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Author SHA1 Message Date
Tom Wilson 9374866174 Add compatibility for both camera types
4 years ago
Tom Wilson 3d04af8427 Update aphidtrap module to actually work
5 years ago
Tom Wilson b15686f264 Fix jobs not yet scanned
5 years ago
Tom Wilson fc6552470d config fix
5 years ago
Tom Wilson d6b91ee47e config fix
5 years ago
Tom Wilson 432f1aed84 config fix
5 years ago
Tom Wilson 563ecd2e31 config fix
5 years ago
Tom Wilson 7ea8e32498 uploader fix
5 years ago
Tom Wilson 9781d7f77b Click fix
5 years ago
Tom Wilson 82cc667cbb Update plugins with new config
5 years ago
Tom Wilson 0c4184d692 Update with examples and field fix
5 years ago
Tom Wilson ce09435b11 Formatting
5 years ago
47 changed files with 3143 additions and 4104 deletions
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This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
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>.
MIT License
Copyright (c) 2018 Thomas Wilson
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

40
setup.py
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@ -2,44 +2,20 @@ from setuptools import setup
setup(
name='shepherd',
version='0.3dev',
version='0.2dev',
author='Thomas Wilson',
author_email='t.wilson@distreon.com.au',
packages=['shepherd', ],
install_requires=[
"preserve@git+https://git.distreon.net/novirium/python-preserve.git",
"config-spec@git+https://git.distreon.net/novirium/config-spec.git",
'toml',
'requests',
'apscheduler',
'paramiko',
'python-dateutil',
'click',
'chromalog'
],
extras_require={
'dev': [
'autopep8',
'pylint',
'pytest',
'pytest-flake8',
'pytest-cov',
'pytest-sugar',
'tox',
'responses',
'debugpy'
],
'test': [
'pytest',
'pytest-flake8',
'responses'
]
},
'toml',
'apscheduler',
'paramiko',
'click'
],
entry_points={
'console_scripts': ['shepherd=shepherd.agent.cli:cli'],
'console_scripts': ['shepherd=shepherd.core:cli'],
},
license='GPLv3+',
license='MIT license',
description='Herd your mob of physically remote nodes',
long_description=open('README.md').read(),
)

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

7
shepherd/__init__.py
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@ -1,7 +0,0 @@
from .agent.plugin import PluginInterface # noqa
from .agent.plugin import plugin_class # noqa
from .agent.plugin import plugin_function # noqa
from .agent.plugin import plugin_hook # noqa
from .agent.plugin import plugin_attachment # noqa
from .agent.plugin import plugin_init # noqa
from .agent.plugin import plugin_run # noqa

3
shepherd/__main__.py
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@ -1,3 +0,0 @@
if __name__ == '__main__':
from .agent.cli import cli
cli()

0
shepherd/agent/__init__.py
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378
shepherd/agent/cli.py
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@ -1,378 +0,0 @@
import logging
# import os
import sys
from pathlib import Path
import glob
from types import SimpleNamespace
from datetime import datetime
import inspect
# from pprint import pprint
import pkg_resources
# import chromalog
import click
import toml
from . import core, plugin
# chromalog.basicConfig(level=os.environ.get("LOGLEVEL", "INFO"))
log = logging.getLogger("shepherd.cli")
def echo_heading(title, on_nl=True):
if on_nl:
click.echo("")
click.echo(click.style(".: ", fg='blue', bold=True) +
click.style(title, fg='white', bold=True) +
click.style(" :.", fg='blue', bold=True))
def echo_section(title, input_text=None, on_nl=True):
if on_nl:
click.echo("")
click.secho(":: ", bold=True, fg='blue', nl=False)
click.secho(title, bold=True, nl=False)
if input_text:
click.secho(F" {input_text}", fg='green', bold=True, nl=False)
click.echo("")
@click.group(invoke_without_command=True)
@click.option('-c', '--config', 'default_config_path', type=click.Path(),
help="Shepherd config TOML file to be used as default config layer."
" Overrides default './shepherd*.toml' search")
@click.option('-l', '--local', 'local_operation', is_flag=True,
help="Only use the local config layers (default and custom), and disable all"
" Shepherd Control remote features")
@click.option('-d', '--default-config-only', 'only_default_layer', is_flag=True,
help="Ignore the custom config layer (still uses the Control config above that)")
@click.option('-n', '--new-device-mode', 'new_device_mode', is_flag=True,
help="Clear existing device identity and cached Shepherd Control config layer."
" Also triggered by the presence of a shepherd.new file in the"
" same directory as the custom config layer file.")
@click.pass_context
def cli(ctx, default_config_path, local_operation, only_default_layer, new_device_mode):
"""
Core service. If default config file is not provided with '-c' option, the first filename
in the current working directory beginning with "shepherd" and
ending with ".toml" will be used.
"""
version_text = pkg_resources.get_distribution("shepherd")
log.info(F"Shepherd Agent [{version_text}]")
# Drop down to subcommand if it doesn't need default config file processing
if ctx.invoked_subcommand in ["template", "info"]:
return
# Get a default config path to use
if not default_config_path:
default_config_path = sorted(glob.glob("./shepherd*.toml"))[:1]
if default_config_path:
default_config_path = default_config_path[0]
log.info(F"No default config file provided, found {default_config_path}")
with open(default_config_path, 'r+') as f:
content = f.read()
if "Compiled Shepherd config" in content:
log.warning("Default config file looks like it is full compiled config"
" file generated by Shepherd and picked up due to accidental"
" name match")
else:
log.error("No default config file provided, and no 'shepherd*.toml' could be"
" found in the current directory")
sys.exit(1)
# Establish what config layers we're going to try and use
control_enabled = True
use_custom_config = True
if local_operation or (ctx.invoked_subcommand == "test"):
control_enabled = False
log.info("Running in local only mode")
if only_default_layer:
use_custom_config = False
agent = core.Agent(default_config_path, use_custom_config, control_enabled, new_device_mode)
ctx.ensure_object(SimpleNamespace)
ctx.obj.agent = agent
# Drop down to subcommands that needed a config compiled
if ctx.invoked_subcommand == "test":
return
print(str(datetime.now()))
agent.start()
@cli.command()
@click.argument('plugin_name', required=False)
@click.argument('interface_function', required=False)
@click.pass_context
def test(ctx, plugin_name, interface_function):
agent = ctx.obj.agent
plugin_configs = agent.applied_config.copy()
del plugin_configs['shepherd']
echo_heading("Shepherd - Test")
if not plugin_name:
log.info("Test initialisation of all plugins in config...")
echo_section("Plugins loaded:")
if len(plugin_configs) == 0:
click.echo("---none---")
for plugin_name, config in plugin_configs.items():
click.secho(F" {plugin_name}", fg='green')
echo_section("Core config:")
print(toml.dumps(agent.core_config))
# pprint(agent.core_config)
echo_section("Plugin configs:")
if len(plugin_configs) == 0:
click.echo("---none---")
for name, config in plugin_configs.items():
click.secho(F" {plugin_name}", fg='green')
print(toml.dumps(config))
# pprint(config)
click.echo("")
log.info("Initialising plugins...")
plugin.init_plugins(agent.applied_config)
log.info("Plugin initialisation done")
return
echo_section("Target plugin:", input_text=plugin_name, on_nl=False)
# TODO find plugin dependancies
if plugin_name not in plugin_configs:
log.error(F"Supplied plugin name '{plugin_name}' is not loaded"
" (not present in config)")
sys.exit(1)
echo_section(F"Config [{plugin_name}]:")
print(toml.dumps(plugin_configs[plugin_name]))
# pprint(plugin_configs[plugin_name])
interface = plugin.load_plugin(plugin_name)
if not interface_function:
echo_section(F"Interface functions [{plugin_name}]:", on_nl=False)
for name in interface._functions:
click.echo(F" {name}")
return
echo_section("Target interface function:", input_text=interface_function, on_nl=False)
if interface_function not in interface._functions:
log.error(F"Supplied interface function name '{interface_function}' is not present in"
F" plugin {plugin_name}")
sys.exit(1)
log.info("Initialising plugins...")
# TODO Going to need to add 'shepherd' to this, so that its public plugin interface also gets
# init - functions and hooks
plugin.init_plugins({plugin_name: plugin_configs[plugin_name]})
log.info("Plugin initialisation done")
# TODO look for a spec on the interface function, and parse cmdline values if it's there
print(interface._functions[interface_function]())
class BlankEncoder(toml.TomlEncoder):
"""
A TOML encoder that emit empty keys (values of None). This isn't valid TOML,
but is useful for generating templates.
"""
class BlankValue:
pass
def __init__(self, _dict=dict, preserve=False):
super().__init__(_dict, preserve)
self.dump_funcs[self.BlankValue] = lambda v: ''
def dump_sections(self, o, sup):
for section in o:
if o[section] is None:
o[section] = self.BlankValue()
return super().dump_sections(o, sup)
def dump_value(self, v):
if v is None:
v = self.BlankValue()
return super().dump_value(v)
@cli.command()
@click.argument('plugin_name', required=False)
@click.option('-a', '--include-all', is_flag=True,
help="Include all optional fields in the template")
@click.option('-c', '--config', 'config_path', type=click.Path(),
help="Path to append or create config tempalate")
@click.option('-d', '--plugin-dir', type=click.Path(),
help="Directory to search for plugin modules, in addition to built in Shepherd"
" plugins and the global import path. Defaults to current directory.")
@click.pass_context
def template(ctx, plugin_name, include_all, config_path, plugin_dir):
"""
Generate a template config TOML file for PLUGIN_NAME, or for the Shepherd core if
PLUGIN_NAME is not provided.
If config path is provided ("-c"), append to that file (if it exists) or write to
a new file (if it doesn't yet exist).
"""
echo_heading("Shepherd - Template")
if not plugin_dir:
plugin_dir = Path.cwd()
confspec = None
if not plugin_name:
plugin_name = "shepherd"
try:
plugin_interface = plugin.load_plugin(plugin_name, plugin_dir)
except plugin.PluginLoadError as e:
log.error(e.args[0])
sys.exit(1)
confspec = plugin_interface.confspec
template_dict = confspec.get_template(include_all)
template_toml = toml.dumps({plugin_name: template_dict}, encoder=BlankEncoder())
if include_all:
log.info("Including all optional fields")
else:
log.info("Including required fields only")
echo_section("Config template for", input_text=F"[{plugin_name}]")
click.echo("")
click.echo(template_toml)
if not config_path:
# reuse parent "-c" for convenience
config_path = ctx.parent.params["default_config_path"]
if not config_path:
return
if Path(config_path).is_file():
try:
existing_config = toml.load(config_path)
except Exception:
click.confirm(
F"File {config_path} already exists and is not a valid TOML file. Overwrite?",
default=True, abort=True)
click.echo(F"Writing [{plugin_name}] template to {config_path}")
with open(config_path, 'w+') as f:
f.write(template_toml)
else:
if plugin_name in existing_config:
click.confirm(F"Overwrite [{plugin_name}] section in {config_path}?",
default=True, abort=True)
click.echo(F"Overwriting [{plugin_name}] section in {config_path}")
else:
click.confirm(F"Add [{plugin_name}] section to {config_path}?",
default=True, abort=True)
click.echo(F"Adding [{plugin_name}] section to {config_path}")
existing_config[plugin_name] = template_dict
with open(config_path, 'w+') as f:
f.write(toml.dumps(existing_config))
else:
click.echo(F"Writing [{plugin_name}] template to {config_path}")
with open(config_path, 'w+') as f:
f.write(template_toml)
@cli.command()
@click.argument('plugin_name', required=False)
@click.option('-d', '--plugin-dir', type=click.Path(),
help="Directory to search for plugin modules, in addition to built in Shepherd"
" plugins and the global import path. Defaults to current directory.")
@click.pass_context
def info(ctx, plugin_name, plugin_dir):
"""
Show plugin information.
If plugin_name is not provided, shows list of all discovered plugins and their sources. Note
that this will detect _all_ valid python modules in the plugin_dir as custom plugins, as these
are not validated as proper Shepherd plugins until they are loaded.
If plugin_name is provided, attempts to load (but not initialise) the desired plugin and show
all registered plugin features (interface functions, hooks, attachments, and
config specification).
"""
echo_heading("Shepherd - Info")
if not plugin_dir:
plugin_dir = Path.cwd()
if not plugin_name:
log.info("Running plugin discovery...")
base_plugins = plugin.discover_base_plugins()
custom_plugins = plugin.discover_custom_plugins(plugin_dir)
installed_plugins = plugin.discover_installed_plugins()
echo_section("Discovered base plugins:")
if len(base_plugins) == 0:
click.echo("---none---")
for name in base_plugins:
click.secho(F" {name}", fg='green')
echo_section("Discovered custom plugins:")
if len(custom_plugins) == 0:
click.echo("---none---")
for name in custom_plugins:
click.secho(F" {name}", fg='green')
echo_section("Discovered installed plugins:")
if len(installed_plugins) == 0:
click.echo("---none---")
for name in installed_plugins:
click.secho(F" {name}", fg='green')
return
# Plugin name supplied, so load it
plugin_interface = None
log.info(F"Attempting to load plugin {plugin_name}...")
try:
plugin_interface = plugin.load_plugin(plugin_name, plugin_dir)
except plugin.PluginLoadError as e:
log.error(e.args[0])
sys.exit(1)
echo_section("Plugin info for", input_text=plugin_name)
# template_dict = confspec.get_template(include_all)
# template_toml = toml.dumps({plugin_name: template_dict}, encoder=BlankEncoder())
echo_section("Interface functions:")
for ifunc_name, ifunc in plugin_interface._functions.items():
args = ""
if ifunc.remote:
args = F"{ifunc.spec}"
else:
args = F"{inspect.signature(ifunc.func)}"
click.echo(F"{ifunc_name} {args}")
echo_section("Hooks:")
for hook in plugin_interface._hooks:
click.echo(hook)
echo_section("Config:")
click.echo(plugin_interface._confspec)

353
shepherd/agent/control.py
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@ -1,353 +0,0 @@
import threading
import secrets
from types import SimpleNamespace
from pathlib import Path
from urllib.parse import urlparse, urlunparse, urljoin
from hashlib import blake2b
import time
import logging
import toml
import requests
from configspec import *
import statesman
# Namespace of types intended for server-side use.
def get_export():
from . import plugin
export = SimpleNamespace()
export.InterfaceCall = plugin.InterfaceCall
return export
log = logging.getLogger("shepherd.agent.control")
_control_update_required = threading.Condition()
def _update_required_callback():
with _control_update_required:
_control_update_required.notify()
def register_on(core_interface):
"""
Register the control confspec on the core interface.
"""
confspec = ConfigSpecification()
confspec.add_spec("server", StringSpec())
confspec.add_spec("intro_key", StringSpec())
core_interface.confspec.add_spec("control", confspec, optional=True)
class CoreUpdateState():
"""
A container for all state that might need communicating remotely to Control. Abstracts the
Statesman topics away from other parts of the Agent.
"""
def __init__(self, cmd_reader, cmd_result_writer):
"""
Control update handler for the `/update` core endpoint. Needs a reference to the
CommandRunner
"""
self.topic_bundle = statesman.TopicBundle({
'status': statesman.StateWriter(),
'config-spec': statesman.StateWriter(),
'device-config': statesman.StateWriter(),
'applied-config': statesman.StateWriter(),
'control-commands': cmd_reader,
'command-results': cmd_result_writer})
self.topic_bundle.set_update_required_callback(_update_required_callback)
def set_static_state(self, local_config, applied_config, confspec):
# These should all effectively be static
self.topic_bundle['device-config'].set_state(local_config)
self.topic_bundle['applied-config'].set_state(applied_config)
self.topic_bundle['config-spec'].set_state(confspec)
def set_status(self, status_dict):
self.topic_bundle['status'].set_state(status_dict)
class CommandRunner():
def __init__(self, interface_functions):
self.cmd_reader = statesman.SequenceReader(
new_message_callback=self.on_new_command_message)
self.cmd_result_writer = statesman.SequenceWriter()
self._functions = interface_functions
self.current_commands = {}
def on_new_command_message(self, message):
# This should be a single list, where the first value is the command ID and the second
# value is a plugin.FunctionCall
commandID = message[0]
command_call = message[1]
command_thread = threading.Thread(target=self._process_command,
args=(commandID, command_call))
command_thread.start()
def _process_command(self, commandID, command_call):
if commandID in self.current_commands:
raise ValueError(F"Already running a command with ID {commandID}")
self.current_commands[commandID] = threading.current_thread()
try:
command_call.resolve(self._functions)
result = command_call.call()
self.cmd_result_writer.add_message([commandID, result])
finally:
self.current_commands.pop(commandID)
class PluginUpdateState():
def __init__(self):
self.topic_bundle = statesman.TopicBundle()
# config-spec should be static, but isn't known yet when this is created
self.topic_bundle.add('status', statesman.StateWriter())
self.topic_bundle.add('config-spec', statesman.StateWriter())
self.topic_bundle.add('command-spec', statesman.StateWriter())
# Why is config split out into plugins? Just like the device config and applied config,
# it's only loaded once at the start. Is this purely because it's easy to get at from the
# PluginInterface where this object is created?
self.topic_bundle.set_update_required_callback(_update_required_callback)
def set_status(self, status_dict):
self.topic_bundle['status'].set_state(status_dict)
def set_confspec(self, config_spec):
self.topic_bundle['config-spec'].set_state(config_spec)
def set_commandspec(self, command_spec):
self.topic_bundle['command-spec'].set_state(command_spec)
def clean_https_url(dirty_url):
"""
Take a url with or without the leading "https://" scheme, and convert it to one that
does. Change HTTP to HTTPS if present.
"""
# Some weirdness with URL parsing means that by default most urls (like www.google.com)
# get treated as relative
# https://stackoverflow.com/questions/53816559/python-3-netloc-value-in-urllib-parse-is-empty-if-url-doesnt-have
if "//" not in dirty_url:
dirty_url = "//"+dirty_url
return urlunparse(urlparse(dirty_url)._replace(scheme="https"))
def load_device_identity(root_dir):
"""
Attempt to load the device identity from the shepherd.identity file. Will throw exceptions if
this fails. Returns a tuple of (device_secret, device_id)
"""
identity_filepath = Path(root_dir, 'shepherd.identity')
if not identity_filepath.exists():
log.warning(F"{identity_filepath} file does not exist")
raise FileNotFoundError()
with identity_filepath.open() as identity_file:
identity_dict = toml.load(identity_file)
dev_secret = identity_dict["device_secret"]
dev_secret_bytes = bytes.fromhex(dev_secret)
if len(dev_secret_bytes) != 16:
log.error(F"Device secret loaded from file {identity_filepath} does not contain the "
"required 16 bytes")
raise ValueError()
secret_hash = blake2b(dev_secret_bytes, digest_size=16).hexdigest()
dev_id = secret_hash[:8]
log.info(F"Loaded device identity. ID: {dev_id}")
return (dev_secret, dev_id)
def generate_device_identity(root_dir):
"""
Generate a new device identity and save it to the shepherd.identity file.
Returns a tuple of (device_secret, device_id).
"""
dev_secret = secrets.token_hex(16)
identity_dict = {}
identity_dict['device_secret'] = dev_secret
identity_filepath = Path(root_dir, 'shepherd.identity')
with identity_filepath.open('w+') as identity_file:
toml.dump(identity_dict, identity_file)
dev_secret_bytes = bytes.fromhex(dev_secret)
secret_hash = blake2b(dev_secret_bytes, digest_size=16).hexdigest()
dev_id = secret_hash[:8]
log.info(F"Generated new device identity. ID: {dev_id}")
return (dev_secret, dev_id)
_update_thread_init_done = threading.Event()
_stop_event = threading.Event()
def stop():
_stop_event.set()
_update_required_callback()
log.info("Control thread stop requested.")
def start_control(config, root_dir, core_update_state, plugin_update_states):
"""
Start the Control update thread and initialise the Shepherd Control systems.
"""
_stop_event.clear()
_update_thread_init_done.clear()
control_thread = threading.Thread(target=_control_update_loop, args=(
config, root_dir, core_update_state, plugin_update_states))
control_thread.start()
# Wait for init so our log makes sense
_update_thread_init_done.wait()
return control_thread
def _control_update_loop(config, root_dir, core_update_state, plugin_update_states):
control_api_url = urljoin(clean_https_url(config["server"]), "/agent")
log.info(F"Control server API endpoint is {control_api_url}")
intro_key = config["intro_key"]
log.info(F"Using intro key: {intro_key}")
try:
device_secret, device_id = load_device_identity(root_dir)
except Exception:
log.warning("Could not load device identity from shepherd.identity file")
device_secret, device_id = generate_device_identity(root_dir)
_update_thread_init_done.set()
update_rate_limiter = SmoothTokenBucketLimit(10, 10*60, 3, time.monotonic())
session = requests.Session()
# r=session.post('https://api.shepherd.test/agent/update')
while True:
# Spin here until something needs updating
with _control_update_required:
new_endpoint_updates = {} # a dict of url:topic_bundle pairs
while True:
if core_update_state.topic_bundle.is_update_required():
new_endpoint_updates['/update'] = core_update_state.topic_bundle
for plugin_name, state in plugin_update_states.items():
if state.topic_bundle.is_update_required():
new_endpoint_updates[f"/pluginupdate/{plugin_name}"] = state.topic_bundle
if (len(new_endpoint_updates) > 0) or _stop_event.is_set():
break
_control_update_required.wait()
for endpoint, topic_bundle in new_endpoint_updates.items():
try:
r = session.post(control_api_url+endpoint,
json=topic_bundle.get_payload(),
auth=(device_secret, intro_key))
if r.status_code == requests.codes['conflict']:
# Server replies with this when trying to add our device ID and failing
# due to it already existing (device secret hash is a mismatch). We need to
# regenerate our ID
log.info(F"Control server has indicated that device ID {device_id} already"
" exists. Generating new one...")
device_secret, device_id = generate_device_identity(root_dir)
elif r.status_code == requests.codes['ok']:
topic_bundle.process_message(r.json())
except requests.exceptions.RequestException:
log.exception("Failed to make Shepherd Control request")
if _stop_event.is_set():
# Breaking here is a clean way of killing any delay and allowing a final update before
# the thread ends.
log.warning("Control thread stopping...")
_stop_event.clear()
break
delay = update_rate_limiter.new_event(time.monotonic())
_stop_event.wait(delay)
_update_thread_init_done.clear()
def get_cached_config(config_dir):
return {}
def clear_cached_config(config_dir):
pass
class SmoothTokenBucketLimit():
"""
Event rate limiter implementing a modified Token Bucket algorithm. Delay returned ramps
up as the bucket empties.
"""
def __init__(self, allowed_events, period, allowed_burst, initial_time):
self.allowed_events = allowed_events
self.period = period
self.allowed_burst = allowed_burst
self.last_token_timestamp = initial_time
self.tokens = allowed_events
self._is_saturated = False
def new_event(self, time_now):
"""
Register a new event for the rate limiter. Return a required delay to ignore future
events for in seconds. Conceptually, the "token" we're grabbing here is for the _next_
event.
"""
if self.tokens < self.allowed_events:
time_since_last_token = time_now - self.last_token_timestamp
tokens_added = int(time_since_last_token/(self.period/self.allowed_events))
self.tokens = self.tokens + tokens_added
self.last_token_timestamp = self.last_token_timestamp + \
(self.period/self.allowed_events)*tokens_added
if self.tokens >= self.allowed_events:
self.last_token_timestamp = time_now
if self.tokens > 0:
self.tokens = self.tokens - 1
# Add a delay that ramps from 0 when the bucket is allowed_burst from full to p/x when
# it is empty
ramp_token_count = self.allowed_events-self.allowed_burst
if self.tokens > ramp_token_count:
delay = 0
else:
delay = ((self.period/self.allowed_events)/ramp_token_count) * \
(ramp_token_count-self.tokens)
self._is_saturated = False
else:
delay = (self.period/self.allowed_events) - (time_now-self.last_token_timestamp)
self.last_token_timestamp = time_now+delay
# This delay makes is set to account for the next token that would otherwise be added,
# without relying on the returned delay _actually_ occurring exactly.
self._is_saturated = True
return delay
def is_saturated(self):
"""
Returns true if the rate limiter delay is at it's maximum value
"""
return self._is_saturated

363
shepherd/agent/core.py
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@ -1,363 +0,0 @@
"""
Core shepherd module, tying together main service functionality. Provides main CLI.
"""
from pathlib import Path
from copy import deepcopy
from datetime import datetime
import logging
import os
from configspec import *
from . import plugin
from . import control
from . import tasks
log = logging.getLogger("shepherd.agent")
core_interface = plugin.PluginInterface()
confspec = ConfigSpecification()
# Relative pathnames here are all relative to "root_dir". `root_dir` itself is relative to
# the directory the default config is loaded from
confspec.add_specs({
"name": StringSpec(helptext="Identifying name for this device"),
})
confspec.add_specs(optional=True, spec_dict={
"root_dir":
(StringSpec(helptext="Operating directory for shepherd to place working files."
" Relative to the directory containing the default config file."),
"./"),
"custom_config_path":
StringSpec(helptext="Path to custom config layer TOML file."),
"compiled_config_path":
(StringSpec(helptext="Path to custom file Shepherd will generate to show compiled"
" config that was used and any errors in validation."),
"compiled-config.toml"),
"plugin_dir":
(StringSpec(helptext="Optional directory for Shepherd to look for plugins in."),
"./shepherd-plugins")
})
core_interface.register_confspec(confspec)
# Allows plugins to add delay for system time to stabilise
core_interface.register_hook("wait_for_stable_time")
# Allow other modules to add to the core interface (confspec, hooks, interface functions)
# Having modules modify a confspec after it's registered here is a bit of a hack.
tasks.register_on(core_interface)
control.register_on(core_interface)
@ plugin.plugin_class
class Agent():
"""
Holds the main state required to run Shepherd Agent
"""
def __init__(self, default_config_path, use_custom_config=True, control_enabled=False,
new_device_mode=False):
"""
Load in the Shepherd Agent config and associated plugins.
Args:
default_config_path: The path to the default config file
use_custom_config: Set False to disable the local custom config layer
control_enabled: Set False to disable Shepherd Control remote management
(including any cached Control config layer)
new_device_mode: Set True to clear out any cached state and trigger new generation
of ID, as if it were being run on a fresh system.
"""
# Make sure the plugin system uses this instance rather making its own
core_interface._plugin_obj = self
# The config defined by the device (everything before the Control layer)
self.local_config = None
# The config actually being used
self.applied_config = None
# Split the applied_config up into core and plugins
self.core_config = None
self.interface_functions = None
self.plugin_interfaces = None
self.restart_args = [default_config_path,
use_custom_config, control_enabled, new_device_mode]
self.control_enabled = control_enabled
# Compile the config layers
confman = ConfigManager()
# Pre-seed confman with core confspec to bootstrap 'plugin_dir'.
# The plugin load system will get it from the 'shepherd' plugin interface later, but we
# need the 'plugin_dir' before that.
confman.add_confspec("shepherd", core_interface.confspec)
compile_local_config(confman, default_config_path, use_custom_config)
self.local_config = deepcopy(confman.get_config_bundles())
local_core_conf = confman.get_config_bundle('shepherd')
# Check for new device mode
if new_device_mode or check_new_device_file(local_core_conf["custom_config_path"]):
log.info("'new device' mode enabled, clearing old state...")
control.generate_device_identity(local_core_conf["root_dir"])
control.clear_cached_config(local_core_conf["root_dir"])
if local_core_conf["control"] is None:
self.control_enabled = False
log.warning("Shepherd control config section not present. Will not attempt to"
" connect to Shepherd Control server.")
if self.control_enabled:
compile_remote_config(confman)
else:
log.info("Shepherd Control config layer disabled")
self.applied_config = confman.get_config_bundles()
self.core_config = confman.get_config_bundle('shepherd')
loaded_plugin_names = list(self.applied_config.keys())
loaded_plugin_names.remove('shepherd')
if len(loaded_plugin_names) == 0:
loaded_plugin_names.append("--none--")
log.info(F"Loaded plugins: {', '.join(loaded_plugin_names)}")
log.debug("Compiled config: %s", confman.root_config)
if self.core_config["compiled_config_path"]:
message = F"Compiled Shepherd config at {datetime.now()}"
confman.dump_to_file(self.core_config["compiled_config_path"], message=message)
log.info(F"Saved compiled config to {self.core_config['compiled_config_path']}")
@ plugin.plugin_function
def root_dir(self):
return self.core_config["root_dir"]
@ plugin.plugin_function
def device_name(self):
return self.core_config["name"]
def restart(self):
pass
def start(self):
# We don't worry about the plugin dir here, or 'shepherd' being included, as they should
# already all be loaded and cached.
self.plugin_interfaces = plugin.init_plugins(self.applied_config)
# After this point, plugins may already have their own threads running if they created
# them during init
self.interface_functions = core_interface.plugins
cmd_runner = control.CommandRunner(self.interface_functions)
core_update_state = control.CoreUpdateState(cmd_runner.cmd_reader,
cmd_runner.cmd_result_writer)
core_update_state.set_static_state(
self.local_config, self.applied_config, core_interface.confspec)
plugin_update_states = {name: iface._update_state
for name, iface in self.plugin_interfaces.items()}
if self.control_enabled:
control.start_control(self.core_config["control"], self.root_dir(),
core_update_state, plugin_update_states)
# Need somewhere to eventually pass in the hooks Tasks will need for the lowpower stuff,
# probably just another init_plugins arg.
# TODO Collect plugin tasks
task_session = tasks.init_tasks(self.core_config['session'], self.root_dir(),
[], self.applied_config, self.interface_functions)
# TODO Any time stabilisation or waiting for Control
tasks.start_tasks(core_interface, task_session)
# tasks.init_tasks(self.core_config) # seperate tasks.start?
# plugin.start() # Run the plugin `.run` hooks in seperate threads
# scheduler.restore_jobs()
def check_new_device_file(custom_config_path):
if not custom_config_path:
return False
trigger_path = Path(Path(custom_config_path).parent, 'shepherd.new')
if trigger_path.exists():
trigger_path.unlink()
log.info("'shepherd.new' file detected, removing file and"
" triggering 'new device' mode")
return True
return False
def compile_local_config(confman, default_config_path, use_custom_config):
"""
Load the default config and optionally try to overlay the custom config layer.
As part of this, load the required plugins into cache (required to validate their config).
"""
# ====Default Local Config Layer====
# This must validate to continue.
default_config_path = Path(default_config_path).expanduser().resolve()
try:
load_config_layer_and_plugins(confman, default_config_path)
log.info(F"Loaded default config layer from {default_config_path}")
except Exception as e:
if isinstance(e, InvalidConfigError):
log.error(F"Failed to load default config from {default_config_path}."
F" {chr(10).join(e.args)}")
else:
log.error(F"Failed to load default config from {default_config_path}", exc_info=True)
raise
# Resolve and freeze local install paths that shouldn't be changed from default config
core_conf = confman.get_config_bundle("shepherd")
resolve_core_conf_paths(core_conf, default_config_path.parent)
confman.freeze_value("shepherd", "root_dir")
confman.freeze_value("shepherd", "plugin_dir")
confman.freeze_value("shepherd", "custom_config_path")
confman.freeze_value("shepherd", "compiled_config_path")
# Pull out custom config path and save current good config
custom_config_path = core_conf["custom_config_path"]
confman.save_fallback()
if not core_conf["plugin_dir"]:
log.warning("Custom plugin path is empty, won't load custom plugins")
# ====Custom Local Config Layer====
# If this fails, fallback to default config
if not use_custom_config:
log.info("Custom config layer disabled")
return
if not custom_config_path:
log.warning("Custom config path is empty, skipping custom config layer")
return
try:
load_config_layer_and_plugins(confman, custom_config_path)
log.info(F"Loaded custom config layer from {custom_config_path}")
except Exception as e:
if isinstance(e, InvalidConfigError):
log.error(F"Failed to load custom config layer from {custom_config_path}."
F" {e.args[0]}")
else:
log.error(F"Failed to load custom config layer from {custom_config_path}.",
exc_info=True)
log.warning("Falling back to default config.")
confman.fallback()
def compile_remote_config(confman):
"""
Attempt to load and apply the Shepherd Control config layer (cached from prior communication,
Control hasn't actually started up yet). Falls back to previous config if it fails.
As part of this, load the required plugins into cache (required to validate their config).
"""
# ====Control Remote Config Layer====
# Freeze Shepherd Control related config.
confman.freeze_value("shepherd", "control", "server")
confman.freeze_value("shepherd", "control", "intro_key")
# Save current good local config
confman.save_fallback()
core_conf = confman.get_config_bundle("shepherd")
try:
control_config = control.get_cached_config(core_conf["root_dir"])
try:
load_config_layer_and_plugins(confman, control_config)
log.info("Loaded cached Shepherd Control config layer")
except Exception as e:
if isinstance(e, InvalidConfigError):
log.error("Failed to load cached Shepherd Control config layer."
F" {e.args[0]}")
else:
log.error("Failed to load cached Shepherd Control config layer.",
exc_info=True)
log.warning("Falling back to local config.")
confman.fallback()
except Exception:
log.warning("No cached Shepherd Control config layer available.")
def resolve_core_conf_paths(core_conf, relative_dir):
"""
Set the cwd to ``root_dir`` and resolve other core config paths relative to that.
``root_dir`` itself will resolve relative to ``relative_dir``, intended to be the config
file directory.
Also expands out any "~" user characters. If paths are empty, leaves them as is, rather than
the default pathlib behaviour of resolving to the current directory
"""
os.chdir(relative_dir)
core_conf["root_dir"] = str(Path(core_conf["root_dir"]).expanduser().resolve())
try:
os.chdir(core_conf["root_dir"])
except FileNotFoundError:
raise FileNotFoundError(F"Shepherd root operating directory '{core_conf['root_dir']}'"
F" does not exist")
if core_conf["plugin_dir"]:
core_conf["plugin_dir"] = str(Path(core_conf["plugin_dir"]).expanduser().resolve())
if core_conf["custom_config_path"]:
core_conf["custom_config_path"] = str(
Path(core_conf["custom_config_path"]).expanduser().resolve())
if core_conf["compiled_config_path"]:
core_conf["compiled_config_path"] = str(
Path(core_conf["compiled_config_path"]).expanduser().resolve())
def load_config_layer_and_plugins(confman: ConfigManager, config_source):
"""
Load a config layer, find the necessary plugin classes, then validate it.
If this succeeds, the returned dict of plugin classes will directly match
the bundle names in the config manager.
"""
# Load in config layer
confman.load_overlay(config_source)
# Get the core config so we can find the plugin directory
core_config = confman.get_config_bundle("shepherd")
plugin_dir = core_config["plugin_dir"]
# List other bundle names to get plugins we need to load
plugin_names = confman.get_bundle_names()
# Load plugins to get their config specifications
plugin_interfaces = {name: plugin.load_plugin(name, plugin_dir) for name in plugin_names}
for plugin_name, plugin_interface in plugin_interfaces.items():
confman.add_confspec(plugin_name, plugin_interface.confspec)
# Validate all plugin configs
confman.validate_bundles()
"""
Shim to allow the Agent to restart itself without involving the actual CLI
"""
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser(description="Shepherd core restart shim. For general use,"
" use the main Shepherd CLI instead.")
parser.add_argument('default_config_path', type=str)
parser.add_argument('use_custom_config', type=bool)
parser.add_argument('control_enabled', type=bool)
parser.add_argument('new_device_mode', type=bool)
args = parser.parse_args()
agent = Agent(args.default_config_path, args.use_custom_config,
args.control_enabled, args.new_device_mode)
agent.start()

917
shepherd/agent/plugin.py
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@ -1,917 +0,0 @@
import importlib
from pathlib import Path
import inspect
import logging
import sys
import pkgutil
from collections import namedtuple
from collections.abc import Sequence
from functools import partial
from types import MappingProxyType
import pkg_resources
from configspec import ConfigSpecification
from configspec.specification import _ValueSpecification
import configspec
import preserve
from .util import NamespaceProxy
from . import control
from . import tasks
from .. import base_plugins
# Note that while module attributes intended for external use are mixed here, all the external
# ones are pulled into the root package scope and are intended to be accessed that way.
log = logging.getLogger(__name__)
# Cache of loaded plugin interfaces so far.
_loaded_plugins = {}
def unload_plugins():
"""
Clear the list of loaded plugins. If the same module is later loaded as a plugin, it will
be reloaded.
"""
for plugin_name in _loaded_plugins.copy().keys():
unload_plugin(plugin_name)
def unload_plugin(plugin_name):
"""
Remove the named plugin from the list of loaded plugins. If the same module is later loaded
as a plugin, it will be reloaded. Returns False if the plugin was not already loaded.
Unloading plugins _should not be relied upon_ to completely reset their state. It is
intended primarily for use in testing.
Critically, loading a plugin again after unloading it will cause `importlib.reload()` to be
called on the primary module or package, _but not its own submodules or other imports_. There
is no easy solution to this problem, which is why Shepherd restarts the whole interpreter
process to restart.
"""
if plugin_name in _loaded_plugins:
del _loaded_plugins[plugin_name]
return True
return False
class UnboundMethod():
"""
Simple wrapper to mark that this is a reference to a method hasn't been bound to an instance
yet, (or had a decorator like ''staticmethod'' or ''classmethod'' unwrapped). Sets its
signature to the result of binding to an anonymous object.
"""
def __init__(self, func):
self._func = func
self._bound_func = None
sigobj = self._func.__get__(object())
self.__signature__ = inspect.signature(sigobj)
self.__doc__ = inspect.getdoc(self._func)
self.__name__ = sigobj.__name__
def bind(self, obj):
"""
Bind the wrapped method to an object, and return the result. Once bound, calling
the UnboundMethod will actually call the bound result, and the ''func()'' property will
return it.
"""
self._bound_func = self._func.__get__(obj)
return self._bound_func
@property
def func(self):
if self._bound_func is None:
raise Exception("Cannot get func from UnboundMethod until it has been bound.")
return self._bound_func
def __call__(self, *args, **kwargs):
if self._bound_func is None:
raise Exception("Cannot call UnboundMethod until it has been bound.")
return self._bound_func(*args, **kwargs)
class PluginLoadError(Exception):
pass
def is_instance_check(classtype):
def instance_checker(obj, classtype=classtype):
return isinstance(obj, classtype)
return instance_checker
ClassMarker = namedtuple("ClassMarker", [])
def plugin_class(cls):
"""
Class decorator, used to indicate that a class is to be used as the Plugin Class
for this plugin. Note that only one plugin class is allowed per plugin. Only works when placed
in the root of the plugin module or package (same as the interface)
Use on the class definition:
@plugin_class
class MyPluginClass:
This is equivalent to registering the class directly with the plugin interface later:
interface.register_plugin_class(MyPluginClass)
"""
if not inspect.isclass(cls):
raise PluginLoadError("@plugin_class can only be used to decorate a class")
cls._shepherd_load_marker = ClassMarker()
return cls
FunctionMarker = namedtuple("FunctionMarker", ["name"])
def plugin_function(func=None, *, name=None):
"""
Method decorator to register a method as a plugin interface function.
If `name` is not supplied, the name of the decorated function is used.
Either used directly:
@plugin_function
def my_method(self):
or with optional keyword arguments:
@plugin_function(name="someOtherName")
def my_badly_named_method(self):
Can either be used on functions in the root level of the plugin module, or
on methods within the registered Plugin Class (either with @plugin_class or
interface.register_plugin_class() )
"""
if func is None:
return partial(plugin_function, name=name)
func._shepherd_load_marker = FunctionMarker(name)
return func
HookMarker = namedtuple("HookMarker", ["name", "signature"])
def plugin_hook(func=None, *, name=None):
"""
Method decorator to register a hook for the plugin. Will use the decorated function signature
for the hook, and replace the decorated function with the new hook on plugin init, so it can
be called directly. If `name` is not supplied, the name of the decorated function is used.
Like `plugin_function`, can be either used directly:
@plugin_hook
def my_method(self):
or with the optional keyword argument:
@plugin_hook(name="someOtherName")
def my_badly_named_method(self):
As the decorated function is only being used as a convenient way to declare the hook signature
and to call the hook later, the usual Python `self` method binding system isn't appropriate.
Methods in the plugin class _can_ be registered as hooks (as can module root level functions),
but the signature will be used directly (don't add the `self` argument). For technical clarity,
methods in the class should be decorated with `@staticmethod` below the `@plugin_hook`
decorator.
"""
if func is None:
return partial(plugin_hook, name=name)
if isinstance(func, staticmethod):
# Pull the underlying function out of a staticmethod. It's static, so bound object is
# irrelevant
func = func.__get__(object())
if not name:
name = func.__name__
func._shepherd_load_marker = HookMarker(name, inspect.signature(func))
return func
AttachmentMarker = namedtuple("AttachmentMarker", ["hook_identifier"])
def plugin_attachment(hook_identifier):
"""
Function decorator to register a function or method as an attachment to a plugin hook.
The `hook_identifier` is a string indicating what hook to attach to. It can either refer to a
hook in _another_ plugin with the form "my_plugin.my_hook", or to a local hook in the same
plugin with just the hook name: "my_hook".
Can either be used on functions in the root level of the plugin module, or
on methods within the registered Plugin Class (either with @plugin_class or
interface.register_plugin_class() )
"""
def attachment_decorator(func):
func._shepherd_load_marker = AttachmentMarker(hook_identifier)
return func
return attachment_decorator
InitMarker = namedtuple("InitMarker", [])
def plugin_init(func=None):
"""
Method decorator to register a method as a plugin init function, similar
to passing it to `interface.register_init()`.
Can either be used on functions in the root level of the plugin module, or
on methods within the registered Plugin Class (either with @plugin_class or
interface.register_plugin_class() )
"""
if func is None:
return plugin_init
func._shepherd_load_marker = InitMarker()
return func
RunMarker = namedtuple("RunMarker", [])
def plugin_run(func=None):
"""
Method decorator to register a method as a plugin run function, similar
to passing it to `interface.register_run()`.
Can either be used on functions in the root level of the plugin module, or
on methods within the registered Plugin Class (either with @plugin_class or
interface.register_plugin_class() )
"""
if func is None:
return plugin_run
func._shepherd_load_marker = RunMarker()
return func
@preserve.preservable(exclude_attrs=('function'))
class InterfaceCall():
def __init__(self, plugin_name, function_name, kwargs=None):
"""
Record an interface function call for future use.
"""
self.plugin_name = plugin_name
self.function_name = function_name
self.function = None
self.kwargs = kwargs
if self.kwargs is None:
self.kwargs = {}
def __restore_init__(self):
self.function = None
def resolve(self, interface_functions):
"""
Resolve the InterfaceFunction this call refers to. Requires a dict of plugin functions,
where the keys are plugin names and the values are NamedTuples containing the interface
functions for that plugin.
"""
if self.plugin_name not in interface_functions:
raise ValueError(F"Plugin '{self.plugin_name}' could not be found to resolve function")
if not hasattr(interface_functions[self.plugin_name], self.function_name):
raise ValueError(F"Interface function '{self.function_name}' could not be found in"
F" plugin '{self.plugin_name}'")
self.function = getattr(interface_functions[self.plugin_name], self.function_name)
def call(self):
"""
Make the interface function call this object refers to (using the stored kwargs).
Must make sure `resolve()` is called first to actually find the function.
"""
return self.function(**self.kwargs)
def __repr__(self):
return F"{self.plugin_name}.{self.function_name}({self.kwargs})"
class InterfaceFunction():
def __init__(self, func, name=None, remote_command=False):
"""
Wrapper around a callable to define a plugin interface function.
"""
self.func = func
self.remote = remote_command
self.spec = None
if not callable(self.func):
raise TypeError("InterfaceFunction can only be created around a callable or method.")
sig = inspect.signature(self.func)
if self.remote:
self.spec = ConfigSpecification()
for param in sig.parameters:
if param.kind not in (inspect.Parameter.POSITIONAL_OR_KEYWORD,
inspect.Parameter.KEYWORD_ONLY):
raise ValueError("Interface functions must be callable with keyword arguments")
arg_spec = param.annotation
if arg_spec in ("str", str):
arg_spec = configspec.StringSpec()
if arg_spec in ("int", int):
arg_spec = configspec.IntSpec()
if not isinstance(arg_spec, _ValueSpecification):
raise ValueError("Function annotations for a Shepherd Interface function"
"must be a type of ConfigSpecification, or one of the valid"
"type shortcuts")
self.spec.add_spec(param.name, arg_spec)
if sig.return_annotation is not inspect.Signature.empty:
ret_spec = sig.return_annotation
if ret_spec in ("str", str):
ret_spec = configspec.StringSpec()
if ret_spec in ("int", int):
ret_spec = configspec.IntSpec()
if not isinstance(ret_spec, _ValueSpecification):
raise ValueError("Function annotations for a Shepherd Interface function"
"must be a type of ConfigSpecification, or one of the valid"
"type shortcuts")
self.spec.add_spec("return", arg_spec)
func_doc = inspect.getdoc(self.func)
if func_doc:
self.spec.helptext = func_doc
if name:
self.name = name
else:
self.name = self.func.__name__
log.debug(F"Loaded interface function {self.name} with parameters: {sig.parameters}")
def get_spec(self):
"""
Get the function spec used for Shepherd Control to know how to call it as a command.
Will return None unless `remote_command` was marked True on creation.
Returns a ConfigSpecification. If a return value spec is present, it uses the reserved
spec name "return". Any docstring on the function is placed in the root ConfigSpecification
helptext.
"""
return self.spec
def __call__(self, *args, **kwargs):
return self.func(*args, **kwargs)
class HookAttachment():
"""
Simple record to store the details of a deferred hook attachment. Only a class to allow the
func attribute to be changed.
"""
def __init__(self, func, plugin_name, hook_name):
self.func = func
self.plugin_name = plugin_name
self.hook_name = hook_name
class PluginHook():
"""
A hook to call a set of attachements provided by plugins. Calling the hook directly
will call all attached functions, returning the results in a dict where the keys are
the name of the plugin the attachment came from (if there are no attachements, the
result will be an empty dict).
"""
def __init__(self, name, signature):
self.name = name
self.signature = signature
# dict of callables, plugin names as keys
self._attached_functions = {}
self.attachments = MappingProxyType(self._attached_functions)
def _attach(self, new_func, plugin_name):
if not callable(new_func):
raise TypeError("Hook attachment must be callable")
if plugin_name in self._attached_functions:
raise Exception(F"Hook already has attachment from plugin '{plugin_name}'")
new_sig = inspect.signature(new_func)
if str(new_sig) != str(self.signature):
raise Exception(F"Hook attachment signature '{new_sig}' must match the signature "
F"'{str(self.signature)}' for target hook {self.name}")
self._attached_functions[plugin_name] = new_func
def __call__(self, *args, **kwargs):
results = {}
for plugin_name, func in self._attached_functions.items():
results[plugin_name] = func(*args, **kwargs)
return results
class PluginInterface():
def __init__(self):
self._confspec = None
self._loaded = False
self._initialised = False
self._functions = {}
self._hooks = {}
self._attachments = []
self._tasks = []
self._plugin_class = None
self._plugin_obj = None
self._init_func = None
self._run_func = None
self.config = None
self.plugins = None
self.hooks = None
self._plugin_name = "<not yet loaded>"
self._update_state = control.PluginUpdateState()
def _load_pluginclass(self, module):
pass
def _load_guard(self):
if self._loaded:
raise PluginLoadError("Cannot call interface register functions once"
" plugin is loaded")
def register_confspec(self, confspec):
self._load_guard()
if self._confspec is not None:
raise PluginLoadError("Plugin can only register one ConfigSpecification")
if not isinstance(confspec, ConfigSpecification):
raise PluginLoadError("confspec must be an instance of ConfigSpecification")
self._confspec = confspec
def register_class(self, cls):
self._load_guard()
if self._plugin_class is not None:
raise PluginLoadError("Plugin can only register one plugin class")
if not inspect.isclass(cls):
raise PluginLoadError("plugin_class must be a class")
self._plugin_class = cls
def register_function(self, func, name=None, remote_command=False):
"""
Register a function or method as an interface function for the plugin. If name is not
provided, the name of the callable will be used.
"""
self._load_guard()
ifunc = InterfaceFunction(func, name, remote_command)
if ifunc.name in self._functions:
raise PluginLoadError(F"Interface function with name '{ifunc.name}' already exists")
self._functions[ifunc.name] = ifunc
def register_attachment(self, func, hook_identifier):
"""
Register a function or method as an attachment to a plugin hook.
The `hook_identifier` is a string indicating what hook to attach to. It can either refer
to a hook in _another_ plugin with the form "my_plugin.my_hook", or to a local hook in the
same plugin with just the hook name: "my_hook".
"""
self._load_guard()
if not callable(func):
raise TypeError("Hook attachment can only be created around a callable or method.")
extra, plugin_name, hook_name = ([None, None]+hook_identifier.split('.'))[-3:]
if extra is not None:
raise ValueError("Hook identifier can contain at most 2 parts around a '.' character")
self._attachments.append(HookAttachment(func, plugin_name, hook_name))
def register_hook(self, name, signature=None):
"""
Register a plugin hook for other plugins to attach to. Can only be registered during
plugin load. Hook will be accessible during init from `PluginInterface.hooks.<hook_name>`.
Optionally, the same hook object is also returned from `register_hook` to allow it to be
stored and called elsewhere.
In most cases, the decorator form (`@plugin_hook`) is more convenient to use, as it will
directly replace the decorated function or method (usually with just `pass` as the content)
with the hook - allowing it to be called as normal.
If the hook requires arguments, either use the decorator form or pass in the `signature`
argument. For basic keyword args, this can just be a sequence of string argument names,
for example:
`register_hook("my_hook", ["arg_a", "arg_b"])`
If a more complex signature is required, a `inspect.Signature` object can be passed in.
This is most easily expressed inline with a lambda (only to use standard Python function
argument definitions - the lambda doesn't get called).
For example:
`register_hook("my_hook", inspect.signature(lambda arg_a, arg_b_with_default=5: None))`
Args:
name: A string (and valid Python identifier) naming the hook. Must be unique within
the plugin.
signature: If None, registers the hook as requiring no arguments. Can either be a list
of argument names, or an `inspect.Signature` object.
"""
self._load_guard()
if not isinstance(name, str):
raise PluginLoadError("Hook name must be a string")
if name in self._hooks:
raise PluginLoadError(F"Hook with name '{name}' already exists")
if signature is None:
signature = inspect.Signature([])
elif isinstance(signature, Sequence):
params = []
for param_name in signature:
params.append(inspect.Parameter(
param_name, inspect.Parameter.POSITIONAL_OR_KEYWORD))
signature = inspect.Signature(params)
if not isinstance(signature, inspect.Signature):
raise PluginLoadError("Hook signature must either be a sequence of paremeter names or"
" and instance of inspect.Signature")
self._hooks[name] = PluginHook(name, signature)
return self._hooks[name]
def register_init(self, func):
"""
Register a function or method as the init function for the plugin. This will be called
when the plugin is initialised, after load. This is where the plugin can do any setup
required before hooks and interface functions may be called by other plugins. Plugin config
is available during this call.
Plugin init is also where any tasks may be added.
The plugin init function cannot take any arguments.
The plugin init function is analogous to the `__init__` method when using a plugin class is
registered. If both an init function _and_ a plugin class are registered, both the init
function and the `__init__` method will be called.
"""
self._load_guard()
if self._init_func is not None:
raise PluginLoadError("Plugin can only register one init function")
if not callable(func):
raise TypeError("Plugin init function must be a callable.")
if len(inspect.signature(func).parameters) > 0:
raise TypeError("Plugin init function cannot take any arguments")
self._init_func = func
def register_run(self, func):
"""
Register a function or method to be called in a seperate thread once all plugins are
initialised. This function is intended to be used for any continuous loop needed by the
plugin, to avoid blocking other plugins or Shepherd itself. When the "run" function is
called, all other plugin hooks and interface functions are available to be called.
The plugin "run" function cannot take any arguments.
If trying to register a method on a plugin class, it is better to use the decorator form
"@plugin_run", as this will then bind to the actual instane of the class once it is
instantiated.
"""
self._load_guard()
if self._run_func is not None:
raise PluginLoadError("Plugin can only register one run function")
if not callable(func):
raise TypeError("Plugin run function must be a callable.")
if len(inspect.signature(func).parameters) > 0:
raise TypeError("Plugin run function cannot take any arguments")
self._run_func = func
def add_task(self, trigger, interface_function, kwargs=None):
"""
Add a task when creating a new session. Can only be called during init (object or hook).
Will be ignored if Shepherd is resuming an old session.
Args:
trigger: The trigger object (either a CronTrigger or the result of a ConfigTriggerSpec)
interface_function: The interface function on this plugin to call when triggered. Can
either be a callable that was registered as a plugin function or a string matching
the function name.
kwargs: Any keyword arguments to be passed to the function when the task is triggered.
Must be Preservable.
"""
if not self._loaded:
raise Exception("Cannot add plugin tasks until plugin is loaded")
if self._initialised:
raise Exception("Cannot add plugin tasks after plugin has been initialised")
if isinstance(interface_function, str):
if interface_function not in self._functions:
raise Exception("Plugin does not have interface function"
F" named {interface_function}")
task_call = InterfaceCall(self._plugin_name, interface_function, kwargs)
else:
# Find the callable in our interface functions
func_name = None
for name, ifunc in self._functions.items():
if ifunc.func == interface_function:
func_name = name
break
if func_name is None:
raise Exception(F"Function {interface_function} has not been registered"
" with the plugin")
task_call = InterfaceCall(self._plugin_name, func_name, kwargs)
self._tasks.append(tasks.Task(trigger, task_call))
def set_status(self, status):
"""
Set the plugin status, to be sent to Shepherd Control if configured.
Args:
status: A flat dictionary of fields with string keys.
"""
self._update_state.set_status(status)
@property
def confspec(self):
return self._confspec
def discover_base_plugins():
"""
Returns a list of base plugin names available to load. These are plugins included with
shepherd-agent, in 'base_plugins'.
"""
return [name for _, name, _ in pkgutil.iter_modules(base_plugins.__path__)]
def discover_custom_plugins(plugin_dir=None):
"""
Returns a list of custom plugin names available to load. This includes all modules or packages
within the supplied custom plugin directory.
"""
if plugin_dir:
if Path(plugin_dir).is_dir():
return [name for _, name, _ in pkgutil.iter_modules([plugin_dir])]
else:
log.warning(F"Custom plugin directory {plugin_dir} does not exist")
return []
def discover_installed_plugins():
"""
Returns a list of installed plugin names available to load. These are packages that have used
the 'shephed.plugin' entrypoint in their setup.py
"""
return [entrypoint.name for entrypoint in pkg_resources.iter_entry_points('shepherd.plugins')]
def load_plugin(plugin_name, plugin_dir=None):
"""
Finds a Shepherd plugin, loads it, and returns the resulting PluginInterface object.
Will check 3 sources, in order:
1. Built-in plugin modules/subpackages within ''shepherd.base_plugins''. Plugin
module/package names match the plugin name.
2. Modules/packages within the supplied ''plugin_dir'' path. Plugin module/package
names match the plugin name.
3. Any installed packages supplying the ''shepherd.plugin'' entrypoint.
Once a module is found, loading it involves scanning the root of the module for a
PluginInterface instance. If a confspec isn't registered, a ConfigSpecification instance
at the module root will also be implicitly registered to the interface.
Lastly, any plugin decorators are scanned for and registered (including a plugin class if
present).
Args:
plugin_name: Name used to try and locate the plugin
plugin_dir: Optional directory path to be used for custom plugins
Returns: The PluginInterface for the loaded plugin
"""
if plugin_name in _loaded_plugins:
return _loaded_plugins[plugin_name]
# Each of the 3 plugin sources have different import mechanisms. Discovery is broken out to
# allow them to be listed. Using a try/except block wouldn't be able to tell the difference
# between a plugin not being found or //it's// imports not loading correctly.
module = None
existing_modules = sys.modules.copy().values()
if plugin_name == 'shepherd':
module = importlib.import_module("..core", __name__)
log.info("Loading core plugin interface")
elif plugin_name in discover_base_plugins():
module = importlib.import_module(base_plugins.__name__+'.'+plugin_name)
if module in existing_modules:
log.info(F"Module for {plugin_name} was aleady imported, reloading")
importlib.reload(module)
log.info(F"Loading base plugin {plugin_name}")
elif plugin_name in discover_custom_plugins(plugin_dir):
saved_syspath = sys.path
try:
sys.path = [str(plugin_dir)]
module = importlib.import_module(plugin_name)
if module in existing_modules:
log.info(F"Module for {plugin_name} was aleady imported, reloading")
importlib.reload(module)
finally:
sys.path = saved_syspath
modulepath = getattr(module, "__path__", [module.__file__])[0]
log.info(F"Loading custom plugin {plugin_name} from {modulepath}")
elif plugin_name in discover_installed_plugins():
module = pkg_resources.iter_entry_points('shepherd.plugins', plugin_name)[0].load()
if module in existing_modules:
log.info(F"Module for {plugin_name} was aleady imported, reloading")
importlib.reload(module)
log.info(F"Loading installed plugin {plugin_name} from {module.__name__}")
if not module:
raise PluginLoadError("Could not find plugin "+plugin_name)
# Now we have the module, scan it for the two implicit objects we look for - the interface and
# the confspec
interface_list = inspect.getmembers(module, is_instance_check(PluginInterface))
if not interface_list:
raise PluginLoadError("Imported shepherd plugins must contain an instance"
" of PluginInterface")
if len(interface_list) > 1:
log.warning(F"Plugin module {module.__name__} has more"
F" than one PluginInterface instance.")
_, interface = interface_list[0]
load_plugin_interface(plugin_name, interface, module)
return interface
def load_plugin_interface(plugin_name, interface, module=None):
"""
Load the plugin interface provided and add it to the plugin cache. If a module is provided or
the interface has a plugin class registered to it, scan them for plugin load markers and
perform the appropriate registrations on the interface.
Usually called by `load_plugin()`, but allows a PluginInterface to be loaded directly, rather
than searching for it.
"""
interface._plugin_name = plugin_name
# Only looks for implicit confspec if one isn't registered. Uses a blank one if none are
# supplied.
if interface._confspec is None and module is not None:
confspec_list = inspect.getmembers(module, is_instance_check(ConfigSpecification))
if confspec_list:
if len(confspec_list) > 1:
log.warning(F"Plugin {interface._plugin_name} has more"
F" than one root ConfigSpecification instance.")
interface.register_confspec(confspec_list[0][1])
if interface._confspec is None:
interface._confspec = ConfigSpecification()
interface._update_state.set_confspec(interface.confspec)
if module is not None:
# Scan module for load markers left by decorators and pass them over to register methods
for key, attr in module.__dict__.items():
if hasattr(attr, "_shepherd_load_marker"):
if isinstance(attr._shepherd_load_marker, FunctionMarker):
interface.register_function(attr, **attr._shepherd_load_marker._asdict())
elif isinstance(attr._shepherd_load_marker, AttachmentMarker):
interface.register_attachment(attr, **attr._shepherd_load_marker._asdict())
elif isinstance(attr._shepherd_load_marker, HookMarker):
# Hooks are a little different in that we replace the attr with the hook
newhook = interface.register_hook(**attr._shepherd_load_marker._asdict())
setattr(module, key, newhook)
elif isinstance(attr._shepherd_load_marker, ClassMarker):
interface.register_class(attr)
elif isinstance(attr._shepherd_load_marker, InitMarker):
interface.register_init(attr)
elif isinstance(attr._shepherd_load_marker, RunMarker):
interface.register_run(attr)
if interface._plugin_class is not None:
# Scan plugin class for marked methods
for key, attr in interface._plugin_class.__dict__.items():
if hasattr(attr, "_shepherd_load_marker"):
if isinstance(attr._shepherd_load_marker, FunctionMarker):
# Instance doesn't exist yet, so need to save unbound methods for binding later
interface.register_function(UnboundMethod(attr),
**attr._shepherd_load_marker._asdict())
elif isinstance(attr._shepherd_load_marker, AttachmentMarker):
interface.register_attachment(UnboundMethod(attr),
**attr._shepherd_load_marker._asdict())
elif isinstance(attr._shepherd_load_marker, HookMarker):
# Hooks are a little different in that we replace the attr with the hook
newhook = interface.register_hook(**attr._shepherd_load_marker._asdict())
setattr(interface._plugin_class, key, newhook)
elif isinstance(attr._shepherd_load_marker, InitMarker):
interface.register_init(UnboundMethod(attr))
elif isinstance(attr._shepherd_load_marker, RunMarker):
interface.register_run(UnboundMethod(attr))
# Assemble remote interface function specs
command_spec = {}
for function in interface._functions.values():
if function.remote:
command_spec[function.name] = function.get_spec()
interface._update_state.set_commandspec(command_spec)
interface._loaded = True
# Add plugin interface to the cache
_loaded_plugins[plugin_name] = interface
return interface
def init_plugins(plugin_configs, plugin_dir=None):
"""
Loads and initialise plugins named as keys in plugin_configs.
Returns dict of initialised plugin interfaces, and a dict of interface function namedtuples
(one for each plugin)
"""
# Pick out plugins to load (should already be loaded in cache)
plugin_interfaces = {}
for plugin_name in plugin_configs.keys():
plugin_interfaces[plugin_name] = load_plugin(plugin_name, plugin_dir)
interface_functions = {}
# Run plugin init and init hooks
for plugin_name, interface in plugin_interfaces.items():
# Collect interface functions from this plugin
interface_functions[plugin_name] = NamespaceProxy(interface._functions)
# Provide config for plugin init
interface.config = plugin_configs[plugin_name]
# If it has one, instantiate the plugin object and bind methods to it.
if interface._plugin_class is not None:
# Special case with the 'shepherd' plugin already populates `_plugin_obj`
if interface._plugin_obj is None:
interface._plugin_obj = interface._plugin_class()
for ifunc in interface._functions.values():
if isinstance(ifunc.func, UnboundMethod):
ifunc.func = ifunc.func.bind(interface._plugin_obj)
for attachment in interface._attachments:
if isinstance(attachment.func, UnboundMethod):
attachment.func = attachment.func.bind(interface._plugin_obj)
if isinstance(interface._init_func, UnboundMethod):
interface._init_func = interface._init_func.bind(interface._plugin_obj)
if isinstance(interface._run_func, UnboundMethod):
interface._run_func = interface._run_func.bind(interface._plugin_obj)
# Call the plugin init func (we've already done any plugin class instance __init__ above)
if interface._init_func is not None:
interface._init_func()
# Find hooks attachments are referring to and attach them
for attachment in interface._attachments:
hook_plugin_name = attachment.plugin_name
if hook_plugin_name is None:
hook_plugin_name = plugin_name
hook_name = attachment.hook_name
if hook_plugin_name not in plugin_interfaces:
raise ValueError(F"{plugin_name} attachment target plugin "
F"'{hook_plugin_name}' does not exist")
if hook_name not in plugin_interfaces[hook_plugin_name]._hooks:
raise ValueError(F"{plugin_name} attachment target hook "
F"'{hook_plugin_name}:{hook_name}' does not exist")
plugin_interfaces[hook_plugin_name]._hooks[hook_name]._attach(attachment.func,
plugin_name)
interface._initialised = True
# Wait until all plugins have run their init before filling in and giving access
# to all the interface functions and hooks
interface_functions_proxy = MappingProxyType(interface_functions)
for plugin_name, interface in plugin_interfaces.items():
# Each plugin has a NamespaceProxy of its interface functions for read-only attr access
interface.plugins = interface_functions_proxy
interface.hooks = NamespaceProxy(interface._hooks)
return plugin_interfaces

332
shepherd/agent/tasks.py
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@ -1,332 +0,0 @@
"""
Implements both the main task scheduler for Shepherd and the Session system for restoring
state between power cycles.
"""
from abc import ABC, abstractmethod
import json
from pathlib import Path
import logging
from collections import namedtuple
import threading
from datetime import datetime, timedelta
from dateutil import tz
import pytz
from apscheduler.triggers.cron import CronTrigger as APCronTrigger
from configspec import *
import preserve
# from .util import HoldLock
log = logging.getLogger("shepherd.agent.tasks")
def register_on(core_interface):
"""
Register the session confspec and hooks on the core interface passed in - `start_tasks` later
assumes that these hooks are present.
"""
confspec = ConfigSpecification()
confspec.add_spec("resume_delay", IntSpec(helptext="Initial estimate of the time taken to"
" resume a session, in seconds"), default=180)
confspec.add_spec("enable_suspend", BoolSpec(helptext="Enables suspension of the agent session"
" in between tasks"), default=True)
confspec.add_spec("min_suspend_time", IntSpec(helptext="Smallest wait period before the next"
" scheduled task that the agent will decide to"
" suspend, in seconds"), default=300)
core_interface.confspec.add_spec("session", confspec, optional=True, default={})
# `resume_time` is a DateTime indicating when the session should resume - it already has the
# resume delay applied. Hook should return True on success
core_interface.register_hook("session_suspend", ["resume_time"])
class TaskTrigger(ABC):
"""Abstract trigger class"""
@abstractmethod
def next_time(self, base_time):
"""
Return a time indicating the next trigger time after base_time. Return None if no more
trigger events. Should be a DateTime object with the `tz.tzutc()` timezone.
"""
@preserve.preservable(exclude_attrs=['ap_trigger'])
class CronTrigger(TaskTrigger):
"""
Interprets Cron strings using a wrapper around the APScheduler CronTrigger (and so function
is similar). Values left as default or supplied as None are set to a wildcard, unless it is
a smaller unit than those supplied - where it instead gets set to it's minimum (so setting
`hour` to 3 will set `minute` and `second` to 0).
The trigger format will be matched against
The timezone used is always the local system timezone.
Details available at https://apscheduler.readthedocs.io/en/latest/modules/triggers/cron.html
"""
def __init__(self, month=None, day=None, day_of_week=None, hour=None,
minute=None, second=None):
self.month = month
self.day = day
self.day_of_week = day_of_week
self.hour = hour
self.minute = minute
self.second = second
self.__restore_init__()
def __restore_init__(self):
# Default timezone is the one from tzlocal
self.ap_trigger = APCronTrigger(month=self.month, day=self.day,
day_of_week=self.day_of_week,
hour=self.hour, minute=self.minute,
second=self.second)
def next_time(self, base_time):
"""
Return a time indicating the next trigger time after base_time. Return None if no more
trigger events.
"""
# Convert base_time to UTC with dateutil, then to pytz which APScheduler requires.
utc_base_time = base_time.astimezone(tz.tzutc()).astimezone(pytz.utc)
fire_time = self.ap_trigger.get_next_fire_time(None, utc_base_time)
# Convert back to UTC, as ap_trigger returns a value with local timezone
# Use DateUtil, as it doesn't add other crap to tzinfo
return fire_time.astimezone(pytz.utc).astimezone(tz.tzutc())
CronTriggerSpec = ConfigSpecification()
CronTriggerSpec.add_specs({
'month': StringSpec(helptext="Month in year, 1-12"),
'day': StringSpec(helptext="Day of month, 1-32"),
'day_of_week': StringSpec(helptext="Day of week, 0-6 or mon,tue,wed,thu,fri,sat,sun"),
'hour': StringSpec(helptext="Hour in day, 0-23"),
'minute': StringSpec(helptext="Minute in hour, 0-59"),
'second': StringSpec(helptext="Second in minute, 0-59"),
}, optional=True)
# class IntervalTrigger(TaskTrigger):
"""
Triggers every x period starting from when it was first created (carries over lowpower)
"""
# pass
# class SingleTrigger(TaskTrigger):
"""
Either pass a whole datetime instance, or a delta like a period that gets added to current.
"""
# pass
@preserve.preservable
class Task():
def __init__(self, trigger, interface_call, use_session=True):
"""
Define a new task. If `use_session` is true, will only add the task when a new session is
created, otherwise it will be restored from the old session. Suspended sessions will also
be resumed in order to perform tasks where `use_session` is true.
If `use_session` is false, the task will be added on every init, and will not be saved
when a session is suspended.
"""
self.trigger = trigger
self.interface_call = interface_call
self.use_session = use_session
# InterfaceCall already handles the callables and args for us, we just need to preserve
# them. Trigger is going to be multiple formats, but the most common will be Cron style.
@preserve.preservable
class Session():
"""
Container class to hold session details
"""
def __init__(self, config, tasks, resume_delay, resume_time=None):
"""
Create a session instance.
`config` is the applied config for the current session, used to detect when it changes
`tasks` is the list of tasks saved from the old session
`resume_delay` is the estimated time taken from `resume_time` when deciding to resume the
session, to compensate for the time taken to resume
`resume_time` is the intended resume time (slightly before the next scheduled task)
"""
self.config = config
self.tasks = tasks
self.resume_time = resume_time
self.resume_delay = resume_delay
@classmethod
def load(cls, root_dir, applied_config):
"""
Load a Session instance from the shepherd.session file. Returns None
if the config has changed or no file is found.
"""
session_file = Path(root_dir, 'shepherd.session')
if session_file.exists():
session = preserve.restore(json.loads(session_file.read_text()))
if session.config == applied_config:
return session
log.info("Config has changed since last session")
else:
log.info("No existing session file found")
return None
def save(self, root_dir):
"""
Peel out non-session tasks, then save this Session instance to the
shepherd.session file.
"""
all_tasks = self.tasks
self.tasks = [task for task in all_tasks if task.use_session]
session_file = Path(root_dir, 'shepherd.session')
session_file.write_text(json.dumps(preserve.preserve(self)))
self.tasks = all_tasks
def init_tasks(config, root_dir, init_tasklist, applied_config, interface_functions):
"""
Generate the list of tasks to be run. Attempt to restore existing session, if it is present.
Use the supplied list of init tasks, ignoring tasks marked with 'use_session' unless we're
starting a new session.
Resolves task interface calls, and returns the task session.
"""
session = Session.load(root_dir, applied_config)
if session is None:
log.info("Starting new session")
session = Session(applied_config, init_tasklist, config['resume_delay'])
else:
# Add non-session tasks
session.tasks.extend([task for task in init_tasklist if not task.use_session])
# Resolve task interface calls
for task in session.tasks:
task.interface_call.resolve(interface_functions)
return session
ScheduledTask = namedtuple("ScheduledTask", ["scheduled_for", "task"])
_update_thread_init_done = threading.Event()
_stop_event = threading.Event()
def stop():
_stop_event.set()
log.info("Tasks thread stop requested.")
def start_tasks(core_interface, session):
"""
Initialise the Tasks session and start the Tasks update thread.
"""
# Clear for easier testing
_stop_event.clear()
_update_thread_init_done.clear()
config = core_interface.config['session']
suspend_hook = core_interface.hooks.session_suspend
tasks_thread = threading.Thread(target=_tasks_update_loop,
args=(config, suspend_hook, session))
tasks_thread.start()
# Wait for init so our log makes sense
_update_thread_init_done.wait()
return tasks_thread
MIN_DELAY = 0.01 # Minimum time (in seconds) the task loop will sleep for.
def _tasks_update_loop(config, suspend_hook, session):
sched_tasks = []
# When resuming, schedule tasks from the desired resume time, even if it's in the past
base_time = session.resume_time
now = datetime.now(tz.tzutc())
# If it's a new session, only schedule tasks from now.
if base_time is None:
base_time = now
# Maximum permitted snooze is currently hardcoded to 5 minutes. This means that if we
# resume the session more than 5 minutes later than we'd intended (`session.resume_time`),
# only run tasks that would have been scheduled for the last 5 minutes.
max_snooze_time = timedelta(minutes=5)
if base_time < now-max_snooze_time:
log.warning(F"Session resumed more than maximum snooze time ({max_snooze_time}) after"
F" intended session resume time ({base_time}). Only scheduling tasks after"
F" {now-max_snooze_time}, so may have missed some scheduled tasks.")
base_time = now-max_snooze_time
if len(session.tasks) == 0:
log.info("No tasks scheduled. Stopping Tasks thread.")
_update_thread_init_done.set()
return
for task in session.tasks:
scheduled_time = task.trigger.get_next_time(base_time)
sched_tasks.append(ScheduledTask(scheduled_time, task))
suspend_available = False
if config['enable_suspend']:
if suspend_hook.attachments:
suspend_available = True
log.info("Session suspension enabled.")
else:
log.warning("'enable_suspend' set to true, but no suspend hooks are attached. Add"
" a plugin that provides a suspend hook.")
# Let our `start_tasks` call continue
_update_thread_init_done.set()
# Order by next first
sched_tasks.sort(key=lambda schedtask: schedtask.scheduled_for)
while True:
now = datetime.now(tz.tzutc())
if sched_tasks[0].scheduled_for <= now:
# Scheduled time has passed, run the task
log.info(F"Running task {sched_tasks[0].task.interface_call}...")
# Should we be catching exceptions for this?
sched_tasks[0].task.interface_call.call()
# Reschedule and sort
sched_tasks[0].scheduled_for = sched_tasks[0].task.trigger.get_next_time(now)
log.info(F"Done. Rescheduling task for {sched_tasks[0].scheduled_for}.")
sched_tasks.sort(key=lambda schedtask: schedtask.scheduled_for)
else:
time_to_wait = sched_tasks[0].scheduled_for - now
if suspend_available:
pass
else:
_stop_event.wait(max(time_to_wait.total_seconds(), MIN_DELAY))
if _stop_event.is_set():
log.warning("Tasks thread stopping...")
_stop_event.clear()
break
_update_thread_init_done.clear()
# TODO Handle case when tasks return None as next trigger time, and when no triggers are left
# TODO Add maximum suspend period
# TODO Add "snooze" task checking even on new session, to catch tasks we miss if we restart
# due to new config

344
shepherd/agent/util.py
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@ -1,344 +0,0 @@
from types import MappingProxyType
import time
import itertools
import contextlib
import threading
# Vendored from python-snippets
class NamespaceProxy():
"""
Read-only proxy of a mapping (like a dict) allowing item access via attributes. Mapping keys
that are not strings will be ignored, and attribute access to any names starting with "__"
will still be passed to the actual object attributes.
Being a proxy, attributes available and their values will change as the underlying backing
dict is changed.
Intended for sitatuations where a dynamic mapping needs to be passed out to client code but
you'd like to heavily suggest that it not be modified.
Note that only the top-level mapping is read only - if the attribute values themselves are
mutable, they may still be modified via the NamespaceProxy.
"""
def __init__(self, backing_dict):
"""
Create a new NamespaceProxy, with attribute access to the underlying backing dict passed
in.
"""
object.__setattr__(self, "_dict_proxy", MappingProxyType(backing_dict))
def __getattribute__(self, name):
if name.startswith("__"):
return object.__getattribute__(self, name)
return object.__getattribute__(self, "_dict_proxy")[name]
def __setattr__(self, *args):
raise TypeError("NamespaceProxy does not allow attributes to be modified")
def __delattr__(self, *args):
raise TypeError("NamespaceProxy does not allow attributes to be modified")
def __repr__(self):
keys = sorted(object.__getattribute__(self, "_dict_proxy"))
items = ("{}={!r}".format(k, object.__getattribute__(
self, "_dict_proxy")[k]) for k in keys)
return "{}({})".format(type(self).__name__, ", ".join(items))
def __eq__(self, other):
if isinstance(other, self.__class__):
return (object.__getattribute__(self, "_dict_proxy") ==
object.__getattribute__(other, "_dict_proxy"))
return False
class HoldLock(contextlib.AbstractContextManager):
"""
A sort-of thread lock, intended to allow one thread to wait until all others are finished
using a multi-user resource.
Once created, threads may call `hold()` on the HoldLock to acquire a hold. If a thread then
calls `wait()` or iterates `waiting_for()`, those calls will block until all holds are
released with `release()`.
In this simple use case, the HoldLock almost behaves like a reverse semaphore - `hold()`
increases a counter by 1, `release()` reduces it by 1, and calling `wait()` blocks until the
counter comes back down to 0. The closest example of a similar thing I've found is Golang
WaitGroups, which work like this.
Additionally, the HoldLock allows an identifier to be passed to `hold()`. This same identifier
must be referred to with `release()`, but can be any object - rather than a simple counter,
the HoldLock maintains a list of these identifiers. These only really become useful when the
main waiting thread calls `holders()` or iterates `waiting_for()` - as then it gets access
to these identifiers. The common use case here is to use a string explaining the reason for the
`hold()` as the identifier, which then allows the main thread to print a list of things it's
waiting for by iterating `waiting_for()`. By default, the `HoldLock.AnonHolder` identifier is
used in all calls, allowing the identifier to be completely ignored if it's not useful.
The HoldLock object itself can be used as a context manager in `with` statements, and functions
the same as calling `hold()` with defaults.
"""
class AnonHolder():
pass
class Holder(contextlib.AbstractContextManager):
"""
An object representing something that has a hold on a HoldLock. Can be used as a context
manager. Only intended to be used once.
"""
def __init__(self, hold_lock, identifier, expiry):
self.hold_lock = hold_lock
self.identifier = identifier
self.expiry = expiry
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.hold_lock._release(self)
def release(self):
self.hold_lock._release(self)
def expired(self):
if self.expiry is not None:
if self.expiry <= self.hold_lock.time_func():
return True
return False
def __enter__(self):
self.hold()
return self
def __exit__(self, exc_type, exc_value, traceback):
self.release()
def __init__(self, time_func=time.monotonic):
"""
Create a HoldLock instance. By default, time.monotonic is used for all timeouts, but this
can be supplied as any function that returns a current absolute time in seconds as a float.
"""
self._holders = []
self._expired_holders = []
self._cv = threading.Condition()
self.time_func = time_func
self._closed = False
def hold(self, identifier=AnonHolder, timeout=None):
"""
Acquire a hold on this HoldLock, blocking any `wait()` call until all holds are released.
Multiple threads may acquire a hold simultaneously, and an identifier may be used more than
once. A hold must later be released with `release()`, providing the same identifier.
The default `None` identifier works like any other, but will result in calls to `holders`
or `waiting_for()` to return a tuple containing None values.
Can either be called directly or used as a context manager - `with holdlock.hold():`. The
returned Holder object also provides a way to see if the hold has expired
(`holder.expired()`) and also provides an alternate way to release it without having to
pass the identifier again (`holder.release()`).
holder1 = holdlock.hold("annoying to reference identifier")
holder1.release()
with holdlock.hold(timeout=5) as holder2:
while True:
time.sleep(1)
if holder2.expired():
print("Timeout has expired")
"""
with self._cv:
if self._closed:
raise Exception("Cannot get new hold on closed HoldWait instance")
new_holder = self.Holder(self, identifier, self.time_func() +
timeout if timeout else None)
self._hold(new_holder)
return new_holder
def _hold(self, holder):
with self._cv:
self._holders.append(holder)
# Sort to make sure earliest expiry is first, with None at the end
self._holders.sort(key=lambda holder: (holder.expiry is None, holder.expiry))
self._cv.notify_all()
def release(self, identifier=AnonHolder):
"""
Release a hold on this HoldLock. If there are mutiple holders with the supplied identifier,
the one with the earliest timeout will be released.
Returns False if the hold had expired (technically holds only expire _if_ someone was
waiting for it when the timeout was hit), otherwise returns True.
"""
with self._cv:
# _holders is already sorted for us
for holder in itertools.chain(self._expired_holders, self._holders):
if holder.identifier == identifier:
matching_holder = holder
break
else:
raise Exception(F"Release identifier '{identifier}' is not currently held")
return self._release(matching_holder)
def _release(self, holder):
with self._cv:
if holder in self._expired_holders:
self._expired_holders.remove(holder)
else:
self._holders.remove(holder)
self._cv.notify_all()
def close(self):
"""
Stop any threads from acquiring a new hold on this HoldLock (the will raise an exception)
"""
with self._cv:
self._closed = True
def reopen(self):
"""
Start allowing threads to get a hold on this HoldLock again (after having called `close()`)
"""
with self._cv:
self._closed = False
@property
def holders(self):
"""
Return a tuple if current holder identities. The tuple itself is a copy, but the values in
it are the same objects that `hold()` calls have passed in as identifiers.
"""
with self._cv:
return(tuple(holder.identifier for holder in self._holders))
@property
def hold_count(self):
"""
Return the current number of holds on this HoldLock
"""
with self._cv:
return len(self._holders)
def wait(self, timeout=None):
"""
Wait for all threads currently holding this HoldLock to release it, returning True unless
the timeout is hit, where it will return False.
Note that unless `close()` is called first, _more threads may get a hold_ while waiting.
If `timeout` is specified, this must be a relative float value in seconds. If
`timeout` is None, `wait()` will block indefinitely for all holds to be released.
"""
expiry = None
if timeout is not None:
expiry = self.time_func()+timeout
with self._cv:
while len(self._holders) > 0:
cv_timeout = None
now = self.time_func()
# Pull out any holders that have expired
while (self._holders[0].expiry is not None):
if self._holders[0].expiry <= now:
self._expired_holders.append(self._holders.pop(0))
if len(self._holders) == 0:
return True
else:
cv_timeout = self._holders[0].expiry - now
break
if expiry is not None:
if expiry <= now:
return False
cv_timeout = min(cv_timeout, expiry - now) if cv_timeout else expiry - now
self._cv.wait(cv_timeout)
return True
def waiting_for(self, timeout=None, update_period=None):
"""
Behaves the same as `wait()`, but is a generator that will return sequences of remaining
holder identifiers while waiting for all holds to be released. By default, returns a new
sequence of remaining holders whenever it changes, but can also be supplied with
`update_period` to add more intermediate updates.
When all holds are released, the last returned sequence by the generator will be empty (no
longer waiting on any holds).
If `timeout` is not None and the timeout expires instead, the last sequence returned
will _not_ be empty (was still waiting on holds when the timeout expired).
"""
expiry = None
if timeout is not None:
expiry = self.time_func()+timeout
with self._cv:
# We effectively have 2 sections where holders can be released/timed out, and time can
# pass - the wait, and the yield, so things that check for changes
# in those need to be done after both.
while len(self._holders) > 0:
now = self.time_func()
# check main timeout
if expiry is not None:
if expiry <= now:
return
# expire any holders
while (self._holders[0].expiry is not None):
if self._holders[0].expiry <= now:
self._holders.pop(0)
if len(self._holders) == 0:
# Generate empty holder tuple and finish
self._cv.release()
yield tuple()
self._cv.acquire()
return
else:
break
# Yield holders
yielded_holders = self.holders
self._cv.release()
yield yielded_holders
self._cv.acquire()
# If holders has changed since before yield, continue (no need to wait for change)
if self.holders != yielded_holders:
continue
# Holders haven't changed, so we have at least 1
cv_timeout = update_period
now = self.time_func()
# Check main timeout again
if expiry is not None:
if expiry <= now:
return
cv_timeout = min(cv_timeout, expiry - now) if cv_timeout else expiry - now
# Check holder expiry again
if self._holders[0].expiry is not None:
if self._holders[0].expiry <= now:
# next holder has expired, continue and let original check deal with it
continue
else:
holder_timeout = self._holders[0].expiry - now
cv_timeout = min(
holder_timeout, cv_timeout) if cv_timeout else holder_timeout
self._cv.wait(cv_timeout)
# Generate empty holder tuple and finish
self._cv.release()
yield tuple()
self._cv.acquire()
return

80
shepherd/camtest.py
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#!/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())

420
shepherd/config.py
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"""
Configuration management module. Enables configuration to be validated against
requirement definitions before being loaded and used.
Compatible with both raw config data structures and TOML files, config data must
start with a root dict containing named "config bundles". These are intended to
refer to different modular parts of the application needing configuration, and the
config data structure must contain at least one.
Each config bundle itself needs to have a dict at the root, and so in practice a minimal
TOML config file would look like::
[myapp]
config_thingy_a = "foooooo!"
important_number = 8237
This would resolve to a config bundle named "myapp" that results in the dict::
{"config_thingy_a": "foooooo!", "important_number": 8237}
Root items that are not dicts are not supported, for instance both the following TOML files would fail::
[[myapp]]
important_number = 8237
[[myapp]]
another_important_number = 2963
(root object in bundle is a list)
::
root_thingy = 46
(root object in config is a single value)
"""
import re
import toml
from abc import ABC, abstractmethod
from copy import deepcopy
from .freezedry import freezedryable, rehydrate
class InvalidConfigError(Exception):
pass
# The Table and Array terms from the TOML convention essentially
# map directly to Dictionaries (Tables), and Lists (Arrays)
class _ConfigDefinition(ABC):
def __init__(self, default=None, optional=False, helptext=""):
self.default = default
self.optional = optional
self.helptext = helptext
@abstractmethod
def validate(self, value):
"""
Checks the supplied value to confirm that it complies with this ConfigDefinition.
Raises InvalidConfigError on failure.
"""
pass
@freezedryable
class BoolDef(_ConfigDefinition):
def __init__(self, default=None, optional=False, helptext=""):
super().__init__(default, optional, helptext)
def validate(self, value):
if not isinstance(value, bool):
raise InvalidConfigError("Config value must be a boolean")
@freezedryable
class IntDef(_ConfigDefinition):
def __init__(self, default=None, minval=None, maxval=None,
optional=False, helptext=""):
super().__init__(default, optional, helptext)
self.minval = minval
self.maxval = maxval
def validate(self, value):
if not isinstance(value, int):
raise InvalidConfigError("Config value must be an integer")
if self.minval is not None and value < self.minval:
raise InvalidConfigError("Config value must be >= " +
str(self.minval))
if self.maxval is not None and value > self.maxval:
raise InvalidConfigError("Config value must be <= " +
str(self.maxval))
@freezedryable
class StringDef(_ConfigDefinition):
def __init__(self, default="", minlength=None, maxlength=None,
optional=False, helptext=""):
super().__init__(default, optional, helptext)
self.minlength = minlength
self.maxlength = maxlength
def validate(self, value):
if not isinstance(value, str):
raise InvalidConfigError(F"Config value must be a string and is {value}")
if self.minlength is not None and len(value) < self.minlength:
raise InvalidConfigError("Config string length must be >= " +
str(self.minlength))
if self.maxlength is not None and len(value) > self.maxlength:
raise InvalidConfigError("Config string length must be <= " +
str(self.maxlength))
@freezedryable
class DictDef(_ConfigDefinition):
def __init__(self, default=None, optional=False, helptext=""):
super().__init__(default, optional, helptext)
self.def_dict = {}
def add_def(self, name, newdef):
if not isinstance(newdef, _ConfigDefinition):
raise TypeError("Config definiton must be an instance of a "
"ConfigDefinition subclass")
if not isinstance(name, str):
raise TypeError("Config definition name must be a string")
self.def_dict[name] = newdef
return newdef
def validate(self, value_dict):
"""
Checks the supplied value to confirm that it complies with this ConfigDefinition.
Raises InvalidConfigError on failure.
This *can* modify the supplied value dict, inserting defaults for any child
ConfigDefinitions that are marked as optional.
"""
def_set = set(self.def_dict.keys())
value_set = set(value_dict.keys())
for missing_key in def_set - value_set:
if not self.def_dict[missing_key].optional:
raise InvalidConfigError("Dict must contain key: " +
missing_key)
else:
value_dict[missing_key] = self.def_dict[missing_key].default
for extra_key in value_set - def_set:
raise InvalidConfigError("Dict contains unknown key: " +
extra_key)
for key, value in value_dict.items():
try:
self.def_dict[key].validate(value)
except InvalidConfigError as e:
e.args = ("Key: " + key,) + e.args
raise
def get_template(self, include_optional=False):
"""
Return a config dict with the minimum structure required for this ConfigDefinition.
Default values will be included, though not all required fields will necessarily have
defaults that successfully validate.
Args:
include_optional: If set true, will include *all* config fields, not just the
required ones
Returns:
Dict containing the structure that should be passed back in (with values) to comply
with this ConfigDefinition.
"""
template = {}
for key, confdef in self.def_dict.items():
if confdef.optional and (not include_optional):
continue
if hasattr(confdef,"get_template"):
template[key]=confdef.get_template(include_optional)
else:
template[key]=confdef.default
return template
class _ListDefMixin():
def validate(self, value_list):
if not isinstance(value_list, list):
raise InvalidConfigError("Config item must be a list")
for index, value in enumerate(value_list):
try:
super().validate(value)
except InvalidConfigError as e:
e.args = ("List index: " + str(index),) + e.args
raise
def get_template(self, include_optional=False):
if hasattr(super(),"get_template"):
return [super().get_template(include_optional)]
else:
return [self.default]
@freezedryable
class BoolListDef(_ListDefMixin, BoolDef):
pass
@freezedryable
class IntListDef(_ListDefMixin, IntDef):
pass
@freezedryable
class StringListDef(_ListDefMixin, StringDef):
pass
@freezedryable
class DictListDef(_ListDefMixin, DictDef):
pass
@freezedryable
class ConfDefinition(DictDef):
pass
class ConfigManager():
def __init__(self):
self.root_config = {}
self.confdefs = {}
self.frozen_config = {}
@staticmethod
def _load_source(source):
"""
Accept a filepath or opened file representing a TOML file, or a direct dict,
and return a plain parsed dict.
"""
if isinstance(source, dict): # load from dict
return source
elif isinstance(source, str): # load from pathname
with open(source, 'r') as conf_file:
return toml.load(conf_file)
else: # load from file
return toml.load(source)
def load(self, source):
"""
Load a config source into the ConfigManager, replacing any existing config.
Args:
source: Either a dict config to load directly, a filepath to a TOML file,
or an open file.
"""
self.root_config = self._load_source(source)
self._overlay(self.frozen_config, self.root_config)
def load_overlay(self, source):
"""
Load a config source into the ConfigManager, merging it over the top of any existing
config. Dicts will be recursively processed with keys being merged and existing values
being replaced by the new source. This includes lists, which will be treated as any other
value and completely replaced.
Args:
source: Either the root dict of a data structure to load directly, a filepath to a TOML file,
or an open TOML file.
"""
self._overlay(self._load_source(source), self.root_config)
self._overlay(self.frozen_config, self.root_config)
def freeze_value(self, bundle_name, *field_names):
"""
Freeze the given config field so that subsequent calls to ``load`` and ``load_overlay``
cannot change it. Can only be used for dict values or dict values nested in parent dicts.
Args:
bundle_name: The name of the bundle to look for the field in.
*field_names: a series of strings that locate the config field, either a single
key or series of nested keys.
"""
#Bundle names are really no different from any other nested dict
names = (bundle_name,) + field_names
target_field = self.root_config
frozen_value = self.frozen_config
# Cycle through nested names, creating frozen_config nested dicts as necessary
for name in names[:-1]:
target_field = target_field[name]
if name not in frozen_value:
frozen_value[name] = {}
frozen_value = frozen_value[name]
frozen_value[names[-1]] = target_field[names[-1]]
def add_confdef(self, bundle_name, confdef):
"""
Stores a ConfigDefinition for future use when validating the corresponding config bundle
Args:
bundle_name (str) : The name to store the config definition under.
confdef (ConfigDefinition): The populated ConfigDefinition to store.
"""
self.confdefs[bundle_name]=confdef
def add_confdefs(self, confdefs):
"""
Stores multiple ConfigDefinitions at once for future use when validating the corresponding config bundles
Args:
confdefs : A dict of populated ConfigDefinitions to store, using their keys as names.
"""
self.confdefs.update(confdefs)
def list_missing_confdefs(self):
"""
Returns a list of config bundle names that do not have a corresponding ConfigDefinition
stored in the ConfigManager.
"""
return list(self.root_config.keys() - self.confdefs.keys())
def _overlay(self, src, dest):
for key in src:
# If the key is also in the dest and both are dicts, merge them.
if key in dest and isinstance(src[key], dict) and isinstance(dest[key], dict):
self._overlay(src[key], dest[key])
else:
# Otherwise it's either an existing value to be replaced or needs to be added.
dest[key] = src[key]
def get_config_bundle(self, bundle_name, conf_def=None):
"""
Get a config bundle called ``bundle_name`` and validate
it against the corresponding config definition stored in the ConfigManager.
If ``conf_def`` is supplied, it gets used instead. Returns a validated
config bundle dict.
Note that as part of validation, optional keys that are missing will be
filled in with their default values (see ``DictDef``). This function will copy
the config bundle *after* validation, and so config loaded in the ConfManager will
be modified, but future ConfigManager manipulations won't change the returned config
bundle.
Args:
config_name: (str) Name of the config dict to find.
conf_def: (ConfDefinition) Optional config definition to validate against.
"""
if not isinstance(conf_def, ConfDefinition):
conf_def = self.confdefs[bundle_name]
if bundle_name not in self.root_config:
raise InvalidConfigError(
"Config must contain dict: " + bundle_name)
try:
conf_def.validate(self.root_config[bundle_name])
except InvalidConfigError as e:
e.args = ("Bundle: " + bundle_name,) + e.args
raise
return deepcopy(self.root_config[bundle_name])
def get_config_bundles(self, bundle_names):
"""
Get multiple config bundles from the root dict at once, validating each one with the
corresponding confdef stored in the ConfigManager. See ``get_config_bundle``
Args:
bundle_names: A list of config bundle names to get. If dictionary is supplied, uses the values
as ConfigDefinitions rather than looking up a stored one in the ConfigManager.
Returns:
A dict of config dicts, with keys matching those passed in ``bundle_names``.
"""
config_values = {}
if isinstance(bundle_names, dict):
for name, conf_def in bundle_names.items():
config_values[name] = self.get_config_bundle(name, conf_def)
else:
for name in bundle_names:
config_values[name] = self.get_config_bundle(name)
return config_values
def get_bundle_names(self):
"""
Returns a list of names of top level config bundles
"""
return list(self.root_config.keys())
def dump_toml(self):
return toml.dumps(self.root_config)
def dump_to_file(self, filepath, message=None):
with open(filepath, 'w+') as f:
content = self.dump_toml()
if message is not None:
content = content.rstrip() + gen_comment(message)
f.write(content)
def strip_toml_message(string):
print("stripping...")
return re.sub("(?m)^#\\ shepherd_message:[^\\n]*$\\n?(?:^#[^\\n]+$\\n?)*",
'', string)
def update_toml_message(filepath, message):
with open(filepath, 'r+') as f:
content = f.read()
content = strip_toml_message(content).rstrip()
content += gen_comment(message)
f.seek(0)
f.write(content)
f.truncate()
def gen_comment(string):
return '\n# shepherd_message: ' + '\n# '.join(string.replace('#', '').splitlines()) + '\n'

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shepherd/control.py
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import os
import uuid
import subprocess
import requests
import threading
import json
from urllib.parse import urlparse, urlunparse, urljoin
from collections import namedtuple
import shepherd.plugin
# Check for shepherd.new file in edit conf dir. If there,
# or if no shepherd.id file can be found, generate a new one.
# For now, also attempt to delete /var/lib/zerotier-one/identity.public and identity.secret
# Once generated, if it was due to shepherd.new file, delete it.
#Start new thread, and push ID and core config to api.shepherd.distreon.net/client/update
client_id = None
control_url = None
api_key = None
def _update_job(core_config, plugin_config):
payload = {"client_id":client_id, "core_config":core_config,"plugin_config":plugin_config}
#json_string = json.dumps(payload)
try:
# Using the json arg rather than json.dumps ourselves automatically sets the Content-Type
# header to application/json, which Flask expects to work correctly
r = requests.post(control_url, json=payload, auth=(client_id, api_key))
except requests.exceptions.ConnectionError:
raise
def generate_new_zerotier_id():
print("Removing old Zerotier id files")
try:
os.remove("/var/lib/zerotier-one/identity.public")
os.remove("/var/lib/zerotier-one/identity.secret")
except:
pass
print("Restarting Zerotier systemd service to regenerate ID")
subprocess.run(["systemctl", "restart", "zerotier-one.service"])
def generate_new_id(root_dir):
global client_id
with open(os.path.join(root_dir, "shepherd.id"), 'w+') as f:
new_id = uuid.uuid1()
client_id = str(new_id)
f.write(client_id)
generate_new_zerotier_id()
def init_control(core_config, plugin_config):
global client_id
global control_url
global api_key
# On init, need to be able to quickly return the cached shepherd control layer if necessary.
# Create the /update endpoint structure
root_dir = os.path.expanduser(core_config["root_dir"])
editconf_dir = os.path.dirname(os.path.expanduser(core_config["conf_edit_path"]))
#Some weirdness with URL parsing means that by default most urls (like www.google.com)
# get treated as relative
# https://stackoverflow.com/questions/53816559/python-3-netloc-value-in-urllib-parse-is-empty-if-url-doesnt-have
control_url = core_config["control_server"]
if "//" not in control_url:
control_url = "//"+control_url
control_url = urlunparse(urlparse(control_url)._replace(scheme="https"))
control_url = urljoin(control_url, "/client/update")
print(F"Control url is: {control_url}")
api_key = core_config["api_key"]
if os.path.isfile(os.path.join(editconf_dir, "shepherd.new")):
generate_new_id(root_dir)
os.remove(os.path.join(editconf_dir, "shepherd.new"))
print(F"Config hostname: {core_config['hostname']}")
if not (core_config["hostname"] == ""):
print("Attempting to change hostname")
subprocess.run(["raspi-config", "nonint", "do_hostname", core_config["hostname"]])
elif not os.path.isfile(os.path.join(root_dir, "shepherd.id")):
generate_new_id(root_dir)
else:
with open(os.path.join(root_dir, "shepherd.id"), 'r') as id_file:
client_id = id_file.readline().strip()
print(F"Client ID is: {client_id}")
control_thread = threading.Thread(target=_update_job, args=(core_config,plugin_config))
control_thread.start()
def _post_logs_job():
logs = shepherd.plugin.plugin_functions["scout"].get_logs()
measurements = shepherd.plugin.plugin_functions["scout"].get_measurements()
payload = {"client_id":client_id, "logs":logs, "measurements":measurements}
try:
r = requests.post(control_url, json=payload, auth=(client_id, api_key))
except requests.exceptions.ConnectionError:
pass
def post_logs():
post_logs_thread = threading.Thread(target=_post_logs_job, args=())
post_logs_thread.start()

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shepherd/core.py
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"""
Core shepherd module, tying together main service functionality.
"""
import os
from pathlib import Path
from datetime import datetime
import toml
import logging
import click
from copy import deepcopy
from . import scheduler
from . import config
from . import plugin
from . import control
# Future implementations of checking config differences should be done on
# the hash of the nested conf dict, so comments shouldn't affect this.
# save old config to somewhere in the shepherd root dir - probably need to
# implement a TOML writer in the config module.
# later on, there's going to be an issue with a new config being applied
# remotely, then the system restarting, and an old edit in /boot being
# applied over the top...
# Fix this by saving the working config to /boot when new config applied
# remotely.
# Relative pathnames here are all relative to "root_dir"
def define_core_config(confdef):
"""
Defines the config definition by populating the ConfigDefinition passed in ``confdef`` - the same pattern plugins use
"""
confdef.add_def("name", config.StringDef(
helptext="Identifying name for this device"))
confdef.add_def("hostname",
config.StringDef(default="", optional=True,
helptext="If set, changes the system hostname"))
confdef.add_def("plugin_dir",
config.StringDef(default="~/shepherd-plugins", optional=True,
helptext="Optional directory for Shepherd to look for plugins in."))
confdef.add_def("root_dir",
config.StringDef(default="~/shepherd", optional=True,
helptext="Operating directory for shepherd to place working files."))
confdef.add_def("custom_config_path",
config.StringDef(optional=True,
helptext="Path to custom config layer TOML file."))
confdef.add_def("generated_config_path",
config.StringDef(default="shepherd-generated.toml", optional=True,
helptext="Path to custom file Shepherd will generate to show compiled config that was used and any errors in validation."))
confdef.add_def("control_server", config.StringDef())
confdef.add_def("control_api_key", config.StringDef())
def resolve_core_conf_paths(core_conf):
"""
Set the cwd to ``root_dir`` and resolve other core config paths relative to that.
Also expands out any "~" user characters.
"""
core_conf["root_dir"] = str(Path(core_conf["root_dir"]).expanduser().resolve())
os.chdir(core_conf["root_dir"])
core_conf["plugin_dir"] = str(Path(core_conf["plugin_dir"]).expanduser().resolve())
core_conf["custom_config_path"] = str(
Path(core_conf["custom_config_path"]).expanduser().resolve())
core_conf["generated_config_path"] = str(
Path(core_conf["generated_config_path"]).expanduser().resolve())
def load_config_layer(confman, config_source):
"""
Load a config layer, find the necessary plugin classes, then validate it.
"""
# Load in config layer
confman.load_overlay(config_source)
# Get the core config so we can find the plugin directory
core_config = confman.get_config_bundle("shepherd")
plugin_dir = core_config["plugin_dir"]
# List other table names to get plugins we need to load
plugin_names = confman.get_bundle_names()
plugin_names.remove("shepherd")
# Load plugins to get their conf defs
plugin_classes = plugin.find_plugins(plugin_names, plugin_dir)
for plugin_name, plugin_class in plugin_classes.items():
new_conf_def = config.ConfDefinition()
plugin_class.define_config(new_conf_def)
confman.add_confdef(plugin_name, new_conf_def)
# Get plugin configs
plugin_configs = confman.get_config_bundles(plugin_classes.keys())
return (core_config, plugin_classes, plugin_configs)
def compile_config(default_config_path):
"""
Run through the process of assembling the various config layers, falling back to working
ones where necessary. Also gathers needed plugin classes in the process.
"""
# Create core confdef and populate it
core_confdef = config.ConfDefinition()
define_core_config(core_confdef)
confman = config.ConfigManager()
confman.add_confdef("shepherd", core_confdef)
# Default config. This must validate to continue.
try:
core_conf, plugin_classes, plugin_configs = load_config_layer(
confman, Path(default_config_path).expanduser())
logging.info(F"Loaded default config from {default_config_path}")
except:
logging.error(F"Failed to load default config from {default_config_path}")
raise
# Resolve and freeze local install paths that shouldn't be changed or affect loading custom config
confman.freeze_value("shepherd", "root_dir")
confman.freeze_value("shepherd", "plugin_dir")
confman.freeze_value("shepherd", "custom_config_path")
confman.freeze_value("shepherd", "generated_config_path")
resolve_core_conf_paths(core_conf)
# Pull out custom config path and save current good root_config
custom_config_path = core_conf["custom_config_path"]
saved_root_config = deepcopy(confman.root_config)
# Custom config layer. If this fails, maintain default config but continue on to Control layer
try:
core_conf, plugin_classes, plugin_configs = load_config_layer(
confman, custom_config_path)
logging.info(F"Loaded custom config from {custom_config_path}")
except Exception as e:
logging.error(
F"Failed to load custom config from {custom_config_path}. Falling back to default config.", exc_info=e)
confman.root_config = saved_root_config
# Freeze Shepherd Control related config.
confman.freeze_value("shepherd", "control_server")
confman.freeze_value("shepherd", "control_api_key")
resolve_core_conf_paths(core_conf)
# Save current good root_config
saved_root_config = deepcopy(confman.root_config)
# Shepherd Control config layer. If this fails, maintain current local config.
try:
control_config = control.get_config(core_conf["root_dir"])
try:
core_conf, plugin_classes, plugin_configs = load_config_layer(
confman, control_config)
logging.info(F"Loaded cached Shepherd Control config")
except Exception as e:
logging.error(
F"Failed to load cached Shepherd Control config. Falling back to local config.", exc_info=e)
confman.root_config = saved_root_config
except:
logging.warning("No cached Shepherd Control config available.")
confman.dump_to_file(core_conf["generated_config_path"])
return core_conf, plugin_classes, plugin_configs
@click.group(invoke_without_command=True)
#help="Path to default config TOML file"
@click.argument('default_config', default="shepherd-default.toml", type=click.Path())
@click.pass_context
def cli(ctx, default_config):
"""
Core service. Expects the default config to be set as an argument.
"""
# argparser = argparse.ArgumentParser(description="Keep track of a mob "
# "of roaming Pis")
# argparser.add_argument("configfile", nargs='?', metavar="configfile",
# help="Path to configfile", default="shepherd.toml")
# argparser.add_argument(
# '-e', '--noedit', help="Disable the editable config temporarily", action="store_true", default=False)
# argparser.add_argument("-t", "--test", help="Test and interface function of the from 'plugin:function'",
# default=None)
#args = argparser.parse_args()
core_conf, plugin_classes, plugin_configs = compile_config(default_config)
# if args.test is None:
# control.init_control(core_conf, plugin_configs)
scheduler.init_scheduler(core_conf)
plugin.init_plugins(plugin_classes, plugin_configs, core_conf)
scheduler.restore_jobs()
print(str(datetime.now()))
if ctx.invoked_subcommand is not None:
return
print('Press Ctrl+{0} to exit'.format('Break' if os.name == 'nt' else 'C'))
try:
scheduler.start()
except (KeyboardInterrupt, SystemExit):
pass
@click.argument('plugin_function')
@cli.command()
def test(plugin_function):
(test_plugin, test_func) = plugin_function.split(':')
func = getattr(plugin.plugin_functions[test_plugin], test_func)
print(func())
return

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shepherd/freezedry.py
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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

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shepherd/plugin.py
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#!/usr/bin/env python3
from contextlib import suppress
from abc import ABC, abstractmethod
import importlib
from types import SimpleNamespace
from collections import namedtuple
import sys
import os
import shepherd.scheduler
class Hook():
def __init__(self):
self.attached_functions = []
def attach(self, new_func):
if not callable(new_func):
raise TypeError("Argument to Hook.attach must be callable")
self.attached_functions.append(new_func)
def __call__(self, *args, **kwargs):
for func in self.attached_functions:
func(*args, **kwargs)
class InterfaceFunction():
def __init__(self, func):
if not callable(func):
raise TypeError("Argument to InterfaceFunction must be callable")
self.func = func
def __call__(self, *args, **kwargs):
return self.func(*args, **kwargs)
class Plugin(ABC):
@staticmethod
@abstractmethod
def define_config(confdef):
pass
@abstractmethod
def __init__(self, plugininterface, config):
pass
def run(self, hooks, plugins):
pass
class SimplePlugin(Plugin):
@staticmethod
def define_config(confdef):
confdef.add_def()
def __init__(self, plugininterface, config):
super().__init__(plugininterface, config)
self.config = config
self.interface = plugininterface
self.plugins = plugininterface.other_plugins
self.hooks = plugininterface.hooks
plugin_interfaces = {} # dict of plugin interfaces
# convenience dicts bundling together lists from interfaces
plugin_functions = {} # dict of plugins containing callable interface functions
plugin_hooks = {} # dict of plugins containing hook namespaces
_defer = True
_deferred_attachments = []
_deferred_jobs = []
def init_plugins(plugin_classes, plugin_configs, core_config):
# Startup pluginmanagers
global plugin_interfaces
global plugin_functions
global plugin_hooks
global _defer
global _deferred_attachments
global _deferred_jobs
for name, plugin_class in plugin_classes.items():
# Instanciate the plugin interface - this also instanciates
# the plugin
plugin_interfaces[name] = PluginInterface(
name, plugin_class, plugin_configs[name], core_config)
plugin_functions[name] = plugin_interfaces[name].functions
plugin_hooks[name] = plugin_interfaces[name].hooks
# interfaces and hooks should now be populated, attach hooks, schedule jobs
_defer = False
for attachment in _deferred_attachments:
_attach_hook(attachment)
for job_desc in _deferred_jobs:
_add_job(job_desc)
# Hand shared interface callables back out
for plugininterface in plugin_interfaces.values():
plugininterface.functions = plugin_functions
def _add_job(job_desc):
global _deferred_jobs
global _defer
if not _defer:
shepherd.scheduler.schedule_job(job_desc)
else:
_deferred_jobs.append(job_desc)
def _attach_hook(attachment):
global plugin_hooks
global _deferred_attachments
global _defer
if not _defer:
targetplugin_hooks = plugin_hooks.get(attachment.pluginname)
if targetplugin_hooks is not None:
targethook = getattr(targetplugin_hooks, attachment.hookname)
if targethook is not None:
targethook.attach(attachment.func)
else:
raise Exception("Could not find hook '" +
attachment.hookname+"' in module '"+attachment.pluginname+"'")
else:
raise Exception(
"Cannot attach hook to non-existing module '"+attachment.pluginname+"'")
else:
_deferred_attachments.append(attachment)
# Eventually, would like to be able to have client plugin simply:
# self.shepherd.add_job(trigger, self.interface.myfunc)
# self.shepherd.attach_hook(pluginnanme,hookname, callable)
# self.shepherd.addinterface
# self.shepherd.hooks.myhook()
# self.shepherd.plugins.otherplugin.otherinterface()
# self.shepherd.add_job()
# Would be good to be able to use abstract methods to enable simpler plugin config
# defs. A way to avoid instantiating the class would be to run it all as class methods,
# enabling
HookAttachment = namedtuple(
'HookAttachment', ['pluginname', 'hookname', 'func'])
class PluginInterface():
'''
Class to handle the management of a single plugin.
All interaction to or from the plugin to other Shepherd components or
plugins should go through here.
'''
def __init__(self, pluginname, pluginclass, pluginconfig, coreconfig):
if not issubclass(pluginclass, Plugin):
raise TypeError(
"Argument must be subclass of shepherd.plugin.Plugin")
self.coreconfig = coreconfig
self.hooks = SimpleNamespace() # My hooks
self.functions = SimpleNamespace() # My callable interface functions
self._name = pluginname
self._plugin = pluginclass(self, pluginconfig)
def register_hook(self, name):
setattr(self.hooks, name, Hook())
def register_function(self, func):
setattr(self.functions, func.__name__, InterfaceFunction(func))
@property
def other_plugins(self):
global plugin_functions
return plugin_functions
def attach_hook(self, pluginname, hookname, func):
_attach_hook(HookAttachment(pluginname, hookname, func))
# Add a job to the scheduler. By default each will be identified by the interface
# callable name, and so adding another job with the same callable will oevrride the first.
# Use the optional job_name to differentiate jobs with an extra string
def add_job(self, func, hour, minute, second=0, job_name=""):
for function_name, function in self.functions.__dict__.items():
if func == function.func:
# jobstring should canonically describe this job, to be retrieved
# after reboot later. Of the form:
# shepherd:pluginname:functionname:jobname
jobstring = "shepherd:"+self._name+":"+function_name+":"+job_name
_add_job(shepherd.scheduler.JobDescription(jobstring, hour, minute, second))
break
else:
raise Exception(
"Could not add job. Callable must first be registered as "
"a plugin interface with PluginInterface.register_function()")
"""
An interface to a Shepherd module, accessible by other modules.
All public methods in a module interface need to be threadsafe, as they will
be called by other modules (which generally run in a seperate thread)
"""
def find_plugins(plugin_names, plugin_dir=None):
"""
Looks for the list of plugin names supplied and returns their classes.
Will first try for plugin modules and packages locally located in ``shepherd.plugins``,
then for modules and packages prefixed ``shepherd_`` located in the supplied ``plugin_dir``
and lastly in the global import path.
Args:
plugin_names: List of plugin names to try and load
plugin_dir: optional search path
Returns:
Dict of plugin classes, with their names as keys
"""
plugin_classes = {}
for plugin_name in plugin_names:
# First look for core plugins, then the plugin_dir, then in the general import path
# for custom ones prefixed with "shepherd_"
try:
#mod = importlib.import_module("shepherd.plugins." + plugin_name)
mod = importlib.import_module('.'+plugin_name, "shepherd.plugins")
#TODO - ModuleNotFoundError is also triggered here if the plugin has a dependancy that can't be found
except ModuleNotFoundError:
try:
if (plugin_dir is not None) and (plugin_dir != ""):
if os.path.isdir(plugin_dir):
sys.path.append(plugin_dir)
mod = importlib.import_module("shepherd_" + plugin_name)
sys.path.remove(plugin_dir)
else:
raise Exception("plugin_dir is not a valid directory")
else:
mod = importlib.import_module("shepherd_" + plugin_name)
except ModuleNotFoundError:
raise Exception("Could not find plugin "+plugin_name)
# Scan imported module for Plugin subclass
attrs = [getattr(mod, name) for name in dir(mod)]
for attr in attrs:
with suppress(TypeError):
if issubclass(attr, Plugin):
plugin_classes[plugin_name] = attr
break
else:
raise Exception("Imported shepherd plugin modules must contain a "
"subclass of shepherd.plugin.Plugin, such as"
"shepherd.plugin.SimplePlugin")
return plugin_classes

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shepherd/plugins/aphidtrap.py
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#!/usr/bin/env python3
import shepherd.config as shconf
import shepherd.plugin
import sys
import os
import time
import argparse
class AphidtrapModule(shepherd.plugin.Plugin):
@staticmethod
def define_config(confdef):
pass
def __init__(self, pluginInterface, config):
super().__init__(pluginInterface, config)
self.config = config
self.interface = pluginInterface
self.plugins = pluginInterface.other_plugins
self.hooks = pluginInterface.hooks
print("Aphidtrap config:")
print(self.config)
if "picam" in self.plugins:
self.interface.attach_hook("picam", "pre_cam", self.led_on)
self.interface.attach_hook("picam", "post_cam", self.led_off)
elif "usbcam" in self.plugins:
self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
self.interface.attach_hook("usbcam", "post_cam", self.led_off)
else:
raise ValueError("Need to either have picam or usbcam plugin loaded")
self.interface.register_function(self.test)
def led_on(self):
self.plugins["scout"].set_out2(True)
def led_off(self):
self.plugins["scout"].set_out2(False)
def test(self):
self.led_on()
time.sleep(2)
self.led_off()

147
shepherd/plugins/betterservo.py
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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

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shepherd/plugins/flytrap.py
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#!/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["name"]
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()

82
shepherd/plugins/mothtrap.py
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#!/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["name"]
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}")
if "picam" in self.plugins:
self.interface.attach_hook("picam", "pre_cam", self.led_on)
self.interface.attach_hook("picam", "post_cam", self.led_off)
self.interface.attach_hook("picam", "post_cam", self.run_servo)
elif "usbcam" in self.plugins:
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)
else:
raise ValueError("Need to either have picam or usbcam plugin loaded")
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()

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shepherd/plugins/picam.py
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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.DictListDef(
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["name"]
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"] == "":
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

208
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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shepherd/plugins/uploader.py
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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.DictListDef())
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.DictListDef())
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["name"]
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.DictListDef(
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.DictListDef(
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["name"]
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"] == "":
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 != "":
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:])

16
shepherd/agent/scheduler.py → shepherd/scheduler.py
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@ -16,7 +16,7 @@ import time
import subprocess
import os
from . import plugin
import shepherd.plugin
import io
@ -130,12 +130,12 @@ def save_jobs():
raise Exception("Could not save scheduler job " +
job.id+" - Trigger is not a CronTrigger")
saved_jobs.append(job.id)
if next_job_time is not None:
if job.next_run_time < next_job_time:
if hasattr(job,"next_run_time"):
if next_job_time is not None:
if job.next_run_time < next_job_time:
next_job_time = job.next_run_time
else:
next_job_time = job.next_run_time
else:
next_job_time = job.next_run_time
with open(joblist_path+".writing", 'w+') as f:
for saved_job in saved_jobs:
@ -189,8 +189,8 @@ def _jobs_changed(event):
print(retval)
if retval == alarm_str:
if is_raspberry_pi():
print("Shutting down in 1 minute")
time.sleep(60)
print("Shutting down in 2 minutes")
time.sleep(120)
subprocess.run(["shutdown","now"])
else:

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38
shepherdexample.toml
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@ -0,0 +1,38 @@
[shepherd]
hostname = "DPIRD-test"
id = "DPIRD-test"
plugin_dir = "/home/pi/plugins/"
plugins = ["scout", "picam", "uploader", "mothtrap"]
root_dir = "/home/pi/"
conf_edit_path = "/boot/shepherd.toml"
control_server = "api.shepherd.distreon.net"
api_key = "v2EgvYzx79c8fCP4P7jlWxTZ3pc"
[scout]
boardver = "3"
serialport = "/dev/ttyS0"
[uploader]
[[uploader.destination]]
name = "agricSFTP"
protocol = "sftp"
address = "agric.files.distreon.net"
port = 2222
path = "/mothtraps"
username = "agric"
password = "asherhaze"
[[uploader.bucket]]
name = "imageupload"
open_link_on_new = true
keep_copy = false
destination = "agricSFTP"
[picam]
upload_images = true
upload_bucket = "imageupload"
[[picam.trigger]]
hour = "*"
minute ="*/15"
second = "0"
[mothtrap]
servo_open_pulse = 900
servo_closed_pulse = 2100
servo_open_time = 3
# shepherd_message: Successfully applied this config at:2020-03-29 18:29:28.566836

50
shepherdexample2.toml
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@ -0,0 +1,50 @@
[shepherd]
hostname = "DPIRD-test"
id = "DPIRD-test"
plugin_dir = "/home/pi/plugins/"
plugins = ["scout", "usbcam", "uploader", "flytrap"]
root_dir = "/home/pi/"
conf_edit_path = "/boot/shepherd.toml"
control_server = "api.shepherd.distreon.net"
api_key = "v2EgvYzx79c8fCP4P7jlWxTZ3pc"
[scout]
boardver = "3"
serialport = "/dev/ttyS0"
[uploader]
[[uploader.destination]]
name = "agricSFTP"
protocol = "sftp"
address = "agric.files.distreon.net"
port = 2222
path = "/mothtraps"
username = "agric"
password = "asherhaze"
[[uploader.bucket]]
name = "imageupload"
open_link_on_new = true
keep_copy = false
destination = "agricSFTP"
[usbcam]
upload_images = true
upload_bucket = "imageupload"
[[usbcam.camera]]
name = "USB1"
usb_port = "1.2"
[[usbcam.camera]]
name = "USB2"
usb_port = "1.3"
[[usbcam.camera]]
name = "USB3"
usb_port = "1.1"
[[usbcam.camera]]
name = "USB"
usb_port = "*"
[[usbcam.trigger]]
hour = "*"
minute ="0"
second = "0"
[flytrap]
servo_open_pulse = 2100
servo_closed_pulse = 900
servo_open_time = 3
# shepherd_message: Successfully applied this config at:2019-12-16 00:59:30.985447

13
test.toml
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@ -0,0 +1,13 @@
[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"

94
tests/assets/classtestplugin.py
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@ -1,94 +0,0 @@
# pylint: disable=no-self-argument
from configspec import *
from shepherd import PluginInterface, plugin_class, plugin_function, plugin_hook
from shepherd import plugin_attachment, plugin_run, plugin_init
"""
Plugin to test the plugin class systems and the various decorator markers
"""
interface = PluginInterface()
confspec = ConfigSpecification()
confspec.add_spec("spec1", StringSpec(helptext="helping!"))
@plugin_function
def module_function(a):
return F"module func {a}"
@plugin_hook
def module_hook(a, b):
pass
@plugin_attachment("module_hook")
def module_attachment(a, b):
return F"module attachment {a} {b}"
@plugin_class
class ClassPlugin():
def __init__(self):
self.config = interface.config
self.interface = interface
self.plugins = interface.plugins
self.hooks = interface.hooks
self.interface.init_method_called = True
# Interface functions
@plugin_function
def instance_method(self, a):
return F"instance method {a}"
@plugin_function
@classmethod
def class_method(cls, a):
return F"class method {a}"
@plugin_function
@staticmethod
def static_method(a):
return F"static method {a}"
# Hooks
@plugin_hook(name="instance_hook")
def instance_hook_name(a, b):
pass
@plugin_hook
@staticmethod
def static_hook(a, b):
pass
@plugin_hook
@staticmethod
def static_hook2(a, b):
pass
# Attachments (these are bound before attachment, so self and cls work as normal, and are
# not included in the signature)
@plugin_attachment("instance_hook")
def instance_attach(self, a, b):
return F"instance attachment {a} {b}"
@plugin_attachment("static_hook2")
@classmethod
def class_attach(cls, a, b):
return F"class attachment {a} {b}"
@plugin_attachment("classtestplugin.static_hook")
@staticmethod
def static_attach(a, b):
return F"static attachment {a} {b}"
@plugin_init
def plugin_init2_method(self):
self.interface.init2_method_called = True
@plugin_run
def plugin_run_method(self):
self.interface.run_method_called = True

12
tests/assets/dirtytestplugin.py
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@ -1,12 +0,0 @@
from configspec import *
from shepherd import PluginInterface
interface = PluginInterface()
confspec = ConfigSpecification()
confspec.add_spec("spec1", StringSpec())
confspec2 = ConfigSpecification()
confspec2.add_spec("spec2", StringSpec())
interface.register_confspec(confspec2)

4
tests/assets/shepherd-test.toml
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@ -1,4 +0,0 @@
[shepherd]
name = "shepherd-test"
root_dir ="./"
compiled_config_path = ""

7
tests/assets/shepherd-test2.toml
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@ -1,7 +0,0 @@
[shepherd]
name = "shepherd-test"
root_dir ="./"
compiled_config_path = ""
plugin_dir = "./"
[classtestplugin]
spec1 = "a"

55
tests/assets/simpletestplugin.py
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@ -1,55 +0,0 @@
from inspect import signature
from configspec import *
from shepherd import PluginInterface
"""
Plugin to test basic registration calls.
"""
interface = PluginInterface()
confspec = ConfigSpecification()
confspec.add_spec("spec1", StringSpec())
interface.register_confspec(confspec)
def my_interface_function():
return 42
interface.register_function(my_interface_function)
def basic_attachment():
return "basic attachment"
def attachment_with_args(arg_a, arg_b):
return F"attachment with args: {arg_a}, {arg_b}"
def attachment_with_fancy_args(arg_a, arg_b, arg_c=True):
return F"attachment with fancy args: {arg_a}, {arg_b}, {arg_c}"
interface.register_hook("basic_hook")
interface.register_hook("hook_with_args", ("arg_a", "arg_b"))
interface.register_hook("hook_with_fancy_args", signature(lambda arg_a, arg_b, arg_c=True: None))
interface.register_attachment(basic_attachment, "basic_hook")
interface.register_attachment(attachment_with_args, "simpletestplugin.hook_with_args")
interface.register_attachment(attachment_with_fancy_args, "hook_with_fancy_args")
def my_init_func():
# Create a dummy variable
interface.init_func_called = True
def my_run_func():
interface.run_func_called = True
interface.register_init(my_init_func)
interface.register_run(my_run_func)

8
tests/assets/testpluginpackage/__init__.py
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@ -1,8 +0,0 @@
from configspec import *
from shepherd import PluginInterface, plugin, plugin_function, plugin_hook, plugin_attachment
interface = PluginInterface()
confspec = ConfigSpecification()
confspec.add_spec("spec2", StringSpec(helptext="helping!"))

32
tests/assets/testpluginpackage/testplugin.py
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@ -1,32 +0,0 @@
@plugin
class SystemPlugin():
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.interface.register_function(self.echo)
self.interface.register_function(self.exec)
@plugin_function()
def echo(self, string: str):
pass
def exec(self):
pass
@plugin_hook
def callback(self):
pass
@plugin_attachment("pluginname.hookname")
def caller(self):
pass
# interface.register_plugin(SystemPlugin)

59
tests/test_cli.py
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@ -1,59 +0,0 @@
# pylint: disable=redefined-outer-name
from pathlib import Path
import logging
from click.testing import CliRunner
import pytest
from shepherd.agent.cli import cli
def test_shepherd_template():
# Note that the CliRunner doesn't catch log output
runner = CliRunner()
result = runner.invoke(cli, ['template'])
assert """
.: Shepherd - Template :.
:: Config template for [shepherd]
[shepherd]
name =""" in result.output
def test_shepherd_optional_template():
runner = CliRunner()
result = runner.invoke(cli, ['template', '-a'])
assert """
.: Shepherd - Template :.
:: Config template for [shepherd]
[shepherd]
name =
root_dir = "./"
custom_config_path =
compiled_config_path = "compiled-config.toml"
plugin_dir = "./shepherd-plugins"
[shepherd.session]
resume_delay = 180
enable_suspend = true
min_suspend_time = 300
[shepherd.control]
server =
intro_key =""" in result.output
def test_plugin_template(request):
plugindir = Path(request.fspath.dirname)/'assets'
runner = CliRunner()
result = runner.invoke(cli, ['template', '-d', str(plugindir), 'simpletestplugin'])
assert """
.: Shepherd - Template :.
:: Config template for [simpletestplugin]
[simpletestplugin]
spec1 =""" in result.output

18
tests/test_config.py
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@ -0,0 +1,18 @@
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)

201
tests/test_control.py
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@ -1,201 +0,0 @@
# pylint: disable=redefined-outer-name
import secrets
from base64 import b64encode
import json
import logging
import time
import pytest
import responses
import statesman
from collections import namedtuple
from configspec import ConfigSpecification
from shepherd.agent import control
from shepherd.agent import plugin
def test_device_id(monkeypatch, tmpdir):
with pytest.raises(FileNotFoundError):
control.load_device_identity(tmpdir)
def fixed_token_hex(_):
return '0123456789abcdef0123456789abcdef'
monkeypatch.setattr(secrets, "token_hex", fixed_token_hex)
dev_secret, dev_id = control.generate_device_identity(tmpdir)
assert dev_secret == '0123456789abcdef0123456789abcdef'
assert dev_id == '3dead5e4'
dev_secret, dev_id = control.load_device_identity(tmpdir)
assert dev_secret == '0123456789abcdef0123456789abcdef'
assert dev_id == '3dead5e4'
@pytest.fixture
def control_config():
return {'server': 'api.shepherd.test', 'intro_key': 'abcdefabcdefabcdef'}
@pytest.fixture
def registered_interface():
interface = plugin.PluginInterface()
interface.register_confspec(ConfigSpecification())
control.register_on(interface)
return interface
def test_config(control_config, registered_interface):
registered_interface.confspec.validate({'control': control_config})
def test_url():
assert control.clean_https_url('api.shepherd.test') == 'https://api.shepherd.test'
assert control.clean_https_url('api.shepherd.test/foo') == 'https://api.shepherd.test/foo'
assert control.clean_https_url('http://api.shepherd.test') == 'https://api.shepherd.test'
@responses.activate
def test_control_thread(control_config, tmpdir, caplog):
# Testing threads is a pain, as exceptions (including assertions) thrown in the thread don't
# cause the test to fail. We can cheat a little here, as the 'responses' mock framework will
# throw a requests.exceptions.ConnectionError if the request isn't recognised, and we're
# already logging those in Control.
responses.add(responses.POST, 'https://api.shepherd.test/agent/update', json={})
responses.add(responses.POST, 'https://api.shepherd.test/agent/pluginupdate/plugin_A', json={})
responses.add(responses.POST, 'https://api.shepherd.test/agent/pluginupdate/plugin_B', json={})
core_update_state = control.CoreUpdateState(
statesman.SequenceReader(), statesman.SequenceWriter())
core_update_state.set_static_state({'the_local_config': 'val'}, {
'the_applied_config': 'val'}, {})
plugin_update_states = {'plugin_A': control.PluginUpdateState(),
'plugin_B': control.PluginUpdateState()}
control_thread = control.start_control(
control_config, tmpdir, core_update_state, plugin_update_states)
control.stop()
control_thread.join()
# Check there were no connection exceptions
for record in caplog.records:
assert record.levelno <= logging.WARNING
# There is a log line present if the thread stopped properly
assert ("shepherd.agent.control", logging.WARNING,
"Control thread stopping...") in caplog.record_tuples
@responses.activate
def test_control(control_config, tmpdir, caplog, monkeypatch):
# Here we skip control_init and just run the update loop directly, to keep things in the same
# thread
def fixed_token_hex(_):
return '0123456789abcdef0123456789abcdef'
monkeypatch.setattr(secrets, "token_hex", fixed_token_hex)
core_topic_bundle = statesman.TopicBundle()
core_topic_bundle.add('status', statesman.StateReader())
core_topic_bundle.add('config-spec', statesman.StateReader())
core_topic_bundle.add('device-config', statesman.StateReader())
core_topic_bundle.add('applied-config', statesman.StateReader())
core_topic_bundle.add('control-commands', statesman.SequenceWriter())
core_topic_bundle.add('command-results', statesman.SequenceReader())
core_callback_count = 0
def core_update_callback(request):
nonlocal core_callback_count
core_callback_count += 1
payload = json.loads(request.body)
assert 'applied-config' in payload
assert 'device-config' in payload
core_topic_bundle.process_message(payload)
resp_body = core_topic_bundle.get_payload()
basic_auth = b64encode(
b"0123456789abcdef0123456789abcdef:abcdefabcdefabcdef").decode("ascii")
assert request.headers['authorization'] == F"Basic {basic_auth}"
return (200, {}, json.dumps(resp_body))
responses.add_callback(
responses.POST, 'https://api.shepherd.test/agent/update',
callback=core_update_callback,
content_type='application/json')
responses.add(responses.POST, 'https://api.shepherd.test/agent/pluginupdate/plugin_A', json={})
responses.add(responses.POST, 'https://api.shepherd.test/agent/pluginupdate/plugin_B', json={})
core_update_state = control.CoreUpdateState(
statesman.SequenceReader(), statesman.SequenceWriter())
core_update_state.set_static_state({'the_local_config': 'val'}, {
'the_applied_config': 'val'}, {})
plugin_update_states = {'plugin_A': control.PluginUpdateState(),
'plugin_B': control.PluginUpdateState()}
plugin_update_states['plugin_A'].set_status({"status1": '1'})
# control._stop_event.clear()
control._stop_event.set()
# With the stop event set, the loop should run through and update everything once before
# breaking
control._control_update_loop(control_config, tmpdir, core_update_state, plugin_update_states)
assert core_callback_count == 1
assert not core_update_state.topic_bundle.is_update_required()
# Check there were no connection exceptions
for record in caplog.records:
assert record.levelno <= logging.WARNING
def test_command_runner():
func_a_was_called = False
def func_a():
nonlocal func_a_was_called
func_a_was_called = True
test_function_a = plugin.InterfaceFunction(func_a, 'function_a')
func_b_was_called = False
def func_b(arg1):
nonlocal func_b_was_called
func_b_was_called = True
return arg1+1
test_function_b = plugin.InterfaceFunction(func_b, 'function_b')
func_tuple = namedtuple('test_functions', ('function_a', 'function_b')
)(test_function_a, test_function_b)
if_functions = {'test_plugin': func_tuple}
cmd_runner = control.CommandRunner(if_functions)
assert not func_a_was_called
cmd_runner._process_command(10, plugin.InterfaceCall('test_plugin', 'function_a', None))
assert func_a_was_called
assert not func_b_was_called
cmd_runner._process_command(12, plugin.InterfaceCall('test_plugin', 'function_b', {'arg1': 5}))
assert func_b_was_called
# Get most recent writer message
wr_msg = list(cmd_runner.cmd_result_writer._messages.values())[-1]
assert wr_msg == [12, 6]
func_b_was_called = False
cmd_runner.on_new_command_message(
[15, plugin.InterfaceCall('test_plugin', 'function_b', {'arg1': 8})])
while 15 in cmd_runner.current_commands:
time.sleep(0.01)
assert func_b_was_called
wr_msg = list(cmd_runner.cmd_result_writer._messages.values())[-1]
assert wr_msg == [15, 9]
# Control/Plugin integration tests
# Test command_runner with actual plugin

102
tests/test_core.py
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@ -1,102 +0,0 @@
# pylint: disable=redefined-outer-name
from pathlib import Path
import logging
import importlib
import pytest
from shepherd.agent import core
from shepherd.agent import plugin
@pytest.fixture(autouse=True)
def fresh_agent_state():
plugin.unload_plugins()
importlib.reload(core)
@pytest.fixture
def basic_config(tmp_path):
def_conf_file = tmp_path / "shepherd_default.toml"
def_conf_file.write_text("""
[shepherd]
name = "shepherd-test"
""")
return def_conf_file
@pytest.fixture
def custom_config(tmp_path):
def_conf_file = tmp_path / "shepherd_default.toml"
def_conf_file.write_text("""
[shepherd]
name = "shepherd-test"
custom_config_path = "shepherd_custom.toml"
""")
custom_conf_file = tmp_path / "shepherd_custom.toml"
custom_conf_file.write_text("""
[shepherd]
name = "shepherd-custom"
""")
return def_conf_file
@pytest.fixture
def plugin_config(tmp_path, request):
plugin_dir = Path(request.fspath.dirname)/'assets'
def_conf_file = tmp_path / "shepherd_default.toml"
def_conf_file.write_text(F"""
[shepherd]
name = "shepherd-test"
plugin_dir = "{plugin_dir}"
[classtestplugin]
spec1 = "asdf"
""")
return def_conf_file
def test_local_agent(basic_config):
core.Agent(basic_config)
def test_local_compiled_conf(basic_config):
core.Agent(basic_config)
compiled_conf = (basic_config.parent / "compiled-config.toml").read_text()
assert 'name = "shepherd-test"' in compiled_conf
# Paths should be resolved to absolute
assert 'plugin_dir = "/' in compiled_conf
assert 'Compiled Shepherd config' in compiled_conf
def test_custom_conf_load(custom_config):
agent = core.Agent(custom_config)
assert agent.core_config["name"] == "shepherd-custom"
def test_new_device_trigger(custom_config, caplog):
caplog.set_level(logging.INFO)
(custom_config.parent / "shepherd.new").touch()
core.Agent(custom_config)
assert "'new device' mode enabled" in caplog.text
assert (custom_config.parent / "shepherd.identity").exists()
def test_local_agent_start(basic_config):
agent = core.Agent(basic_config)
agent.start()
def test_local_agent_plugin_start(plugin_config):
agent = core.Agent(plugin_config)
agent.start()
assert agent.plugin_interfaces["classtestplugin"].run_method_called is True
assert agent.interface_functions["classtestplugin"].instance_method(
3) == "instance method 3"
def test_core_interface(plugin_config):
agent = core.Agent(plugin_config)
agent.start()
plugin_interface = agent.plugin_interfaces["classtestplugin"]
assert plugin_interface.plugins["shepherd"].device_name() == "shepherd-test"
assert plugin_interface.plugins["shepherd"].root_dir() == str(plugin_config.parent)

119
tests/test_plugins.py
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@ -1,119 +0,0 @@
# pylint: disable=redefined-outer-name
from pathlib import Path
import pytest
from shepherd.agent import plugin
@pytest.fixture
def simple_plugin(request):
# Load a simple plugin as a custom plugin, using `./assets` as the plugin dir
interface = plugin.load_plugin("simpletestplugin", Path(request.fspath.dirname)/'assets')
return interface
def test_simple_plugin_load(simple_plugin: plugin.PluginInterface):
assert simple_plugin._plugin_name == "simpletestplugin"
def test_simple_interface_function_load(simple_plugin: plugin.PluginInterface):
# Check register_function()
assert "my_interface_function" in simple_plugin._functions
@pytest.fixture
def simple_initialised_plugin(request):
plugin.unload_plugin("simpletestplugin")
interface = plugin.load_plugin("simpletestplugin", Path(request.fspath.dirname)/'assets')
# The plugin system is _not_ responsible for making sure the config passed to it is valid. It
# stores and provides the conf-spec, but it's up to Core.Agent to actually validate the
# config - otherwise we wouldn't be able to do the whole multiple-layer-fallback thing before
# actually initialising the plugin.
# Therefore, part of the promise we make with the plugin interface is that the config we pass
# in _will_ fit the config-spec
template_config = interface.confspec.get_template()
plugin.init_plugins({"simpletestplugin": template_config})
return interface
def test_simple_plugin_init(simple_initialised_plugin):
assert simple_initialised_plugin._plugin_name == "simpletestplugin"
# Check registered init function has run
assert simple_initialised_plugin.init_func_called is True
def test_simple_interface_functions(simple_initialised_plugin):
# Check module level function dict
assert simple_initialised_plugin._functions["my_interface_function"]() == 42
# Check functions handed back to plugin
assert simple_initialised_plugin.plugins["simpletestplugin"].my_interface_function() == 42
def test_simple_hook_attachments(simple_initialised_plugin):
assert "basic_hook" in simple_initialised_plugin._hooks
assert simple_initialised_plugin._hooks['basic_hook'](
) == {'simpletestplugin': "basic attachment"}
assert simple_initialised_plugin.hooks.hook_with_args(
3, 7) == {'simpletestplugin': "attachment with args: 3, 7"}
assert simple_initialised_plugin.hooks.hook_with_fancy_args(
2, 4) == {'simpletestplugin': "attachment with fancy args: 2, 4, True"}
with pytest.raises(TypeError, match="takes 2 positional arguments but 3 were"):
simple_initialised_plugin.hooks.hook_with_args(3, 7, 5)
def test_dirty_plugin_load(request):
"""
Corner cases in plugin load
"""
interface = plugin.load_plugin("dirtytestplugin", Path(request.fspath.dirname)/'assets')
# Should prefer the confspec actually registered, even if declared after
assert "spec2" in interface.confspec.spec_dict
@pytest.fixture
def running_class_plugin(request):
plugin.unload_plugin("classtestplugin")
interface = plugin.load_plugin("classtestplugin", Path(request.fspath.dirname)/'assets')
template_config = interface.confspec.get_template()
plugin.init_plugins({"classtestplugin": template_config})
return interface
def test_class_plugin_init(running_class_plugin):
assert running_class_plugin._plugin_name == "classtestplugin"
# Check plugin object init method has run
assert running_class_plugin.init_method_called is True
# Check registered init method has run
assert running_class_plugin.init2_method_called is True
def test_class_interface_functions(running_class_plugin):
ifuncs = running_class_plugin.plugins["classtestplugin"]
assert ifuncs.module_function(1) == "module func 1"
assert ifuncs.instance_method(2) == "instance method 2"
assert ifuncs.class_method(3) == "class method 3"
assert ifuncs.static_method(4) == "static method 4"
def test_class_hook_attachments(running_class_plugin):
assert running_class_plugin._hooks.keys() == {"module_hook", "instance_hook",
"static_hook", "static_hook2"}
# Internal hooks dict
assert running_class_plugin._hooks['module_hook'](1, 2) == {'classtestplugin':
"module attachment 1 2"}
# Interface hooks namespace
assert running_class_plugin.hooks.instance_hook(3, 4) == {'classtestplugin':
"instance attachment 3 4"}
# Replaced attr in plugin object
assert running_class_plugin._plugin_obj.static_hook(5, 6) == {'classtestplugin':
"static attachment 5 6"}
assert running_class_plugin.hooks.static_hook2(7, 8) == {'classtestplugin':
"class attachment 7 8"}
with pytest.raises(TypeError, match="takes 2 positional arguments but 3 were"):
running_class_plugin.hooks.static_hook(3, 7, 5)
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