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"""Load and execute ArContext configuration."""
"""
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <https://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
import argparse
import logging
import json
import contextlib
import os
from . import load
from .ArFeatures import ArCamera, ArContext
import cv2
# Manage arguments
parser = argparse.ArgumentParser(description=__doc__.split('-')[0])
parser.add_argument('context_file', metavar='CONTEXT_FILE', type=str, help='JSON context filepath')
parser.add_argument('-v', '--verbose', action='store_true', default=False, help='enable verbose mode to print information in console')
parser.add_argument('-p', '--pipe_path', metavar='PIPE_PATH', type=str, default=None, help='enable pipe communication to execute external commands')
args = parser.parse_args()
# Manage logging
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG if args.verbose else logging.INFO)
# Manage pipe communication
if args.pipe_path is not None:
if not os.path.exists(args.pipe_path):
os.mkfifo(args.pipe_path)
# Open the fifo in non-blocking mode or it will stalls until someone opens it for writting
pipe_file = os.open(args.pipe_path, os.O_RDONLY | os.O_NONBLOCK)
logging.info('%s pipe opened', args.pipe_path)
# Load context from JSON file
with load(args.context_file) as context:
# Loaded object must be a subclass of ArContext
if not issubclass(type(context), ArContext):
raise TypeError('Loaded object is not a subclass of ArContext')
if args.verbose:
print(context)
# Create a window to display context
cv2.namedWindow(context.name, cv2.WINDOW_AUTOSIZE)
# Waiting for 'ctrl+C' interruption
with contextlib.suppress(KeyboardInterrupt), os.fdopen(pipe_file) if args.pipe_path is not None else contextlib.nullcontext() as pipe:
# Visualization loop
while context.is_running():
# Read message from pipe if required
if args.pipe_path is not None:
message = pipe.read().rstrip('\n')
if message:
logging.info('%s: %s', args.pipe_path, message)
try:
exec(message)
except Exception as e:
logging.error('%s', e)
# Display context
cv2.imshow(context.name, context.image())
# Head-mounted eye tracker case: display environment frames image
if issubclass(type(context.pipeline), ArCamera):
for scene_frame in context.pipeline.scene_frames():
cv2.imshow(scene_frame.name, scene_frame.image())
# Key interaction
key_pressed = cv2.waitKey(10)
# Esc: close window
if key_pressed == 27:
raise KeyboardInterrupt()
# Space bar: pause/resume pipeline processing
if key_pressed == 32:
try:
if context.is_paused():
context.resume()
else:
context.pause()
except NotImplementedError:
pass
# Stop frame display
cv2.destroyAllWindows()
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