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main.py
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main.py
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# Copyright (c) 2019, Bosch Engineering Center Cluj and BFMC orginazers
# All rights reserved.
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#========================================================================
# SCRIPT USED FOR WIRING ALL COMPONENTS
#========================================================================
import sys
sys.path.append('.')
import time
import signal
from multiprocessing import Pipe, Process, Event
# hardware imports
from src.hardware.camera.CameraProcess import CameraProcess
from src.hardware.camera.CameraSpooferProcess import CameraSpooferProcess
from src.hardware.serialhandler.SerialHandlerProcess import SerialHandlerProcess
# utility imports
from src.utils.camerastreamer.CameraStreamerProcess import CameraStreamerProcess
from src.utils.remotecontrol.RemoteControlReceiverProcess import RemoteControlReceiverProcess
# =============================== CONFIG =================================================
enableStream = True
enableCameraSpoof = False
enableRc = True
# =============================== INITIALIZING PROCESSES =================================
allProcesses = list()
# =============================== HARDWARE ===============================================
if enableStream:
camStR, camStS = Pipe(duplex = False) # camera -> streamer
if enableCameraSpoof:
camSpoofer = CameraSpooferProcess([],[camStS],'vid')
allProcesses.append(camSpoofer)
else:
camProc = CameraProcess([],[camStS])
allProcesses.append(camProc)
streamProc = CameraStreamerProcess([camStR], [])
allProcesses.append(streamProc)
# =============================== DATA ===================================================
#LocSys client process
# LocStR, LocStS = Pipe(duplex = False) # LocSys -> brain
# from data.localisationsystem.locsys import LocalisationSystemProcess
# LocSysProc = LocalisationSystemProcess([], [LocStS])
# allProcesses.append(LocSysProc)
# =============================== CONTROL =================================================
if enableRc:
rcShR, rcShS = Pipe(duplex = False) # rc -> serial handler
# serial handler process
shProc = SerialHandlerProcess([rcShR], [])
allProcesses.append(shProc)
rcProc = RemoteControlReceiverProcess([],[rcShS])
allProcesses.append(rcProc)
# ===================================== START PROCESSES ==================================
print("Starting the processes!",allProcesses)
for proc in allProcesses:
proc.daemon = True
proc.start()
# ===================================== STAYING ALIVE ====================================
blocker = Event()
try:
blocker.wait()
except KeyboardInterrupt:
print("\nCatching a KeyboardInterruption exception! Shutdown all processes.\n")
for proc in allProcesses:
if hasattr(proc,'stop') and callable(getattr(proc,'stop')):
print("Process with stop",proc)
proc.stop()
proc.join()
else:
print("Process witouth stop",proc)
proc.terminate()
proc.join()