse_width <= value <= self.max_pulse_width:
self.pwm_device.frequency = int(1 / self.frame_width)
self.pwm_device.value = (value / self.frame_width)
else:
raise OutputDeviceBadValue("Servo pulse_width must be between min and max supplied during construction, or None")
def min(self):
"""
Set the servo to its minimum position.
"""
self.value = -1
def mid(self):
"""
Set the servo to its mid-point position.
"""
self.value = 0
def max(self):
"""
Set the servo to its maximum position.
"""
self.value = 1
def detach(self):
"""
Temporarily disable control of the servo. This is equivalent to
setting :attr:`value` to ``None``.
"""
self.value = None
def _get_value(self):
if self.pwm_device.frequency is None:
return None
else:
return (
((self.pwm_device.state - self._min_dc) / self._dc_range) *
self._value_range + self._min_value)
@property
def value(self):
"""
Represents the position of the servo as a value between -1 (the minimum
position) and +1 (the maximum position). This can also be the special
value ``None`` indicating that the servo is currently "uncontrolled",
i.e. that no control signal is being sent. Typically this means the
servo's position remains unchanged, but that it can be moved by hand.
"""
result = self._get_value()
if result is None:
return result
else:
# NOTE: This round() only exists to ensure we don't confuse people
# by returning 2.220446049250313e-16 as the default initial value
# instead of 0. The reason _get_value and _set_value are split
# out is for descendents that require the un-rounded values for
# accuracy
return round(result, 14)
@value.setter
def value(self, value):
if value is None:
self.pwm_device.frequency = None
elif -1 <= value <= 1:
self.pwm_device.frequency = int(1 / self.frame_width)
self.pwm_device.value = (
self._min_dc + self._dc_range *
((value - self._min_value) / self._value_range)
)
else:
raise OutputDeviceBadValue(
"Servo value must be between -1 and 1, or None")
@property
def is_active(self):
return self.value is not None

78
shepherd/plugins/flytrap.py
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@ -1,78 +0,0 @@
#!/usr/bin/env python3
import shepherd.config as shconf
import shepherd.plugin
import sys
import os
import time
import argparse
class FlytrapPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def('servo_open_pulse', shconf.IntDef(default=1200, minval=800, maxval=2200))
confdef.add_def('servo_closed_pulse', shconf.IntDef(default=1800, minval=800, maxval=2200))
confdef.add_def('servo_open_time', shconf.IntDef(default=5))
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
self.id = pluginInterface.coreconfig["id"]
print("Flytrap config:")
print(self.config)
self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
self.interface.attach_hook("usbcam", "post_cam", self.uv_camera)
self.interface.register_function(self.test)
def uv_camera(self):
self.led_off()
self.led_uv_on()
self.plugins["usbcam"].run_cameras(" UV")
self.led_uv_off()
self.run_servo()
def led_on(self):
self.plugins["scout"].set_out1(True)
def led_off(self):
self.plugins["scout"].set_out1(False)
def led_uv_on(self):
self.plugins["scout"].set_out2(True)
def led_uv_off(self):
self.plugins["scout"].set_out2(False)
def run_servo(self):
self.plugins["scout"].set_aux5v(True)
#self.door_servo_power.on()
time.sleep(0.5)
self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
#self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
time.sleep(self.config["servo_open_time"])
self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
#self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
time.sleep(self.config["servo_open_time"])
self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
#self.door_servo.detach()
self.plugins["scout"].set_aux5v(False)
#self.door_servo_power.off()
def test(self):
self.led_on()
time.sleep(1)
self.led_off()
self.run_servo()

80
shepherd/plugins/mothtrap.py
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@ -1,80 +0,0 @@
#!/usr/bin/env python3
import shepherd.config as shconf
import shepherd.plugin
import sys
import os
import time
import argparse
class MothtrapPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def('servo_open_pulse', shconf.IntDef(default=1200, minval=800, maxval=2200))
confdef.add_def('servo_closed_pulse', shconf.IntDef(default=1800, minval=800, maxval=2200))
confdef.add_def('servo_open_time', shconf.IntDef(default=5))
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
self.id = pluginInterface.coreconfig["id"]
print("Mothtrap config:")
print(self.config)
#servo_max = self.config["servo_open_pulse"] / 1000000
#servo_min = self.config["servo_closed_pulse"] / 1000000
#if servo_min > servo_max:
# servo_min, servo_max = servo_max, servo_min
#print(F"Supplied min: {servo_min}, max: {servo_max}")
self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
self.interface.attach_hook("usbcam", "post_cam", self.led_off)
self.interface.attach_hook("usbcam", "post_cam", self.run_servo)
self.interface.register_function(self.test)
def led_on(self):
self.plugins["scout"].set_out1(True)
#self.led_power.on()
def led_off(self):
self.plugins["scout"].set_out1(False)
#self.led_power.off()
def run_servo(self):
self.plugins["scout"].set_aux5v(True)
#self.door_servo_power.on()
time.sleep(0.5)
self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
#self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
time.sleep(self.config["servo_open_time"])
self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
#self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
time.sleep(self.config["servo_open_time"])
self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
#self.door_servo.detach()
self.plugins["scout"].set_aux5v(False)
#self.door_servo_power.off()
def test(self):
self.led_on()
time.sleep(1)
self.led_off()
self.run_servo()

174
shepherd/plugins/picam.py
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@ -1,174 +0,0 @@
import io
import os
from datetime import datetime
import time
import shepherd.config as shconf
import shepherd.plugin
from picamera import PiCamera
from PIL import Image, ImageDraw, ImageFont
asset_dir = os.path.dirname(os.path.realpath(__file__))
overlayfont_filename = os.path.join(asset_dir, "DejaVuSansMono.ttf")
logo_filename = os.path.join(asset_dir, "smallshepherd.png")
# on server side, we want to be able to list commands that a module responds to
# without actually instantiating the module class. Add command templates into
# the conf_def, than attach to them in the interface? Was worried about having
# "two sources of truth", but you already need to match the conf_def to the
# name where you access the value in the module. Could have add_command, which
# you then add standard conf_def subclasses to, to reuse validation and server
# form generation logic...
class PiCamPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def('upload_images', shconf.BoolDef(default=False, optional=True,
helptext="If true, move to an Uploader bucket. Requires Uploader plugin"))
confdef.add_def('upload_bucket', shconf.StringDef(default="", optional=True,
helptext="Name of uploader bucket to shift images to."))
confdef.add_def('save_directory', shconf.StringDef(default="", optional=True,
helptext="Name of directory path to save images. If empty, a 'usbcamera' directory under the Shepherd root dir will be used"))
confdef.add_def('append_id', shconf.BoolDef(default=True, optional=True,
helptext="If true, add the system ID to the end of image filenames"))
confdef.add_def('show_overlay', shconf.BoolDef(default=True, optional=True,
helptext="If true, add an overlay on each image with the system ID and date."))
confdef.add_def('overlay_desc', shconf.StringDef(default="", optional=True,
helptext="Text to add to the overlay after the system ID and camera name"))
confdef.add_def('jpeg_quality', shconf.IntDef(default=80, minval=60, maxval=95, optional=True,
helptext="JPEG quality to save with. Max of 95, passed directly to Pillow"))
array = confdef.add_def('trigger', shconf.TableArrayDef(
helptext="Array of triggers that will use all cameras"))
array.add_def('hour', shconf.StringDef())
array.add_def('minute', shconf.StringDef())
array.add_def('second', shconf.StringDef(default="0", optional=True))
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
self.id = pluginInterface.coreconfig["id"]
self.interface.register_hook("pre_cam")
self.interface.register_hook("post_cam")
self.interface.register_function(self.camera_job)
# do some camera init stuff
print("PiCamera config:")
print(self.config)
# Seconds to wait for exposure and white balance auto-adjust to stabilise
self.stabilise_delay = 3
if self.config["save_directory"] is "":
self.save_directory = os.path.join(self.root_dir, "picamera")
else:
self.save_directory = self.config["save_directory"]
if not os.path.exists(self.save_directory):
os.makedirs(self.save_directory)
if self.config["show_overlay"]:
# Load assets
self.logo_im = Image.open(logo_filename)
self.font_size_cache = {}
self.logo_size_cache = {}
#global cam_led
#cam_led = LED(CAMERA_LED_PIN, active_high=False, initial_value=False)
for trigger in self.config["trigger"]:
trigger_id = trigger["hour"]+'-' + trigger["minute"]+'-'+trigger["second"]
self.interface.add_job(
self.camera_job, trigger["hour"], trigger["minute"], trigger["second"], job_name=trigger_id)
def _generate_overlay(self, width, height, image_time):
font_size = int(height/40)
margin_size = int(font_size/5)
if font_size not in self.font_size_cache:
self.font_size_cache[font_size] = ImageFont.truetype(
overlayfont_filename, int(font_size*0.9))
thisfont = self.font_size_cache[font_size]
if font_size not in self.logo_size_cache:
newsize = (int(self.logo_im.width*(
font_size/self.logo_im.height)), font_size)
self.logo_size_cache[font_size] = self.logo_im.resize(
newsize, Image.BILINEAR)
thislogo = self.logo_size_cache[font_size]
desc_text = self.config["overlay_desc"]
if self.config["append_id"]:
desc_text = self.id + " " + desc_text
time_text = image_time.strftime("%Y-%m-%d %H:%M:%S")
overlay = Image.new('RGBA', (width, font_size+(2*margin_size)), (0, 0, 0))
overlay.paste(thislogo, (int((overlay.width-thislogo.width)/2), margin_size))
draw = ImageDraw.Draw(overlay)
draw.text((margin_size*2, margin_size), desc_text,
font=thisfont, fill=(255, 255, 255, 255))
datewidth, _ = draw.textsize(time_text, thisfont)
draw.text((overlay.width-(margin_size*2)-datewidth, margin_size), time_text, font=thisfont,
fill=(255, 255, 255, 255))
# make whole overlay half transparent
overlay.putalpha(128)
return overlay
def camera_job(self):
self.hooks.pre_cam()
#Capture image
print("Running camera...")
stream = io.BytesIO()
with PiCamera() as picam:
picam.resolution = (3280, 2464)
picam.start_preview()
time.sleep(self.stabilise_delay)
picam.capture(stream, format='jpeg')
# "Rewind" the stream to the beginning so we can read its content
stream.seek(0)
img = Image.open(stream)
#Process image
image_time = datetime.now()
if self.config["show_overlay"]:
overlay = self._generate_overlay(img.width, img.height, image_time)
img.paste(overlay, (0, img.height-overlay.height), overlay)
image_filename = image_time.strftime("%Y-%m-%d %H-%M-%S")
if self.config["append_id"]:
image_filename = image_filename + " " + self.id
image_filename = image_filename + ".jpg"
image_filename = os.path.join(self.save_directory, image_filename)
img.save(image_filename+".writing", "JPEG", quality=self.config["jpeg_quality"])
os.rename(image_filename+".writing", image_filename)
if self.config["upload_images"]:
self.plugins["uploader"].move_to_bucket(image_filename, self.config["upload_bucket"])
self.hooks.post_cam()
if __name__ == "__main__":
pass
# print("main")
# main(sys.argv[1:])

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shepherd/plugins/scout/__init__.py
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from .scout import ScoutPlugin

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shepherd/plugins/scout/scout.py
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#!/usr/bin/env python3
"""
Plugin to interface with the shepherd scout pcb modules. Also semi-compatible
with the older TrapCtrl style boards and Pi HATs based on the SleepyPi2, provided
they are running the Shepherd Scout firmware.
The TDW serial message format is used to pull data from the companion board and
interact with its RTC and set alarms. This library uses a seperate thread
to handle the comms with the supervising microcontroller. Interface functions
add a request to the queue, and some may wait for a state to be updated before
returning (with a timeout).
"""
import shepherd.config as shconf
import shepherd.plugin
from . import tdw
import queue
import threading
import re
import serial
import time
from datetime import datetime
from enum import Enum, auto
from collections import namedtuple
class MsgName(Enum):
BATV = "batv"
BATI = "bati"
TIME = "time"
ALARM = "alarm"
AUX5V = "aux5v"
PWM1 = "pwm1"
PWM2 = "pwm2"
OUT1 = "out1"
OUT2 = "out2"
VERSION = "version"
LOG = "log"
MEASUREMENT = "meas"
def __str__(self):
return str(self.value)
logmsgs = ["LE_NONE - Empty log",
"LE_POWERUP - Scout startup",
"LE_PI_BOOT_TIMEOUT - Tried to turn on Pi but did not recieve succesful boot signal",
"LE_PI_ON - Pi has booted",
"LE_LOW_VOLT_START_SHUTDOWN - Initiated Pi shutdown due to low supply voltage",
"LE_PI_SIGNAL_START_SHUTDOWN - Pi started to shut itself down",
"LE_PI_SHUTDOWN_TIMEOUT - Pi did not signal successful shutdown, so killed power",
"LE_MAIN5V_DISABLE - Main Pi power turned off",
"LE_VOLT_GOOD_MAIN5V_ENABLE - Turned Pi power on after voltage raised enough",
"LE_ALARM_MAIN5V_ENABLE - Turned Pi power on after wakeup alarm was hit"]
class ScoutPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def('boardver', shconf.StringDef())
confdef.add_def('serialport', shconf.StringDef())
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.msg_handler = tdw.MessageHandler(config["serialport"], 57600)
self.interface.register_function(self.get_batv)
self.interface.register_function(self.get_bati)
self.interface.register_function(self.get_time)
self.interface.register_function(self.set_alarm)
self.interface.register_function(self.set_aux5v)
self.interface.register_function(self.set_pwm1)
self.interface.register_function(self.set_pwm2)
self.interface.register_function(self.set_out1)
self.interface.register_function(self.set_out2)
self.interface.register_function(self.test_logs)
self.interface.register_function(self.get_logs)
self.interface.register_function(self.get_measurements)
self.interface.register_function(self.test)
def get_version(self):
rqst = self.msg_handler.send_request(MsgName.VERSION.value)
if rqst.wait_for_response():
return rqst.response.arguments[0:2]
return None
def get_batv(self):
rqst = self.msg_handler.send_request(MsgName.BATV.value)
if rqst.wait_for_response():
return rqst.response.arguments[0]
return None
def get_bati(self):
rqst = self.msg_handler.send_request(MsgName.BATI)
if rqst.wait_for_response():
return rqst.response.arguments[0]
return None
def set_aux5v(self, enabled):
cmd = self.msg_handler.send_command(MsgName.AUX5V, [str(enabled).lower()])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def set_pwm1(self, enabled, pulse_length):
cmd = self.msg_handler.send_command(
MsgName.PWM1, [str(enabled).lower(), str(pulse_length)])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def set_pwm2(self, enabled, pulse_length):
cmd = self.msg_handler.send_command(
MsgName.PWM2, [str(enabled).lower(), str(pulse_length)])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def set_out1(self, enabled):
cmd = self.msg_handler.send_command(MsgName.OUT1, [str(enabled).lower()])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def set_out2(self, enabled):
cmd = self.msg_handler.send_command(MsgName.OUT2, [str(enabled).lower()])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def get_time(self):
rqst = self.msg_handler.send_request(MsgName.TIME)
if rqst.wait_for_response():
return rqst.response.arguments[0]
return None
def set_alarm(self, unix_time):
cmd = self.msg_handler.send_command(MsgName.ALARM, [unix_time])
if cmd.wait_for_response():
return cmd.response.arguments[0]
return None
def get_logs(self):
rqst = self.msg_handler.send_request(MsgName.LOG)
if rqst.wait_for_response():
return rqst.response.multipart_args
return None
def get_measurements(self):
rqst = self.msg_handler.send_request(MsgName.MEASUREMENT)
if rqst.wait_for_response():
return rqst.response.multipart_args
return None
def test_logs(self):
rqst = self.msg_handler.send_request(MsgName.LOG)
if rqst.wait_for_response():
for logline in reversed(rqst.response.multipart_args):
logdate = datetime.fromtimestamp(int(logline[0]))
batv = float(logline[1])/100.0
logmessage = logmsgs[int(logline[2])]
print(F"::{logdate:%Y-%m-%d %H:%M:%S}:: {batv:.2f}V :: {logmessage}")
return None
def test(self):
print("Testing companion board...")
print(F"Current RTC time is {self.get_time()}")
print(F"Current BatV is {self.get_batv()}")
print(F"Current BatI is {self.get_bati()}")
print("Turning on Out1 for 1 second")
self.set_out1(True)
time.sleep(1)
self.set_out1(False)
print("Turning on Out2 for 1 second")
self.set_out2(True)
time.sleep(1)
self.set_out2(False)
print("Enabling auxilliary 5V")
self.set_aux5v(True)
print("Sweeping PWM1 from 1000us to 2000us")
self.set_pwm1(True, 1000)
time.sleep(1)
self.set_pwm1(True, 2000)
time.sleep(1)
self.set_pwm1(False, 1000)
print("Sweeping PWM2 from 1000us to 2000us")
self.set_pwm2(True, 1000)
time.sleep(1)
self.set_pwm2(True, 2000)
time.sleep(1)
self.set_pwm2(False, 1000)
self.set_aux5v(False)
print("Test finished")
return None

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shepherd/plugins/scout/tdw.py
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"""
Python module implementing the TDW (This Do What #!?) serial message format.
Currently only supports responses to sent messages, rather than generic RX.
Intended use:
>>> msg_handler = tdw.MessageHandler("/dev/ttyAMA0", 57600)
>>> rqst = msg_handler.send_request("BATV")
>>> if rqst.wait_for_response()
>>> print(rqst.response)
"""
import sys
import queue
import threading
import serial
import re
import time
import logging
from enum import Enum
log = logging.getLogger(__name__)
DEFAULT = object()
MAX_MSG_LEN = 128
MAX_MSG_ARGS = 8
# Return a Message object, allowing the the caller to check a "sent" flag to see if it's gone through
# yet. If needs_response was true, enable a "wait_for_response()" function that internally blocks until
# response is recieved or times out. Returns either None or a Response object.
# Note that unless a class overrides __bool__(), it will always evaluate to True, allowing "if wait_for_response():"
# to check if there's a returned message. A ".response" property gets filled after returning too, allowing
# use of that rather than the caller having to get a reference.
# Once "wait_for_response()"" returns, the message handler removes it's reference to the message and
# the response, so the caller can be sure that it won't be changed underneath it.
# Currently this is all designed only for comms initiated by Python, and doesn't handle responding
# to communication initiated by the device yet. For that, perhaps supply callback attachments
# for specific message names as well as a generic one, but by default queue them up and wait
# for a call to a "process_messages()" function or something - to allow callbacks to be handled
# in the same main thread. Optionally have a flag when creating the MessageHandler for it to
# dispatch callbacks in new threads asynchronously (or have individual flags when attaching callbacks
# perhaps?)
class TDWException(Exception):
pass
class ResponseNotReceivedError(TDWException):
pass
class MessageType(Enum):
COMMENT = "#"
COMMAND = "!"
REQUEST = "?"
def __str__(self):
return str(self.value)
class Message():
"""
Representation of a message to be sent from this device.
Also used to track the corresponding response from the other device.
"""
def __init__(self, msg_type, msg_name, arguments, multipart_args=None):
if not isinstance(msg_type, MessageType):
raise TypeError("Argument message_type must be a MessageType")
self._msg_type = msg_type
self._msg_name = str(msg_name)
self._arguments = arguments
self._multipart_args = multipart_args
@property
def msg_type(self):
return self._msg_type
@property
def msg_name(self):
return self._msg_name
@property
def arguments(self):
return self._arguments
@property
def multipart_args(self):
return self._multipart_args
def __str__(self):
return F"<{self.__class__.__name__}: {self.__dict__}>"
class TXMessage(Message):
"""
Locks down and stringifies the arguments and multipart arg list into tuples on creation, avoid
them being changed underneath it once the message is added to the send queue.
"""
def __init__(self, msg_type, msg_name, arguments, needs_response, response_timeout, multipart_args=None):
# Allow single value or string as arg, convert to list
if isinstance(arguments, str) or (not hasattr(arguments, "__iter__")):
arguments = [arguments]
# Stringify args and put in immutable tuples
immutable_args = tuple([str(arg) for arg in arguments])
immutable_multipart_args = None
if multipart_args is not None:
# Allow single value or string as arg, convert to list
if isinstance(multipart_args, str) or (not hasattr(multipart_args, "__iter__")):
multipart_args = [multipart_args]
immutable_multipart_args = []
for arglist in multipart_args:
immutable_multipart_args.append(tuple([str(arg) for arg in arglist]))
immutable_multipart_args = tuple(immutable_multipart_args)
super().__init__(msg_type, msg_name, immutable_args, immutable_multipart_args)
self._needs_response = needs_response
self._response_timeout = response_timeout
self._response = None
# event that is triggered when a matching command response is
# recieved and the data parsed into ScoutState. ScoutState should
# only be then read via the lock on it.
self._responded = threading.Event()
@property
def needs_response(self):
return self._needs_response
@property
def response(self):
return self._response
def wait_for_response(self):
if not self._needs_response:
raise Exception(
"Can't wait for response on a message that has not set 'needs_response=True'")
if self._responded.wait(self._response_timeout):
# Serial thread should have populated self._response by now
return self.response
else:
return False
class RXMessage(Message):
def __init__(self, msg_type, msg_name, arguments, is_multipart=False, multipart_count=0):
super().__init__(msg_type, msg_name, arguments)
self._multipart_count = multipart_count
self._is_multipart = is_multipart
if is_multipart:
self._multipart_args = []
@property
def multipart_count(self):
"""
The declared number of message parts.
//Not// necessarily the number or parts that were actually received.
For multipart messages that don't declare a count, this is None.
"""
return self._multipart_count
@property
def is_multipart(self):
"""
Returns true if the message was a multi-part message
"""
return self._is_multipart
class MessageHandler():
def __init__(self, serial_port, baud_rate, response_timeout=0.5, multipart_timeout=0.2, loop_delay=0.01):
self._tx_message_queue = queue.Queue()
self._tx_message = None
self._tx_sent_time = None
self._rx_message = None
self._last_rx_time = None
self._rx_multipart_timeout = multipart_timeout
# Default, can be overridden by individual messages
self.response_timeout = response_timeout
# delay used in serial processing thread between iterations.
# If zero, the handler will just spin constantly asking if more serial bytes are available
# (a fcntl.ioctl call). If too large, you lose responsiveness when a new message comes in (when
# not waiting for a response the loop delay has an event trigger, so new messages get sent immediately)
# Very large values risk filling the serial buffer before data can be processed.
# pyserial buffer is apparently 1024 or 4096 bytes, and at 57600 baud 10ms delay would only
# be 72 bytes.
self.loop_delay = loop_delay
self._rx_string = ""
self.port = serial.Serial()
self.port.baudrate = baud_rate # 57600
# Set port to be non-blocking
self.port.timeout = 0
self.port.port = serial_port
# self._re_message_frame = re.compile(r"([#!?])(.+?)[\r\n]")
self._re_msg_start = re.compile(r"[#!?]")
self._frame_end_chars = "\r\n"
self._re_msg_bounds = re.compile(r"[#!?\r\n]")
# start thread
self.thread = threading.Thread(target=self._serial_comm_thread, daemon=True)
self.thread.start()
def send_message(self, message):
"""
Add a message to the queue to be sent
"""
if not isinstance(message, TXMessage):
raise TypeError("'message' argument must be of type TXMessage")
self._tx_message_queue.put(message)
def send_comment(self, message_name, arguments=[], needs_response=False, response_timeout=DEFAULT):
if response_timeout is DEFAULT:
response_timeout = self.response_timeout
msg = TXMessage(MessageType.COMMENT, message_name,
arguments, needs_response, response_timeout)
self.send_message(msg)
return msg
def send_command(self, message_name, arguments=[], needs_response=True, response_timeout=DEFAULT):
if response_timeout is DEFAULT:
response_timeout = self.response_timeout
msg = TXMessage(MessageType.COMMAND, message_name,
arguments, needs_response, response_timeout)
self.send_message(msg)
return msg
def send_request(self, message_name, arguments=[], needs_response=True, response_timeout=DEFAULT):
if response_timeout is DEFAULT:
response_timeout = self.response_timeout
msg = TXMessage(MessageType.REQUEST, message_name,
arguments, needs_response, response_timeout)
self.send_message(msg)
return msg
def response_from_request(self, message_name, arguments=[], response_timeout=DEFAULT):
'''
Sends request and returns the response. Blocks while waiting. Throws ResponseNotReceivedError
if the response times out.
'''
rqst = self.send_request(message_name, arguments, True, response_timeout)
if rqst.wait_for_response():
return rqst.response.arguments
raise ResponseNotReceivedError(rqst)
def response_from_command(self, message_name, arguments=[], response_timeout=DEFAULT):
'''
Sends command and returns the response. Blocks while waiting. Throws ResponseNotReceivedError
if the response times out.
'''
cmd = self.send_command(message_name, arguments, True, response_timeout)
if cmd.wait_for_response():
return cmd.response.arguments
raise ResponseNotReceivedError(cmd)
def _send_message(self):
"""
Actually send a message pulled from the queue.
Only called from the serial_comm thread
"""
argstr = ""
if len(self._tx_message.arguments) > 0:
argstr = ':'+','.join(self._tx_message.arguments)
send_str = F"{self._tx_message.msg_type}{self._tx_message.msg_name}{argstr}\n"
self.port.write(send_str.encode('utf-8'))
self._tx_sent_time = time.time()
log.debug(F"Msg TX: {send_str}")
# Only keep the current message around if we need to track a response
if not self._tx_message.needs_response:
self._tx_message = None
def _find_msg_frame(self):
"""
Finds next frame in the _rx_string, trimming any excess.
Returns true if it found something and needs to be called again,
intended to be called in a loop.
"""
match = self._re_msg_start.search(self._rx_string)
if match is None:
# No command start characters anywhere in the string, so ditch it
self._rx_string = ""
return False
# trim anything before start
if match.start() > 0:
self._rx_string = self._rx_string[match.start():]
# Search for next start or end character
match = self._re_msg_bounds.search(self._rx_string, 1)
if match is None:
# No end of frame found
if len(self._rx_string) > MAX_MSG_LEN:
# We have a message start, but too many characters after it without an end
# of frame, so ditch it.
self._rx_string = ""
return False
if match[0] in self._frame_end_chars:
# Found our frame end
self._parse_message_text(self._rx_string[:match.start()])
# Trim out the message we just found and start again
self._rx_string = self._rx_string[match.end():]
return True
else:
# Found another start character, trim and start again
self._rx_string = self._rx_string[match.start():]
return True
def _parse_message_text(self, msg_str):
"""
Parse a recieved message string.
'msg_str' contains the start character and everything after that,
not including the terminating linefeed.
Only called from the serial_comm thread
"""
log.debug(F"Msg RX: {msg_str}")
self._last_rx_time = time.time()
msg_name, _, msg_args_text = msg_str.strip(' \t').partition(':')
# Convert the character to our enum for later comparison
msg_type = MessageType(msg_name[0])
msg_name = msg_name[1:]
msg_args = msg_args_text.split(',')
# Trim whitespace around name and args
msg_name = msg_name.strip(' \t')
msg_args = [arg.strip(' \t') for arg in msg_args]
multipart_count = None
multipart_start = False
multipart_end = False
if msg_args[-1][0] == '<':
multipart_start = True
# Message is indicating a multipart start
count_txt = msg_args[-1][1:].strip(" \t")
try:
multipart_count = int(count_txt)
except ValueError:
# If no count supplied or can't understand it, treat it as open
multipart_count = None
# Remove the multipart start indicator from the args
msg_args = msg_args[:-1]
elif msg_args[-1][0] == '>':
multipart_end = True
# Remove the multipart end indicator from the args
msg_args = msg_args[:-1]
if self._rx_message is not None:
# We have a multipart message in progress
if (self._rx_message.msg_name == msg_name) and (self._rx_message.msg_type == msg_type) and (not multipart_start):
# Only skip adding args to list if it's a blank mutipart end message
if not (multipart_end and (len(msg_args) == 0)):
self._rx_message._multipart_args.append(msg_args)
if multipart_end or (len(self._rx_message.multipart_args) >= self._rx_message.multipart_count):
self._process_rx_message()
# We're done here
return
else:
# We've got a new message interrupting the in-progress one
# Close off existing rx message and continue
self._process_rx_message()
self._rx_message = RXMessage(msg_type, msg_name, msg_args,
is_multipart=multipart_start, multipart_count=multipart_count)
if not self._rx_message.is_multipart:
self._process_rx_message()
def _process_rx_message(self):
"""
Process a received and parsed message in self._rx_message,
and dispatches any necessary actions.
Clears self._rx_message after it's done.
"""
#print(F"Process rx_msg: {self._rx_message.msg_name}")
#print(F"tx message during processing is {self._tx_message.msg_name}")
if (self._tx_message is not None) and (self._tx_message.msg_name == self._rx_message.msg_name) and (self._rx_message.msg_type == MessageType.COMMENT):
# _tx_message only hangs around if it's waiting for response.
# can't just assume next received message is a response, as the other
# device might be sending something else in the meantime, so check for name.
# Responses are always comments.
self._tx_message._response = self._rx_message
self._tx_message._responded.set()
self._tx_message = None
else:
pass
# TODO - Handle other type of received message and dispatch actions here - callbacks?
self._rx_message = None
def _handle_serial_port(self):
# If there's bytes, read them and deal with them. The underlying port read locks
# the GIL, so use non-blocking mode.
if self.port.in_waiting > 0:
new_bytes = self.port.read(self.port.in_waiting)
self._rx_string = self._rx_string + new_bytes.decode('utf-8')
# Find and process message frames
while self._find_msg_frame():
pass
# Loop back to check for more RX characters (the priority)
return
if self._rx_message is not None:
if (time.time()-self._last_rx_time) >= self._rx_multipart_timeout:
# Been too long waiting for a multipart message part, timeout and process
# so the main program can use the message
self._process_rx_message()
if self._tx_message is not None:
# Wait for current tx_message to time out
if (time.time()-self._tx_sent_time) >= self._tx_message._response_timeout:
# Timeout the request
self._tx_message = None
else:
time.sleep(self.loop_delay)
else:
# Try and get a new message to send
try:
self._tx_message = self._tx_message_queue.get(
block=True, timeout=self.loop_delay)
# Only gets here if current_tx_message is actually set
self._send_message()
except queue.Empty:
pass
def _serial_comm_thread(self):
while True:
# Actual wait is on either the non-empty queue or a serial character to parse
# Serial comms is not synchronous, so need to be available to recieve characters
# at any point
try:
log.info(F"Connecting to serial port {self.port.port}, with baud {self.port.baudrate}...")
self.port.open()
while True:
self._handle_serial_port()
except serial.SerialException:
log.error("Could not open serial port")
time.sleep(1)
# If there's a serialexception, try to reopen the port

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#!/usr/bin/env python3
import shutil
import os
import threading
import paramiko
import shepherd.config as shconf
import shepherd.plugin
# configdef = shepherd.config.definition()
# Can either import shepherd.config here, and call a function to build a config_def
# or can leave a config_def entry point.
# probably go with entry point, to stay consistent with the module
# on server side, we want to be able to list commands that a module responds to
# without actually instantiating the module class. Add command templates into
# the conf_def, than attach to them in the interface? Was worried about having
# "two sources of truth", but you already need to match the conf_def to the
# name where you access the value in the module. Could have add_command, which
# you then add standard conf_def subclasses to, to reuse validation and server
# form generation logic...
# The uploader plugin allows the definition of upload "buckets" - essentially
# as a way of collecting together settings for upload, timing, and retention settings
# Buckets will ignore any filenames ending with ".writing" or ".uploaded"
# The "move_to_bucket" interface function is provided, but bucket directories will
# also work with any files moved into them externally.
class Destination():
def __init__(self, config, node_id, root_dir):
self.config = config
self.node_id = node_id
self.root_dir = root_dir
self.sendlist_condition = threading.Condition()
self.send_list = []
self.thread = threading.Thread(target=self._send_files)
self.thread.start()
# Override this in subclasses, implementing the actual upload process.
# Return true on success, false on failure.
def upload(self, filepath, suffix):
print("Dummy uploading "+filepath)
return True
def add_files_to_send(self, file_path_list):
self.sendlist_condition.acquire()
for file_path in file_path_list:
if file_path not in self.send_list:
self.send_list.append(file_path)
self.sendlist_condition.notify()
self.sendlist_condition.release()
def _file_available(self):
return len(self.send_list) > 0
def _send_files(self):
while True:
self.sendlist_condition.acquire()
# this drops through immediately if there is something to send, otherwise waits
self.sendlist_condition.wait_for(self._file_available)
file_to_send = self.send_list.pop(0)
os.rename(file_to_send, file_to_send+".uploading")
self.sendlist_condition.release()
# Rename uploaded file to end with ".uploaded" on success, or back
# to original path on failure.
try:
self.upload(file_to_send, ".uploading")
os.rename(file_to_send+".uploading", file_to_send+".uploaded")
except Exception as e:
print(F"Upload failed with exception {e}")
os.rename(file_to_send+".uploading", file_to_send)
self.send_list.append(file_to_send)
class SFTPDestination(Destination):
def upload(self, filepath, suffix):
print("Starting upload...")
with paramiko.Transport((self.config["address"],
self.config["port"])) as transport:
transport.connect(username=self.config["username"],
password=self.config["password"])
with paramiko.SFTPClient.from_transport(transport) as sftp:
print("Uploading "+filepath+" to " +
self.config["address"]+" via SFTP")
if self.config["add_id_to_path"]:
destdir = os.path.join(self.config["path"],
self.node_id)
else:
destdir = self.config["path"]
try:
sftp.listdir(destdir)
except IOError:
print("Creating remot dir:" + destdir)
sftp.mkdir(destdir)
print("Target dir:"+destdir)
sftp.put(filepath+suffix,
os.path.join(destdir, os.path.basename(filepath)))
class Bucket():
def __init__(self, name, open_link_on_new, opportunistic, keep_copy,
destination, node_id, root_dir, path=None, old_path=None):
self.newfile_event = threading.Event()
self.newfile_event.set()
self.node_id = node_id
self.root_dir = root_dir
self.destination = destination
self.path = path
if self.path is None:
self.path = os.path.join(self.root_dir, name)
if not os.path.exists(self.path):
os.makedirs(self.path)
if keep_copy:
self.old_path = old_path
if self.old_path is None:
self.old_path = os.path.join(
self.root_dir, name + "_old")
if not os.path.exists(self.old_path):
os.makedirs(self.old_path)
self.thread = threading.Thread(target=self._check_files)
self.thread.start()
def _check_files(self):
while True:
# NOTE: The reason we use an event here, rather than a lock or condition
# is that we're not sharing any internal state between the threads - just
# the filesystem itself and using the atomicity of file operations. While
# less clean in a pure python sense, this allows for more flexibility in
# allowing other sources of files
self.newfile_event.wait(timeout=10)
self.newfile_event.clear()
bucket_files = []
for item in os.listdir(self.path):
item_path = os.path.join(self.path, item)
if (os.path.isfile(item_path) and
(not item.endswith(".writing")) and
(not item.endswith(".uploading")) and
(not item.endswith(".uploaded"))):
bucket_files.append(item_path)
#TODO check for .uploaded files and either delete or
# if keep_copy, move to self.old_path
if bucket_files:
self.destination.add_files_to_send(bucket_files)
class UploaderPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
dests = confdef.add_def('destination', shconf.TableArrayDef())
dests.add_def('name', shconf.StringDef())
dests.add_def('protocol', shconf.StringDef())
dests.add_def('address', shconf.StringDef(optional=True))
dests.add_def('port', shconf.IntDef(optional=True))
dests.add_def('path', shconf.StringDef(optional=True))
dests.add_def('username', shconf.StringDef(optional=True))
dests.add_def('password', shconf.StringDef(optional=True))
dests.add_def('keyfile', shconf.StringDef(
default="", optional=True))
dests.add_def('add_id_to_path', shconf.BoolDef(
default=True, optional=True))
buckets = confdef.add_def('bucket', shconf.TableArrayDef())
buckets.add_def('name', shconf.StringDef())
buckets.add_def('open_link_on_new', shconf.BoolDef())
buckets.add_def('opportunistic', shconf.BoolDef(
default=True, optional=True))
buckets.add_def('keep_copy', shconf.BoolDef())
buckets.add_def('destination', shconf.StringDef())
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
self.id = pluginInterface.coreconfig["id"]
print("Uploader config:")
print(self.config)
self.interface.register_function(self.move_to_bucket)
self.destinations = {}
self.buckets = {}
for dest_conf in self.config["destination"]:
if dest_conf["protocol"] == "sftp":
self.destinations[dest_conf["name"]] = SFTPDestination(
dest_conf, self.id, self.root_dir)
else:
self.destinations[dest_conf["name"]] = Destination(
dest_conf, self.id, self.root_dir)
for bucketconf in self.config["bucket"]:
bucketconf["destination"] = self.destinations[bucketconf["destination"]]
self.buckets[bucketconf["name"]] = Bucket(
**bucketconf, node_id=self.id, root_dir=self.root_dir)
def move_to_bucket(self, filepath, bucket_name):
# use intermediary step with ".writing" on the filename
# in case the source isn't in the same filesystem and so the
# move operation might not be atomic. Once it's there, the rename
# _is_ atomic
dest_path = os.path.join(self.buckets[bucket_name].path,
os.path.basename(filepath))
temp_dest_path = dest_path + ".writing"
shutil.move(filepath, temp_dest_path)
os.rename(temp_dest_path, dest_path)
# notify bucket to check for new files
self.buckets[bucket_name].newfile_event.set()
if __name__ == "__main__":
pass
# print("main")
# main(sys.argv[1:])

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shepherd/plugins/usbcam.py
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import io
import os
from datetime import datetime
import time
import re
import shepherd.config as shconf
import shepherd.plugin
import threading
import subprocess
from collections import namedtuple, OrderedDict
from operator import itemgetter
import cv2
from PIL import Image, ImageDraw, ImageFont
asset_dir = os.path.dirname(os.path.realpath(__file__))
overlayfont_filename = os.path.join(asset_dir, "DejaVuSansMono.ttf")
logo_filename = os.path.join(asset_dir, "smallshepherd.png")
# Note: Add a lock to the gstreamer function, to avoid multiple triggers colliding
CameraPort = namedtuple(
'CameraPort', ['usbPath', 'devicePath'])
# Short wrapper to allow use in a ``with`` context
class VideoCaptureCtx():
def __init__(self, *args, **kwargs):
self.capture_dev = cv2.VideoCapture(*args, **kwargs)
def __enter__(self):
return self.capture_dev
def __exit__(self, *args):
self.capture_dev.release()
def get_connected_cameras():
# This will return devices orderd by the USB path, regardless of the order they're connected in
device_list_str = subprocess.run(
['v4l2-ctl', '--list-devices'], text=True, stdout=subprocess.PIPE).stdout
# in each match, first group is the USB path, second group is the device path
portlist = re.findall(r"-([\d.]+?)\):\n\s*?(\/dev\S+?)\n", device_list_str)
return [CameraPort(*port) for port in portlist]
def get_capture_formats(video_device):
"""
Call ``v4l2-ctl --device {video_device} --list-formats-ext`` and parse the output into a format dict
Returns a dict with 4CC format codes as keys, and lists of (width,height) tuples as values
"""
device_fmt_str = subprocess.run(
['v4l2-ctl', '--device', F'{video_device}', '--list-formats-ext'], text=True, stdout=subprocess.PIPE).stdout
split_fmts = re.split(r"\[\d\]: '(\w{4}).*", device_fmt_str)
if len(split_fmts) < 3:
raise Exception("Did not get valid device format list output")
# Iterate through successive pairs in the split, where the first is the format mode and the
# second is the text containing all the resolution options. Skip the first bit, which is rubbish
format_dict = {}
for fourcc, size_text in zip(split_fmts[1::2], split_fmts[2::2]):
resolutions = re.findall(r"(\d+?)x(\d+?)\D", size_text)
format_dict[fourcc] = resolutions
return format_dict
def get_largest_resolution(size_list):
"""
Accepts a list of tuples where the first element is a width and the second is a height.
Returns a single resolution tuple representing the largest area from the list
"""
return max(size_list, key=lambda size: int(size[0]*int(size[1])))
def set_camera_format_v4l2(video_device, fourcc, width, height):
"""
Set the camera device capture format using the external v4l2-ctl tool
"""
subprocess.run(['v4l2-ctl', '--device', F'{video_device}',
F'--set-fmt-video width={width},height={height},pixelformat={fourcc}'], text=True)
def set_camera_format_opencv(capture_device, fourcc, width, height):
"""
Set the camera device capture format using internal OpenCV set methods
"""
# VideoWriter_fourcc expects a list of characters, so need to unpack the string
capture_device.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*fourcc))
capture_device.set(cv2.CAP_PROP_FRAME_WIDTH, int(width))
capture_device.set(cv2.CAP_PROP_FRAME_HEIGHT, int(height))
class USBCamPlugin(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def('upload_images', shconf.BoolDef(default=False, optional=True,
helptext="If true, move to an Uploader bucket. Requires Uploader plugin"))
confdef.add_def('upload_bucket', shconf.StringDef(default="", optional=True,
helptext="Name of uploader bucket to shift images to."))
confdef.add_def('save_directory', shconf.StringDef(default="", optional=True,
helptext="Name of directory path to save images. If empty, a 'usbcamera' directory under the Shepherd root dir will be used"))
confdef.add_def('append_id', shconf.BoolDef(default=True, optional=True,
helptext="If true, add the system ID to the end of image filenames"))
confdef.add_def('show_overlay', shconf.BoolDef(default=True, optional=True,
helptext="If true, add an overlay on each image with the system ID and date."))
confdef.add_def('overlay_desc', shconf.StringDef(default="", optional=True,
helptext="Text to add to the overlay after the system ID and camera name"))
confdef.add_def('jpeg_quality', shconf.IntDef(default=85, minval=60, maxval=95, optional=True,
helptext="JPEG quality to save with. Max of 95, passed directly to Pillow"))
confdef.add_def('stabilise_delay', shconf.IntDef(default=5, minval=1, maxval=30, optional=True,
helptext="Number of seconds to wait after starting each camera for exposure and white balance to settle"))
array = confdef.add_def('trigger', shconf.TableArrayDef(
helptext="Array of triggers that will use all cameras"))
array.add_def('hour', shconf.StringDef())
array.add_def('minute', shconf.StringDef())
array.add_def('second', shconf.StringDef(default="0", optional=True))
camarray = confdef.add_def('camera', shconf.TableArrayDef(
helptext="List of cameras to try and connect to. Multiple ports may be listed, and any not connected will be skipped on each trigger."))
camarray.add_def('name', shconf.StringDef(default="", optional=False,
helptext="Name of camera, appended to filename and added to overlay"))
camarray.add_def('usb_port', shconf.StringDef(default="*", optional=False,
helptext="USB port descriptor of the from '3.4.1' (which would indicate port1 on a hub plugged into port4 on a hub plugged into port 3 of the system). This can be found by running 'v4l2-ctl --list-devices'. A single camera with a wildcard '*' port is also allowed, and will match any remaining available camera."))
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
self.id = pluginInterface.coreconfig["id"]
self.interface.register_hook("pre_cam")
self.interface.register_hook("post_cam")
self.interface.register_function(self.camera_job)
self.interface.register_function(self.run_cameras)
# do some camera init stuff
print("USBCamera config:")
print(self.config)
self.gstlock = threading.Lock()
if self.config["save_directory"] is "":
self.save_directory = os.path.join(self.root_dir, "usbcamera")
else:
self.save_directory = self.config["save_directory"]
if not os.path.exists(self.save_directory):
os.makedirs(self.save_directory)
if self.config["show_overlay"]:
# Load assets
self.logo_im = Image.open(logo_filename)
self.font_size_cache = {}
self.logo_size_cache = {}
# Dict of camera names storing the USB path as the value
self.defined_cams = OrderedDict()
# List of wildcard camera names
self.wildcard_cams = []
# Go through camera configs sorted by name
for camera in sorted(self.config["camera"], key=itemgetter("name")):
if camera["name"] in self.defined_cams:
raise shconf.InvalidConfigError(
"Can't have more than one usb camera defined with the same config name")
if camera["usb_port"] == '*':
self.wildcard_cams.append(camera["name"])
else:
self.defined_cams[camera["name"]] = camera["usb_port"]
for trigger in self.config["trigger"]:
trigger_id = trigger["hour"]+'-' + trigger["minute"]+'-'+trigger["second"]
self.interface.add_job(
self.camera_job, trigger["hour"], trigger["minute"], trigger["second"], job_name=trigger_id)
def _generate_overlay(self, width, height, image_time, camera_name):
font_size = int(height/40)
margin_size = int(font_size/5)
if font_size not in self.font_size_cache:
self.font_size_cache[font_size] = ImageFont.truetype(
overlayfont_filename, int(font_size*0.9))
thisfont = self.font_size_cache[font_size]
if font_size not in self.logo_size_cache:
newsize = (int(self.logo_im.width*(
font_size/self.logo_im.height)), font_size)
self.logo_size_cache[font_size] = self.logo_im.resize(
newsize, Image.BILINEAR)
thislogo = self.logo_size_cache[font_size]
desc_text = camera_name + " " + self.config["overlay_desc"]
if self.config["append_id"]:
desc_text = self.id + " " + desc_text
time_text = image_time.strftime("%Y-%m-%d %H:%M:%S")
overlay = Image.new('RGBA', (width, font_size+(2*margin_size)), (0, 0, 0))
overlay.paste(thislogo, (int((overlay.width-thislogo.width)/2), margin_size))
draw = ImageDraw.Draw(overlay)
draw.text((margin_size*2, margin_size), desc_text,
font=thisfont, fill=(255, 255, 255, 255))
datewidth, _ = draw.textsize(time_text, thisfont)
draw.text((overlay.width-(margin_size*2)-datewidth, margin_size), time_text, font=thisfont,
fill=(255, 255, 255, 255))
# make whole overlay half transparent
overlay.putalpha(128)
return overlay
def _process_image(self, cv_frame, camera_name):
image_time = datetime.now()
# Convert over to PIL. Mostly so we can use our own font.
img = Image.fromarray(cv2.cvtColor(cv_frame, cv2.COLOR_BGR2RGB))
if self.config["show_overlay"]:
overlay = self._generate_overlay(img.width, img.height, image_time, camera_name)
img.paste(overlay, (0, img.height-overlay.height), overlay)
image_filename = image_time.strftime("%Y-%m-%d %H-%M-%S")
if self.config["append_id"]:
image_filename = image_filename + " " + self.id
if camera_name is not "":
image_filename = image_filename+" "+camera_name
image_filename = image_filename + ".jpg"
image_filename = os.path.join(self.save_directory, image_filename)
img.save(image_filename+".writing", "JPEG", quality=self.config["jpeg_quality"])
os.rename(image_filename+".writing", image_filename)
if self.config["upload_images"]:
self.plugins["uploader"].move_to_bucket(image_filename, self.config["upload_bucket"])
def _capture_image(self, device_path, camera_name):
print("Running camera "+camera_name)
with self.gstlock:
#gst_str = ('v4l2src device='+device_path+' ! '
# 'videoconvert ! appsink drop=true max-buffers=1 sync=false')
#vidcap = cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER)
fmts = get_capture_formats(device_path)
with VideoCaptureCtx(device_path, cv2.CAP_V4L2) as vidcap:
if "MJPG" in fmts:
size = get_largest_resolution(fmts["MJPG"])
set_camera_format_opencv(vidcap, "MJPG", size[0], size[1])
# stream only starts after first grab
print("Starting cam")
read_flag, frame = vidcap.read()
delay_start = time.time()
while (time.time() - delay_start) < self.config["stabilise_delay"]:
vidcap.grab()
#time.sleep(self.config["stabilise_delay"])
# clear old buffer
#print("Flushing capture")
#vidcap.grab()
print("Reading")
read_flag, frame = vidcap.read()
#print("Changing to YUYV")
#if "YUYV" in fmts:
# size = get_largest_resolution(fmts["YUYV"])
# set_camera_format_opencv(vidcap, "YUYV", size[0], size[1])
#print("Reading again")
#read_flag, frame2 = vidcap.read()
if read_flag:
self._process_image(frame, camera_name)
#self._process_image(frame2, camera_name+"(2)")
else:
print("Could not read camera "+camera_name +
" on USB port "+device_path)
def run_cameras(self, name_suffix = ""):
connected_cams = OrderedDict(get_connected_cameras())
for defined_name, defined_usb_path in self.defined_cams.items():
if defined_usb_path in connected_cams:
self._capture_image(connected_cams.pop(
defined_usb_path), defined_name+name_suffix)
else:
print("USB Camera "+defined_name+" on port " +
defined_usb_path+" is not currently connected")
for cam_name in self.wildcard_cams:
if len(connected_cams) > 0:
self._capture_image(connected_cams.popitem(
last=False)[1], cam_name+name_suffix)
else:
print(
"No connected USB cameras are currently left to match to "+cam_name+" ")
break
def camera_job(self):
self.hooks.pre_cam()
self.run_cameras()
self.hooks.post_cam()
if __name__ == "__main__":
pass
# print("main")
# main(sys.argv[1:])

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13
test.toml
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[shepherd]
name = "test-node"
plugin_dir = "./"
root_dir = "~/shepherd/"
hostname = "shepherd-test"
control_server = "api.shepherd.distreon.net"
#control_server = "127.0.0.1:5000"
control_api_key = "v2EgvYzx79c8fCP4P7jlWxTZ3pc"
[scout]
boardver = "3"
serialport = "/dev/ttyUSB0"

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tests/test_config.py
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import shepherd.config as config
def test_freeze():
confdef = config.ConfDefinition()
conf_def_dict = confdef.add_def('dictval', config.DictDef())
conf_def_dict.add_def('intval', config.IntDef())
conf_def_dict.add_def('strtval', config.StringDef())
confman = config.ConfigManager()
confman.add_confdef("test_bundle",confdef)
confman.load({"test_bundle": {'dictval': {'intval': 34, 'strval': "a"}}})
confman.freeze_value("test_bundle","dictval", "intval")
confman.load({"test_bundle": {'dictval': {'intval': 34, 'strval': "b"}}})
breakpoint()
print(confman.root_config)
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