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|
""" Handle network connection to Tobii Pro Glasses 2 device.
It is a major rewrite of [tobiiglassesctrl/controller.py](https://github.com/ddetommaso/TobiiGlassesPyController/blob/master/tobiiglassesctrl/controller.py)."""
"""
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 collections
import datetime
import gzip
import json
import logging
import math
import os
import socket
import sys
import threading
import time
import uuid
from dataclasses import dataclass
try:
from urllib.parse import urlparse, urlencode
from urllib.request import urlopen, Request
from urllib.error import URLError, HTTPError
except ImportError:
from urlparse import urlparse
from urllib import urlencode
from urllib2 import urlopen, Request, HTTPError, URLError
from argaze import ArFeatures, DataFeatures
import numpy
import cv2
import av
socket.IPPROTO_IPV6 = 41
TOBII_DATETIME_FORMAT = '%Y-%m-%dT%H:%M:%S+%f'
TOBII_DATETIME_FORMAT_HUMREAD = '%d/%m/%Y %H:%M:%S'
DEFAULT_PROJECT_NAME = 'DefaultProject'
DEFAULT_PARTICIPANT_NAME = 'DefaultParticipant'
DEFAULT_RECORD_NAME = 'DefaultRecord'
TOBII_PROJECTS_DIRNAME = "projects"
TOBII_PROJECT_FILENAME = "project.json"
TOBII_PARTICIPANTS_DIRNAME = "participants"
TOBII_PARTICIPANT_FILENAME = "participant.json"
TOBII_RECORDINGS_DIRNAME = "recordings"
TOBII_RECORD_FILENAME = "recording.json"
TOBII_SEGMENTS_DIRNAME = "segments"
TOBII_SEGMENT_INFO_FILENAME = "segment.json"
TOBII_SEGMENT_VIDEO_FILENAME = "fullstream.mp4"
TOBII_SEGMENT_DATA_FILENAME = "livedata.json.gz"
# Define default Tobii image_parameters values
DEFAULT_TOBII_IMAGE_PARAMETERS = {
"draw_something": False
}
# Define extra classes to support Tobii data parsing
@dataclass
class DirSig():
"""Define dir sig data (dir sig)."""
dir: int # meaning ?
sig: int # meaning ?
@dataclass
class PresentationTimeStamp():
"""Define presentation time stamp (pts) data."""
value: int
"""Pts value."""
@dataclass
class VideoTimeStamp():
"""Define video time stamp (vts) data."""
value: int
"""Vts value."""
offset: int
"""Primary time stamp value."""
@dataclass
class EventSynch():
"""Define event synch (evts) data."""
value: int # meaning ?
"""Evts value."""
@dataclass
class Event():
"""Define event data (ets type tag)."""
ets: int # meaning ?
type: str
tag: str # dict ?
@dataclass
class Accelerometer():
"""Define accelerometer data (ac)."""
value: numpy.array
"""Accelerometer value"""
@dataclass
class Gyroscope():
"""Define gyroscope data (gy)."""
value: numpy.array
"""Gyroscope value"""
@dataclass
class PupilCenter():
"""Define pupil center data (gidx pc eye)."""
validity: int
index: int
value: tuple[(float, float, float)]
eye: str # 'right' or 'left'
@dataclass
class PupilDiameter():
"""Define pupil diameter data (gidx pd eye)."""
validity: int
index: int
value: float
eye: str # 'right' or 'left'
@dataclass
class GazeDirection():
"""Define gaze direction data (gidx gd eye)."""
validity: int
index: int
value: tuple[(float, float, float)]
eye: str # 'right' or 'left'
@dataclass
class GazePosition():
"""Define gaze position data (gidx l gp)."""
validity: int
index: int
l: str # ?
value: tuple[(float, float)]
@dataclass
class GazePosition3D():
"""Define gaze position 3D data (gidx gp3)."""
validity: int
index: int
value: tuple[(float, float)]
@dataclass
class MarkerPosition():
"""Define marker data (marker3d marker2d)."""
value_3d: tuple[(float, float, float)]
value_2d: tuple[(float, float)]
class TobiiJsonDataParser():
def __init__(self):
self.__parse_data_map = {
'dir': self.__parse_dir_sig,
'pts': self.__parse_pts,
'vts': self.__parse_vts,
'evts': self.__parse_event_synch,
'ets': self.__parse_event,
'ac': self.__parse_accelerometer,
'gy': self.__parse_gyroscope,
'gidx': self.__parse_pupil_or_gaze,
'marker3d': self.__parse_marker_position
}
self.__parse_pupil_or_gaze_map = {
'pc': self.__parse_pupil_center,
'pd': self.__parse_pupil_diameter,
'gd': self.__parse_gaze_direction,
'l': self.__parse_gaze_position,
'gp3': self.__parse_gaze_position_3d
}
def parse_json(self, json_data) -> tuple[int, object, type]:
"""Parse JSON and return timestamp, object and type."""
data = json.loads(json_data.decode('utf-8'))
# Parse data status
status = data.pop('s', -1)
# Parse timestamp
data_ts = data.pop('ts')
# Parse data depending first json key
first_key = next(iter(data))
# Convert data into data object
data_object = self.__parse_data_map[first_key](status, data)
data_object_type = type(data_object).__name__
return data_ts, data_object, data_object_type
def parse_data(self, status, data) -> tuple[object, type]:
"""Parse data and return object and type."""
# Parse data depending first json key
first_key = next(iter(data))
# Convert data into data object
data_object = self.__parse_data_map[first_key](status, data)
data_object_type = type(data_object).__name__
return data_object, data_object_type
def __parse_pupil_or_gaze(self, status, data):
gaze_index = data.pop('gidx')
# parse pupil or gaze data depending second json key
second_key = next(iter(data))
return self.__parse_pupil_or_gaze_map[second_key](status, gaze_index, data)
@staticmethod
def __parse_dir_sig(status, data):
return DirSig(data['dir'], data['sig'])
@staticmethod
def __parse_pts(status, data):
return PresentationTimeStamp(data['pts'])
@staticmethod
def __parse_vts(status, data):
# ts is not sent when recording
try:
ts = data['ts']
except KeyError:
ts = -1
return VideoTimeStamp(data['vts'], ts)
@staticmethod
def __parse_event_synch(status, data):
return EventSynch(data['evts'])
@staticmethod
def __parse_event(status, data):
return Event(data['ets'], data['type'], data['tag'])
@staticmethod
def __parse_accelerometer(status, data):
return Accelerometer(data['ac'])
@staticmethod
def __parse_gyroscope(status, data):
return Gyroscope(data['gy'])
@staticmethod
def __parse_pupil_center(status, gaze_index, data):
return PupilCenter(status, gaze_index, data['pc'], data['eye'])
@staticmethod
def __parse_pupil_diameter(status, gaze_index, data):
return PupilDiameter(status, gaze_index, data['pd'], data['eye'])
@staticmethod
def __parse_gaze_direction(status, gaze_index, data):
return GazeDirection(status, gaze_index, data['gd'], data['eye'])
@staticmethod
def __parse_gaze_position(status, gaze_index, data):
return GazePosition(status, gaze_index, data['l'], data['gp'])
@staticmethod
def __parse_gaze_position_3d(status, gaze_index, data):
return GazePosition3D(status, gaze_index, data['gp3'])
@staticmethod
def __parse_marker_position(status, data):
return MarkerPosition(data['marker3d'], data['marker2d'])
class LiveStream(ArFeatures.ArContext):
@DataFeatures.PipelineStepInit
def __init__(self, **kwargs):
# Init ArContext class
super().__init__()
# Init private attributes
self.__address = None
self.__udpport = 49152
self.__project_name = None
self.__project_id = None
self.__participant_name = None
self.__participant_id = None
self.__configuration = {}
self.__parser = TobiiJsonDataParser()
# Init protected attributes
self._image_parameters = {**ArFeatures.DEFAULT_ARCONTEXT_IMAGE_PARAMETERS, **DEFAULT_TOBII_IMAGE_PARAMETERS}
@property
def address(self) -> str:
"""Network address where to find the device."""
return self.__address
@address.setter
def address(self, address: str):
self.__address = address
# Remove part after % on under Windows
if "%" in self.__address:
if sys.platform == "win32":
self.__address = self.__address.split("%")[0]
# Define base url
if ':' in self.__address:
self.__base_url = f'http://[{self.__address}]'
else:
# noinspection PyAttributeOutsideInit
self.__base_url = 'http://' + self.__address
@property
def configuration(self) -> dict:
"""Patch system configuration dictionary."""
return self.__configuration
@configuration.setter
@DataFeatures.PipelineStepAttributeSetter
def configuration(self, configuration: dict):
self.__configuration = configuration
@property
def project(self) -> str:
"""Project name."""
return self.__project_name
@project.setter
def project(self, project: str):
self.__project_name = project
def __bind_project(self):
"""Bind to a project or create one if it doesn't exist."""
if self.__project_name is None:
raise Exception(f'Project binding fails: setup project before.')
self.__project_id = None
# Check if project exist
projects = self.__get_request('/api/projects')
for project in projects:
try:
if project['pr_info']['Name'] == self.__project_name:
self.__project_id = project['pr_id']
logging.debug('> %s project already exist: %s', self.__project_name, self.__project_id)
except:
pass
# The project doesn't exist, create one
if self.__project_id is None:
logging.debug('> %s project doesn\'t exist', self.__project_name)
data = {
'pr_info': {
'CreationDate': self.__get_current_datetime(timeformat=TOBII_DATETIME_FORMAT_HUMREAD),
'EagleId': str(uuid.uuid5(uuid.NAMESPACE_DNS, self.__project_name)),
'Name': self.__project_name
},
'pr_created': self.__get_current_datetime()
}
json_data = self.__post_request('/api/projects', data)
self.__project_id = json_data['pr_id']
logging.debug('> new %s project created: %s', self.__project_name, self.__project_id)
@property
def participant(self) -> str:
"""Participant name"""
return self.__participant_name
@participant.setter
def participant(self, participant: str):
self.__participant_name = participant
def __bind_participant(self):
"""Bind to a participant or create one if it doesn't exist.
!!! warning
Bind to a project before.
"""
if self.__participant_name is None:
raise Exception(f'Participant binding fails: setup participant before.')
if self.__project_id is None:
raise Exception(f'Participant binding fails: bind to a project before')
self.__participant_id = None
# Check if participant exist
participants = self.__get_request('/api/participants')
for participant in participants:
try:
if participant['pa_info']['Name'] == self.__participant_name:
self.__participant_id = participant['pa_id']
logging.debug('> %s participant already exist: %s', self.__participant_name, self.__participant_id)
except:
pass
# The participant doesn't exist, create one
if self.__participant_id is None:
logging.debug('> %s participant doesn\'t exist', self.__participant_name)
data = {
'pa_project': self.__project_id,
'pa_info': {
'EagleId': str(uuid.uuid5(uuid.NAMESPACE_DNS, self.__participant_name)),
'Name': self.__participant_name,
'Notes': '' # TODO: set participant notes
},
'pa_created': self.__get_current_datetime()
}
json_data = self.__post_request('/api/participants', data)
self.__participant_id = json_data['pa_id']
logging.debug('> new %s participant created: %s', self.__participant_name, self.__participant_id)
@DataFeatures.PipelineStepEnter
def __enter__(self):
logging.info('Tobii Pro Glasses 2 connexion starts...')
# Update current configuration with configuration patch
logging.debug('> updating configuration')
# Update current configuration with configuration patch
if self.__configuration:
logging.debug('> updating configuration')
configuration = self.__post_request('/api/system/conf', self.__configuration)
# Read current configuration
else:
logging.debug('> reading configuration')
configuration = self.__get_request('/api/system/conf')
# Log current configuration
logging.info('Tobii Pro Glasses 2 configuration:')
for key, value in configuration.items():
logging.info('%s: %s', key, str(value))
# Store video stream info
self.__video_width = int(configuration['sys_sc_width'])
self.__video_height = int(configuration['sys_sc_height'])
self.__video_fps = float(configuration['sys_sc_fps'])
# Bind to project if required
if self.__project_name is not None:
logging.debug('> binding project %s', self.__project_name)
self.__bind_project()
logging.info('Tobii Pro Glasses 2 project id: %s', self.__project_id)
# Bind to participant if required
if self.__participant_name is not None:
logging.debug('> binding participant %s', self.__participant_name)
self.__bind_participant()
logging.info('Tobii Pro Glasses 2 participant id: %s', self.__participant_id)
# Open data stream
self.__data_socket = self.__make_socket()
self.__data_thread = threading.Thread(target=self.__stream_data)
logging.debug('> starting data thread...')
self.__data_thread.start()
# Open video stream
self.__video_socket = self.__make_socket()
self.__video_thread = threading.Thread(target=self.__stream_video)
logging.debug('> starting video thread...')
self.__video_thread.start()
# Keep connection alive
self.__keep_alive_msg = "{\"type\": \"live.data.unicast\", \"key\": \"" + str(
uuid.uuid4()) + "\", \"op\": \"start\"}"
self.__keep_alive_thread = threading.Thread(target=self.__keep_alive)
logging.debug('> starting keep alive thread...')
self.__keep_alive_thread.start()
return self
@DataFeatures.PipelineStepExit
def __exit__(self, exception_type, exception_value, exception_traceback):
logging.debug('%s.__exit__', DataFeatures.get_class_path(self))
# Close data stream
self._stop_event.set()
# Stop keeping connection alive
threading.Thread.join(self.__keep_alive_thread)
# Stop data streaming
threading.Thread.join(self.__data_thread)
# Stop video buffer reading
threading.Thread.join(self.__video_buffer_read_thread)
# Stop video streaming
threading.Thread.join(self.__video_thread)
@DataFeatures.PipelineStepImage
def image(self, draw_something: bool = None, **kwargs: dict) -> numpy.array:
"""Get Tobii visualization.
Parameters:
draw_something: example
kwargs: ArContext.image parameters
"""
# Get context image
image = super().image(**kwargs)
if draw_something:
cv2.putText(image, 'SOMETHING', (512, 512), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
return image
def __make_socket(self):
"""Create a socket to enable network communication."""
iptype = socket.AF_INET
if ':' in self.__address:
iptype = socket.AF_INET6
res = socket.getaddrinfo(self.__address, self.__udpport, socket.AF_UNSPEC, socket.SOCK_DGRAM, 0,
socket.AI_PASSIVE)
family, socktype, proto, canonname, sockaddr = res[0]
new_socket = socket.socket(family, socktype, proto)
new_socket.settimeout(5.0)
try:
if iptype == socket.AF_INET6:
new_socket.setsockopt(socket.SOL_SOCKET, 25, 1)
except socket.error as e:
if e.errno == 1:
logging.error('Binding to a network interface is permitted only for root users.')
return new_socket
def __stream_data(self):
"""Stream data from dedicated socket."""
logging.debug('%s.__stream_data', DataFeatures.get_class_path(self))
# First timestamp to offset all timestamps
first_ts = 0
while not self._stop_event.is_set():
try:
json_data, _ = self.__data_socket.recvfrom(1024)
except TimeoutError:
logging.error('> timeout occurred while receiving data')
continue
if json_data is not None:
# Parse json into timestamped data object
data_ts, data_object, data_object_type = self.__parser.parse_json(json_data)
# Store first timestamp
if first_ts == 0:
first_ts = data_ts
# Edit millisecond timestamp
timestamp = int((data_ts - first_ts) * 1e-3)
match data_object_type:
case 'GazePosition':
logging.debug('> received %s at %i timestamp', data_object_type, timestamp)
# When gaze position is valid
if data_object.validity == 0:
# Process timestamped gaze position
self._process_gaze_position(
timestamp=timestamp,
x=int(data_object.value[0] * self.__video_width),
y=int(data_object.value[1] * self.__video_height))
else:
# Process empty gaze position
self._process_gaze_position(timestamp=timestamp)
def __stream_video(self):
"""Stream video from dedicated socket."""
logging.debug('%s.__stream_video', DataFeatures.get_class_path(self))
# Open video stream
container = av.open(f'rtsp://{self.__address}:8554/live/scene', options={'rtsp_transport': 'tcp'})
self.__stream = container.streams.video[0]
# Create a video buffer with a lock
self.__video_buffer = collections.OrderedDict()
self.__video_buffer_lock = threading.Lock()
# Open video buffer reader
self.__video_buffer_read_thread = threading.Thread(target=self.__video_buffer_read)
logging.debug('> starting video buffer reader thread...')
self.__video_buffer_read_thread.start()
# First timestamp to offset all timestamps
first_ts = 0
for image in container.decode(self.__stream):
logging.debug('> new image decoded')
# Quit if the video acquisition thread have been stopped
if self._stop_event.is_set():
logging.debug('> stop event is set')
break
if image is not None:
if image.time is not None:
# Store first timestamp
if first_ts == 0:
first_ts = image.time
# Edit millisecond timestamp
timestamp = int((image.time - first_ts) * 1e3)
logging.debug('> store image at %i timestamp', timestamp)
# Lock buffer access
self.__video_buffer_lock.acquire()
# Decode image and store it at time index
self.__video_buffer[timestamp] = image.to_ndarray(format='bgr24')
# Unlock buffer access
self.__video_buffer_lock.release()
def __video_buffer_read(self):
"""Read incoming buffered video images."""
logging.debug('%s.__video_buffer_read', DataFeatures.get_class_path(self))
while not self._stop_event.is_set():
# Can't read image while it is locked
while self.__video_buffer_lock.locked():
# Check 10 times per frame
time.sleep(1 / (10 * self.__video_fps))
# Lock buffer access
self.__video_buffer_lock.acquire()
# Video buffer not empty
if len(self.__video_buffer) > 0:
logging.debug('> %i images in buffer', len(self.__video_buffer))
# Get last stored image
try:
timestamp, image = self.__video_buffer.popitem(last=True)
logging.debug('> read image at %i timestamp', timestamp)
if len(self.__video_buffer) > 0:
logging.warning('skipping %i image', len(self.__video_buffer))
# Clear buffer
self.__video_buffer = collections.OrderedDict()
# Process camera image
self._process_camera_image(
timestamp=timestamp,
image=image)
except Exception as e:
logging.warning('%s.__video_buffer_read: %s', DataFeatures.get_class_path(self), e)
# Unlock buffer access
self.__video_buffer_lock.release()
def __keep_alive(self):
"""Maintain network connection."""
logging.debug('%s.__keep_alive', DataFeatures.get_class_path(self))
while not self._stop_event.is_set():
self.__data_socket.sendto(self.__keep_alive_msg.encode('utf-8'), (self.__address, self.__udpport))
self.__video_socket.sendto(self.__keep_alive_msg.encode('utf-8'), (self.__address, self.__udpport))
time.sleep(1)
def __get_request(self, api_action) -> any:
"""Send a GET request and get data back."""
url = self.__base_url + api_action
logging.debug('%s.__get_request %s', DataFeatures.get_class_path(self), url)
res = urlopen(url).read()
try:
data = json.loads(res.decode('utf-8'))
except json.JSONDecodeError:
data = None
logging.debug('%s.__get_request received %s', DataFeatures.get_class_path(self), data)
return data
def __post_request(self, api_action, data=None, wait_for_response=True) -> any:
"""Send a POST request and get result back."""
url = self.__base_url + api_action
logging.debug('%s.__post_request %s', DataFeatures.get_class_path(self), url)
req = Request(url)
req.add_header('Content-Type', 'application/json')
data = json.dumps(data)
if wait_for_response is False:
threading.Thread(target=urlopen, args=(req, data.encode('utf-8'),)).start()
return None
response = urlopen(req, data.encode('utf-8'))
res = response.read()
try:
res = json.loads(res.decode('utf-8'))
except:
pass
return res
def __wait_for_status(self, api_action, key, values, timeout=None) -> any:
"""Wait until a status matches given values."""
url = self.__base_url + api_action
running = True
while running:
req = Request(url)
req.add_header('Content-Type', 'application/json')
try:
response = urlopen(req, None, timeout=timeout)
except URLError as e:
logging.error(e.reason)
return -1
data = response.read()
json_data = json.loads(data.decode('utf-8'))
if json_data[key] in values:
running = False
time.sleep(1)
return json_data[key]
@staticmethod
def __get_current_datetime(timeformat=TOBII_DATETIME_FORMAT):
return datetime.datetime.now().replace(microsecond=0).strftime(timeformat)
# CALIBRATION
def calibrate(self, project_name, participant_name):
"""Handle whole Tobii glasses calibration process."""
# Start calibration
self.calibration_start(project_name, participant_name)
# While calibrating...
status = self.calibration_status()
while status == 'calibrating':
time.sleep(1)
status = self.calibration_status()
if status == 'uncalibrated' or status == 'stale' or status == 'failed':
raise Exception(f'Calibration {status}')
# CALIBRATION
def calibration_start(self, project_name, participant_name):
"""Start calibration process for project and participant."""
project_id = self.__get_project_id(project_name)
participant_id = self.get_participant_id(participant_name)
# Init calibration id
self.__calibration_id = None
# Calibration have to be done for a project and a participant
if project_id is None or participant_id is None:
raise Exception(f'Setup project and participant before')
data = {
'ca_project': project_id,
'ca_type': 'default',
'ca_participant': participant_id,
'ca_created': self.__get_current_datetime()
}
# Request calibration
json_data = self.__post_request('/api/calibrations', data)
# noinspection PyAttributeOutsideInit
self.__calibration_id = json_data['ca_id']
# Start calibration
self.__post_request('/api/calibrations/' + self.__calibration_id + '/start')
def calibration_status(self) -> str:
"""Ask for calibration status: calibrating, calibrated, stale, uncalibrated or failed."""
if self.__calibration_id is not None:
status = self.__wait_for_status('/api/calibrations/' + self.__calibration_id + '/status', 'ca_state', ['calibrating', 'calibrated', 'stale', 'uncalibrated', 'failed'])
# Forget calibration id
if status != 'calibrating':
# noinspection PyAttributeOutsideInit
self.__calibration_id = None
return status
else:
raise Exception(f'Start calibration before')
# RECORDING FEATURES
def __wait_for_recording_status(self, recording_id, status_array=['init', 'starting', 'recording', 'pausing', 'paused', 'stopping', 'stopped', 'done', 'stale', 'failed']):
return self.__wait_for_status('/api/recordings/' + recording_id + '/status', 'rec_state', status_array)
def create_recording(self, participant_name, recording_name='', recording_notes='') -> str:
"""Create a new recording.
Returns:
recording id
"""
participant_id = self.get_participant_id(participant_name)
if participant_id is None:
raise NameError(f'{participant_name} participant doesn\'t exist')
data = {
'rec_participant': participant_id,
'rec_info': {
'EagleId': str(uuid.uuid5(uuid.NAMESPACE_DNS, participant_name)),
'Name': recording_name,
'Notes': recording_notes
},
'rec_created': self.__get_current_datetime()
}
json_data = self.__post_request('/api/recordings', data)
return json_data['rec_id']
def start_recording(self, recording_id) -> bool:
"""Start recording on the Tobii interface's SD Card."""
self.__post_request('/api/recordings/' + recording_id + '/start')
return self.__wait_for_recording_status(recording_id, ['recording']) == 'recording'
def stop_recording(self, recording_id) -> bool:
"""Stop recording on the Tobii interface's SD Card."""
self.__post_request('/api/recordings/' + recording_id + '/stop')
return self.__wait_for_recording_status(recording_id, ['done']) == "done"
def pause_recording(self, recording_id) -> bool:
"""Pause recording on the Tobii interface's SD Card."""
self.__post_request('/api/recordings/' + recording_id + '/pause')
return self.__wait_for_recording_status(recording_id, ['paused']) == "paused"
def __get_recording_status(self):
return self.get_status()['sys_recording']
def get_current_recording_id(self) -> str:
"""Get current recording id."""
return self.__get_recording_status()['rec_id']
@property
def recording(self) -> bool:
"""Is it recording?"""
rec_status = self.__get_recording_status()
if rec_status != {}:
if rec_status['rec_state'] == "recording":
return True
return False
def get_recordings(self) -> str:
"""Get all recordings' id."""
return self.__get_request('/api/recordings')
# EVENTS AND EXPERIMENTAL VARIABLES
def __post_recording_data(self, event_type: str, event_tag=''):
data = {'type': event_type, 'tag': event_tag}
self.__post_request('/api/events', data, wait_for_response=False)
def send_event(self, event_type: str, event_value=None):
self.__post_recording_data('JsonEvent', "{'event_type': '%s','event_value': '%s'}" % (event_type, event_value))
def send_variable(self, variable_name: str, variable_value=None):
self.__post_recording_data(str(variable_name), str(variable_value))
# MISC
def eject_sd(self):
self.__get_request('/api/eject')
def get_battery_info(self):
return ("Battery info = [ Level: %.2f %% - Remaining Time: %.2f s ]" % (
float(self.get_battery_level()), float(self.get_battery_remaining_time())))
def get_battery_level(self):
return self.get_battery_status()['level']
def get_battery_remaining_time(self):
return self.get_battery_status()['remaining_time']
def get_battery_status(self):
return self.get_status()['sys_battery']
def get_et_freq(self):
return self.get_configuration()['sys_et_freq']
def get_et_frequencies(self):
return self.get_status()['sys_et']['frequencies']
def identify(self):
self.__get_request('/api/identify')
def get_configuration(self):
return self.__get_request('/api/system/conf')
def get_status(self):
return self.__get_request('/api/system/status')
def get_storage_info(self):
return ("Storage info = [ Remaining Time: %.2f s ]" % float(self.get_battery_remaining_time()))
def get_storage_remaining_time(self):
return self.get_storage_status()['remaining_time']
def get_storage_status(self):
return self.get_status()['sys_storage']
def get_scene_camera_freq(self):
return self.get_configuration()['sys_sc_fps']
def set_et_freq_50(self):
data = {'sys_et_freq': 50}
json_data = self.__post_request('/api/system/conf', data)
def set_et_freq_100(self):
# May not be available. Check get_et_frequencies() first.
data = {'sys_et_freq': 100}
json_data = self.__post_request('/api/system/conf', data)
def set_eye_camera_indoor_preset(self) -> str:
data = {'sys_ec_preset': 'Indoor'}
return self.__post_request('/api/system/conf', data)
def set_eye_camera_outdoor_preset(self) -> str:
data = {'sys_ec_preset': 'ClearWeather'}
return self.__post_request('/api/system/conf', data)
def set_scene_camera_auto_preset(self):
data = {'sys_sc_preset': 'Auto'}
json_data = self.__post_request('/api/system/conf', data)
def set_scene_camera_gaze_preset(self):
data = {'sys_sc_preset': 'GazeBasedExposure'}
json_data = self.__post_request('/api/system/conf', data)
def set_scene_camera_freq_25(self):
data = {'sys_sc_fps': 25}
json_data = self.__post_request('/api/system/conf/', data)
def set_scene_camera_freq_50(self):
data = {'sys_sc_fps': 50}
json_data = self.__post_request('/api/system/conf/', data)
class PostProcessing(ArFeatures.PostProcessingContext):
@DataFeatures.PipelineStepInit
def __init__(self, **kwargs):
# Init parent class
super().__init__()
# Init private attributes
self.__segment = None
self.__start = 0.
self.__end = math.nan
self.__parser = TobiiJsonDataParser()
self.__duration = 0.
self.__progression = 0.
self.__data_counts_dict = {
'DirSig': 0,
'PresentationTimeStamp': 0,
'VideoTimeStamp': 0,
'EventSynch': 0,
'Event': 0,
'Accelerometer': 0,
'Gyroscope': 0,
'PupilCenter': 0,
'PupilDiameter': 0,
'GazeDirection': 0,
'GazePosition': 0,
'GazePosition3D': 0,
'MarkerPosition': 0
}
self.__data_list = []
# Initialize synchronisation
self.__sync_event = None
self.__sync_event_unit = None
self.__sync_event_factor = None
self.__sync_data_ts = None
self.__sync_ts = None
self.__last_sync_data_ts = None
self.__last_sync_ts = None
self.__time_unit_factor = {
"µs": 1e-3,
"ms": 1,
"s": 1e3
}
# Initialize inconsistent timestamp monitoring
self.__last_data_ts = None
# Init protected attributes
self._image_parameters = {**ArFeatures.DEFAULT_ARCONTEXT_IMAGE_PARAMETERS, **DEFAULT_TOBII_IMAGE_PARAMETERS}
@property
def segment(self) -> str:
"""Path to segment folder."""
return self.__segment
@segment.setter
def segment(self, segment: str):
self.__segment = segment
@property
def start(self) -> float:
"""Start reading timestamp in millisecond."""
return self.__start
@start.setter
def start(self, start: float):
self.__start = start
@property
def end(self) -> float:
"""End reading timestamp in millisecond."""
return self.__end
@end.setter
def end(self, end: float):
self.__end = end
@property
def sync_event(self) -> str:
"""Optional event type dedicated to syncrhonize Tobii timestamps with external time source."""
return self.__sync_event
@sync_event.setter
def sync_event(self, sync_event: str):
self.__sync_event = sync_event
@property
def sync_event_unit(self) -> str:
"""Define sync event unit for conversion purpose ('µs', 'ms' or 's')"""
return self.__sync_event_unit
@sync_event_unit.setter
def sync_event_unit(self, sync_event_unit: str):
self.__sync_event_unit = sync_event_unit
self.__sync_event_factor = self.__time_unit_factor.get(sync_event_unit)
@DataFeatures.PipelineStepEnter
def __enter__(self):
# Read segment info
with open(os.path.join(self.__segment, TOBII_SEGMENT_INFO_FILENAME)) as info_file:
try:
info = json.load(info_file)
except:
raise RuntimeError(f'JSON fails to load {self.__path}/{TOBII_SEGMENT_INFO_FILENAME}')
# Constrain reading dates
self.end = min(self.end, int(info["seg_length"] * 1e3)) if not math.isnan(self.end) else int(
info["seg_length"] * 1e3)
if self.start >= self.end:
raise ValueError('Start reading timestamp is equal or greater than end reading timestamp.')
self.__duration = self.end - self.start
self.__progression = 0.
# TODO: log various info
calibrated = bool(info["seg_calibrated"])
start_date = datetime.datetime.strptime(info["seg_t_start"], TOBII_DATETIME_FORMAT)
stop_date = datetime.datetime.strptime(info["seg_t_stop"], TOBII_DATETIME_FORMAT)
# Open reading thread
self.__reading_thread = threading.Thread(target=self.__read)
logging.debug('> starting reading thread...')
self.__reading_thread.start()
@DataFeatures.PipelineStepExit
def __exit__(self, exception_type, exception_value, exception_traceback):
logging.debug('%s.__exit__', DataFeatures.get_class_path(self))
# Close data stream
self._stop_event.set()
# Stop reading thread
threading.Thread.join(self.__reading_thread)
def __read(self):
"""Iterate on video images and their related data."""
for video_ts, video_image, data_list in self:
# Check pause event (and stop event)
while self._pause_event.is_set() and not self._stop_event.is_set():
logging.debug('> reading is paused at %i', video_ts)
self._process_camera_image(timestamp=video_ts, image=video_image)
time.sleep(1)
# Check stop event
if self._stop_event.is_set():
break
logging.debug('> read image at %i timestamp', video_ts)
# Process camera image
self._process_camera_image(timestamp=video_ts, image=video_image)
height, width, _ = video_image.shape
logging.debug('> read %i data related to image', len(data_list))
# Process data
for data_ts, data_object, data_object_type in data_list:
# Check sync event first if required
if self.__sync_event is not None:
if data_object_type == 'Event':
logging.debug('> reading %s event (%s) at %f ms', data_object.type, data_object.tag, data_ts)
if data_object.type == self.__sync_event:
# Store old sync data ts
if self.__last_sync_data_ts is None and self.__sync_data_ts is not None:
self.__last_sync_data_ts = self.__sync_data_ts
# Store old sync ts
if self.__last_sync_ts is None and self.__sync_ts is not None:
self.__last_sync_ts = self.__sync_ts
# Store sync event timestamp
self.__sync_data_ts = data_ts
self.__sync_ts = float(data_object.tag) * self.__sync_event_factor
# Monitor delay between data ts and sync ts
if self.__last_sync_data_ts is not None and self.__last_sync_ts is not None:
diff_data_ts = self.__sync_data_ts - self.__last_sync_data_ts
diff_sync_ts = (self.__sync_ts - self.__last_sync_ts)
# Correct sync ts
self.__sync_ts += diff_data_ts-diff_sync_ts
if abs(diff_data_ts-diff_sync_ts) > 0:
logging.info('Difference between data and sync event timestamps is %i ms', diff_data_ts-diff_sync_ts)
# Don't process gaze positions if sync is required but sync event not happened yet
if self.__sync_event is not None and self.__sync_ts is None:
continue
# Otherwise, synchronize timestamp with sync event
elif self.__sync_event is not None and self.__sync_ts is not None:
data_ts = int(self.__sync_ts + data_ts - self.__sync_data_ts)
# Catch inconstistent timestamps
if self.__last_data_ts is not None:
if data_ts - self.__last_data_ts <= 0:
logging.error('! %i gaze position more recent than the previous one', data_ts)
last_data_ts = data_ts
# Process gaze positions
match data_object_type:
case 'GazePosition':
logging.debug('> reading %s at %i timestamp', data_object_type, data_ts)
# When gaze position is valid
if data_object.validity == 0:
# Process timestamped gaze position
self._process_gaze_position(
timestamp=data_ts,
x=int(data_object.value[0] * width),
y=int(data_object.value[1] * height))
else:
# Process empty gaze position
self._process_gaze_position(timestamp=data_ts)
# Update progression
self.__progression = (video_ts - self.start) / self.__duration
# Set stop event ourself
self._stop_event.set()
def __iter__(self):
self.__data_file = gzip.open(os.path.join(self.__segment, TOBII_SEGMENT_DATA_FILENAME))
self.__video_file = av.open(os.path.join(self.__segment, TOBII_SEGMENT_VIDEO_FILENAME))
self.__vts_offset = 0
self.__vts_ts = -1
# Position at required start time
if not math.isnan(self.start):
# Video timestamps are seconds
start_ts = int(self.start * 1e-3 / self.__video_file.streams.video[0].time_base)
self.__video_file.seek(start_ts, any_frame=True, stream=self.__video_file.streams.video[0])
# Data timestamps are milliseconds
while self.__next_data()[0] < self.start:
pass
# Pull next image as current image
self.__video_ts, self.__video_image = self.__next_video_image()
return self
def __next__(self):
data_list = []
next_video_ts, next_video_image = self.__next_video_image()
next_data_ts, next_data_object, next_data_object_type = self.__next_data()
while next_data_ts < next_video_ts:
data_list.append((next_data_ts, next_data_object, next_data_object_type))
next_data_ts, next_data_object, next_data_object_type = self.__next_data()
output = self.__video_ts, self.__video_image, data_list
self.__video_ts, self.__video_image = next_video_ts, next_video_image
return output
def __next_video_image(self):
try:
image = next(self.__video_file.decode(self.__video_file.streams.video[0]))
ts = int(image.time * 1e3)
except Exception as e:
# DEBUG
print("DECODE ERROR:", e)
# Ignore image after required end timestamp
if self.end != None:
if ts >= self.end:
raise StopIteration
# Return millisecond timestamp and image
return ts, image.to_ndarray(format='bgr24')
def __next_data(self):
data = json.loads(next(self.__data_file).decode('utf-8'))
# Parse data status
status = data.pop('s', -1)
# Convert timestamp
ts = data.pop('ts')
# Watch for vts data to offset timestamps
try:
self.__vts_offset = data['vts']
self.__vts_ts = ts
# Store primary ts value to allow further reverse offset operation
data['ts'] = ts
except KeyError:
pass
# Ignore data before first vts entry
if self.__vts_ts == -1:
return self.__next_data()
ts -= self.__vts_ts
ts += self.__vts_offset
# Stop at end timestamp
if ts >= self.end * 1e3:
raise StopIteration
# Parse data
data_object, data_object_type = self.__parser.parse_data(status, data)
# Return millisecond timestamp, data object and type
return ts * 1e-3, data_object, data_object_type
@property
def duration(self) -> int|float:
"""Get data duration."""
return self.__duration
@property
def progression(self) -> float:
"""Get data processing progression between 0 and 1."""
return self.__progression
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