events

Author: previ

cnn_train.py

@@ -890,6 +890,7 @@ def add_input_distortions(self, flip_left_right, random_crop, random_scale,
           The jpeg input layer and the distorted result tensor.
         """
 
+        tf.logging.info("distortion - crop: " + str(random_crop) + " scale: " + str(random_scale) + " flip: " + str(flip_left_right)) 
         jpeg_data = tf.placeholder(tf.string, name='DistortJPGInput')
         decoded_image = tf.image.decode_jpeg(jpeg_data, channels=input_depth)
         decoded_image_as_float = tf.cast(decoded_image, dtype=tf.float32)

coderbot.cfg

@@ -1 +1 @@
-{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}
+{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse":"0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}

data/program_obstacle_avoidance.data

@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"38\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\"><field name=\"SONAR\"></field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  if get_bot().get_sonar_distance() < 10:\n    get_bot().right(speed=100, elapse=0.5)\n  else:\n    get_bot().forward(speed=100, elapse=-1)\nget_bot().stop()\n", "name": "obstacle_avoidance"}
+{"dom_code": "", "code": "while True:\n  get_prog_eng().check_end()\n  if get_bot().get_sonar_distance(0) < 15:\n    get_bot().backward(speed=100, elapse=0.5)\n    get_bot().right(speed=100, elapse=0.7)\n  else:\n    get_bot().forward(speed=100, elapse=0.5)\nget_bot().stop()\n", "name": "obstacle_avoidance"}

event.py

@@ -33,6 +33,23 @@ def register_event_generator(self, generator_func):
         generator = threading.Thread(target=generator_func)
         self._event_generators.append(generator)
         generator.start()
+    
+    def unregister_listeners(self):
+        for subscriber in self._event_listeners:
+            try:
+                subscriber.unregister()
+            except:
+                logging.error("unable to unregister subscriber")
+        self._event_listeners = []
+
+    def unregister_publishers(self):
+        for publisher in self._publishers:
+            try:
+                publisher.unregister()
+            except:
+                logging.error("unable to unregister publisher")
+        self._event_listeners = []
+
 
     def start_event_generators(self):
         for g in self._event_generators:

main.py

@@ -312,7 +312,7 @@ def handle_program_status():
     prog = Program("")
     if app.prog:
         prog = app.prog
-    return json.dumps({'name': prog.name, "running": prog.is_running(), "log": prog.get_log()})
+    return json.dumps({'name': prog.name, "running": prog.is_running(), "log": app.prog_engine.get_log()})
 
 @app.route("/cnnmodels", methods=["GET"])
 def handle_cnn_models_list():

photos/metadata.json

@@ -23,6 +23,8 @@
 import json
 import logging
 
+import math #keep it for blockly math functions!
+ 
 import coderbot
 import camera
 import motion
@@ -63,6 +65,7 @@ class ProgramEngine:
     def __init__(self):
         self._program = None
         self._repository = {}
+        self._log = ""
         for dirname, dirnames, filenames,  in os.walk("./data"):
             for filename in filenames:
                 if PROGRAM_PREFIX in filename:
@@ -105,6 +108,13 @@ def is_running(self, name):
     def check_end(self):
         return self._program.check_end()
 
+    def log(self, text):
+        self._log += text + "\n"
+
+    def get_log(self):
+        return self._log
+
+ 
 class Program:
     _running = False
 
@@ -118,7 +128,6 @@ def __init__(self, name, code=None, dom_code=None):
         self.name = name
         self._dom_code = dom_code
         self._code = code
-        self._log = ""
 
     def execute(self):
         if self._running:
@@ -148,12 +157,6 @@ def check_end(self):
             raise RuntimeError('end requested')
         return None
 
-    def log(self, text):
-        self._log += text + "\n"
-
-    def get_log(self):
-        return self._log
-
     def is_running(self):
         return self._running
 
@@ -172,14 +175,19 @@ def run(self):
             imports = "import json\n"
             code = imports + self._code
             exec(code)
-            get_event().wait_event_generators()
         except RuntimeError as re:
             logging.info("quit: " + str(re))
             self.log(str(re))
         except Exception as e:
             logging.info("quit: " + str(e))
             self.log(str(e))
         finally:
+            try:
+                get_event().wait_event_generators()
+                get_event().unregister_listeners()
+                get_event().unregister_publishers()
+            except:
+                logging.error("error polishing event system")
             try:
                 get_cam().video_stop() #if video is running, stop it
                 get_motion().stop()

program.py

@@ -12,9 +12,7 @@ if($('#page-program')) {
             } else {
                 editor = new ProgramEditorPython(editorDOMElement);
             }
-        }
-
-        $("#b_new_prog").on("click", function() {editor.newProgramDlg()});
+         $("#b_new_prog").on("click", function() {editor.newProgramDlg()});
         $("#b_load_prog").on("click", function() {editor.loadProgramDlg()});
         $("#b_save_prog").on("click", function() {editor.saveProgram()});
         $("#b_save_prog_as").on("click", function() {editor.saveProgramAsDlg()});
@@ -34,7 +32,9 @@ if($('#page-program')) {
             $('#popup-video').find('video').attr('src', src);
             $('#popup-video').popup("open");
         });
-   });
+        }
+
+  });
 
     $(document).on( "pagecreate", '#page-program', function( event ) {
    });

static/js/program.js

@@ -150,8 +150,11 @@ def start_as_client(cls):
             out = os.system("wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf > /dev/null 2>&1")
             out += os.system("dhclient -1 wlan0")
             print out
-            cls.register_ipaddr(cls.get_macaddr("wlan0"), cls.get_config().get('bot_name', 'CoderBot'), cls.get_ipaddr("wlan0"), "roberto.previtera@gmail.com")
-            print "registered bot, ip: " + str(cls.get_ipaddr("wlan0") + " name: " + cls.get_config().get('bot_name', 'CoderBot'))
+            try:
+                cls.register_ipaddr(cls.get_macaddr("wlan0"), cls.get_config().get('bot_name', 'CoderBot'), cls.get_ipaddr("wlan0"), "roberto.previtera@gmail.com")
+                print "registered bot, ip: " + str(cls.get_ipaddr("wlan0") + " name: " + cls.get_config().get('bot_name', 'CoderBot'))
+            except:
+                pass
         except subprocess.CalledProcessError as e:
             print e.output
             raise