From 9514985ce2bf0bdd6778f1292deeed8f4719fb0b Mon Sep 17 00:00:00 2001 From: vanejessi Date: Sun, 15 Dec 2024 16:34:58 +0100 Subject: [PATCH 1/7] Rama con version humble de websocket camera --- compose_cfg/user_humble_cpu.yaml | 1 + database/exercises/db.sql | 2 + .../img/color_filter_newmanager_teaser.png | Bin 0 -> 274364 bytes .../entry_point/exercise.py | 13 + .../entry_point/ros2_humble/exercise.py | 13 + .../launch/ros1_noetic/gazebo.launch | 24 ++ .../launch/ros1_noetic/launch.py | 134 +++++++ .../launch/ros1_noetic/mavros.launch | 13 + .../launch/ros1_noetic/px4.launch | 20 + .../launch/ros1_noetic/rescue_people.launch | 15 + .../launch/ros1_noetic/unified_launchs.launch | 45 +++ .../launch/ros2_humble/world.json | 9 + .../python_template/ros1_noetic/console.py | 20 + .../python_template/ros1_noetic/exercise.py | 365 ++++++++++++++++++ .../python_template/ros1_noetic/gui.py | 251 ++++++++++++ .../python_template/ros1_noetic/hal.py | 82 ++++ .../ros1_noetic/interfaces/__init__.py | 0 .../ros1_noetic/interfaces/camera.py | 89 +++++ .../ros1_noetic/interfaces/motors.py | 123 ++++++ .../ros1_noetic/interfaces/pose3d.py | 176 +++++++++ .../ros1_noetic/interfaces/threadPublisher.py | 46 +++ .../ros1_noetic/interfaces/threadStoppable.py | 36 ++ .../python_template/ros2_humble/GUI.py | 110 ++++++ .../python_template/ros2_humble/HAL.py | 28 ++ .../python_template/ros2_humble/console.py | 19 + .../ros2_humble/gui_exercise.py | 199 ++++++++++ .../python_template/ros2_humble/image.png | Bin 0 -> 62912 bytes .../react-components/ColorFilterRR.js | 14 + .../react-components/SpecificColorFilter.js | 67 ++++ .../react-components/css/ColorFilterRR.css | 28 ++ .../helpers/showImagesColorFilter.js | 86 +++++ .../color_filter_newmanager/exercise.html | 33 ++ .../src/components/visualizers/Camera.js | 25 ++ 33 files changed, 2086 insertions(+) create mode 100644 exercises/static/exercises/assets/img/color_filter_newmanager_teaser.png create mode 100644 exercises/static/exercises/color_filter_newmanager/entry_point/exercise.py create mode 100644 exercises/static/exercises/color_filter_newmanager/entry_point/ros2_humble/exercise.py create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/gazebo.launch create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/launch.py create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/mavros.launch create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/px4.launch create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/rescue_people.launch create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/unified_launchs.launch create mode 100644 exercises/static/exercises/color_filter_newmanager/launch/ros2_humble/world.json create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/console.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/exercise.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/gui.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/hal.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/__init__.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/camera.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/motors.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/pose3d.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadPublisher.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadStoppable.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/console.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/gui_exercise.py create mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/image.png create mode 100644 exercises/static/exercises/color_filter_newmanager/react-components/ColorFilterRR.js create mode 100644 exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js create mode 100644 exercises/static/exercises/color_filter_newmanager/react-components/css/ColorFilterRR.css create mode 100644 exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js create mode 100644 exercises/templates/exercises/color_filter_newmanager/exercise.html create mode 100644 react_frontend/src/components/visualizers/Camera.js diff --git a/compose_cfg/user_humble_cpu.yaml b/compose_cfg/user_humble_cpu.yaml index bae8cbccd..b71e0622d 100644 --- a/compose_cfg/user_humble_cpu.yaml +++ b/compose_cfg/user_humble_cpu.yaml @@ -24,6 +24,7 @@ services: - "7164:7164" - "7163:7163" - "6080:6080" + - "8765:8765" - "1108:1108" tty: true stdin_open: true diff --git a/database/exercises/db.sql b/database/exercises/db.sql index dd8d6b194..817f77aea 100644 --- a/database/exercises/db.sql +++ b/database/exercises/db.sql @@ -95,6 +95,7 @@ COPY public.exercises (id, exercise_id, name, description, tags, status, templat 9 3d_reconstruction 3D Reconstruction 3D Reconstruction exercise using React and RAM {"tags": ["ROS2","COMPUTER VISION"]} ACTIVE RoboticsAcademy/exercises/static/exercises/3d_reconstruction/python_template/ 10 amazon_warehouse Amazon Warehouse Control an amazon-like robot to organize a warehouse {"tags": "ROS2"} ACTIVE RoboticsAcademy/exercises/static/exercises/amazon_warehouse/python_template/ 11 montecarlo_laser_loc Montecarlo Laser Loc Calculate the position of the robot based on the {"tags": "ROS2"} ACTIVE RoboticsAcademy/exercises/static/exercises/montecarlo_laser_loc/python_template/ +12 color_filter_newmanager Color Filter Color Filter exercise using React and RAM {"tags": "ROS2"} ACTIVE RoboticsAcademy/exercises/static/exercises/color_filter_newmanager/python_template/ \. @@ -129,6 +130,7 @@ COPY public.exercises_universes (id, exercise_id, universe_id) FROM stdin; 24 1 23 25 1 24 26 1 25 +27 12 3 \. diff --git a/exercises/static/exercises/assets/img/color_filter_newmanager_teaser.png 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+ +SpecificColorFilter.propTypes = { + circuit: PropTypes.string, +}; + +/*setTimeout(function(){ + console.log("START LAUNCHER"); + //startStreaming(); + UseCamera(); + //declare_webrtcframe(); +}, 15000);*/ + +export default SpecificColorFilter diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/css/ColorFilterRR.css b/exercises/static/exercises/color_filter_newmanager/react-components/css/ColorFilterRR.css new file mode 100644 index 000000000..3bdee7925 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/react-components/css/ColorFilterRR.css @@ -0,0 +1,28 @@ +* { + box-sizing: border-box; +} + +body, html { + width: 100%; height: 100%; +} + +#exercise-container { + position: absolute; + top: 0; left: 0; bottom: 0; right: 0; + overflow: hidden; + display: flex; + flex-direction: column; +} + +#exercise-container #content { + width: 100%; + height: 100%; + overflow: hidden; +} + +#exercise-container #content #content-exercise { + display: flex; + flex-direction: column; + width: 100%; + height: 100%; +} \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js new file mode 100644 index 000000000..64f09c734 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js @@ -0,0 +1,86 @@ + +// To decode the image string we will receive from server +function decode_utf8(s){ + return decodeURIComponent(escape(s)) +} + +let image = new Image(); +let image_camera = new Image(); +// The stream & capture +//var stream = document.getElementById('stream'); +// The video stream +//var cameraStream = null; + +export function drawImage (data){ + var canvas = document.getElementById("gui_canvas"), + context = canvas.getContext('2d') + + // For image object + image.onload = function(){ + update_image(); + } + + // Request Animation Frame to remove the flickers + function update_image(){ + window.requestAnimationFrame(update_image); + context.drawImage(image, 0, 0); + } + + // Parse the Image Data + var image_data = JSON.parse(data.image), + source = decode_utf8(image_data.image), + shape = image_data.shape; + + if(source != ""){ + image.src = "data:image/jpeg;base64," + source; + canvas.width = shape[1]; + canvas.height = shape[0]; + } +} + + +// Start Streaming +/*export function startStreaming() { + +console.log("startStreaming"); + var mediaSupport = 'mediaDevices' in navigator; + + if( mediaSupport && null == cameraStream ) { + + window.navigator.mediaDevices.getUserMedia({video: true}) + .then(function(mediaStream) { + + cameraStream = mediaStream; + videoRef.current.srcObject = mediaStream; + videoRef.current.play(); + console.log("stream play"); + + }) + .catch(function(err) { + + console.log("Unable to access camera: " + err); + //stopStreaming(); + }); + } + else { + + alert('Your browser does not support media devices.'); + + return; + } + //requestAnimationFrame(showImageOutput); + +}*/ + +/*function stopStreaming() { + + if(null != cameraStream) { + + var track = cameraStream.getTracks()[0]; + + track.stop(); + stream.load(); + + cameraStream = null; + } +}*/ diff --git a/exercises/templates/exercises/color_filter_newmanager/exercise.html b/exercises/templates/exercises/color_filter_newmanager/exercise.html new file mode 100644 index 000000000..e8f9e6b5f --- /dev/null +++ b/exercises/templates/exercises/color_filter_newmanager/exercise.html @@ -0,0 +1,33 @@ +{% extends "react_frontend/exercise_base.html" %} +{% load react_component %} + +{% block exercise_header %} +{% endblock %} + +{% block react-content %} + {% react_component exercise/color_filter_newmanager/ColorFilterRR %} + + {% react_component components/wrappers/MaterialBox id="exercise-container" %} + {% react_component components/layout_components/MainAppBar exerciseName="Color Filter" url="https://jderobot.github.io/RoboticsAcademy/exercises/ComputerVision/color_filter"%} + {% react_component components/visualizers/WorldIndicator %} {% end_react_component %} + {% end_react_component %} + {% react_component components/wrappers/MaterialBox id="content" %} + {% react_component components/wrappers/MaterialBox id="content-exercise" %} + {% react_component components/layout_components/ExerciseControl %}{% end_react_component %} + {% react_component components/wrappers/FlexContainer row %} + {% react_component components/wrappers/FlexContainer console %} + {% react_component components/editors/EditorRobot %}{% end_react_component %} + {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} + {% end_react_component%} + {% react_component components/wrappers/FlexContainer%} + {% react_component components/visualizers/Camera%}{% end_react_component %} + {% react_component exercise/color_filter_newmanager/SpecificColorFilter %} {% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% react_component components/message_system/Loading %}{% end_react_component %} + {% react_component components/message_system/Alert %}{% end_react_component %} +{% end_react_component %} +{% end_react_component %} + {% end_react_component %} +{% endblock %} diff --git a/react_frontend/src/components/visualizers/Camera.js b/react_frontend/src/components/visualizers/Camera.js new file mode 100644 index 000000000..0d7a58847 --- /dev/null +++ b/react_frontend/src/components/visualizers/Camera.js @@ -0,0 +1,25 @@ +import React, { useEffect, useRef } from 'react'; +var ws_manager; +function Camera() { + const videoRef = useRef(null); + ws_manager = new WebSocket("ws://" + "127.0.0.1" + ":8765/"); + useEffect(() => { + if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { + navigator.mediaDevices.getUserMedia({ video: true }) + .then(stream => { + if (videoRef.current) { + videoRef.current.srcObject = stream; + } + }) + .catch(err => console.log(err)); + } + }, []); + + return ( +
    + +
    + ); +} + +export default Camera; From fa9e7e3d822c32fb9680e8da336a77e0cd86bd4e Mon Sep 17 00:00:00 2001 From: vanejessi Date: Tue, 17 Dec 2024 22:02:33 +0100 Subject: [PATCH 2/7] Rama con version humble de websocket camera actualizada con lo ultimo --- .../python_template/ros2_humble/GUI.py | 177 ++++++++++-------- .../python_template/ros2_humble/HAL.py | 13 -- .../python_template/ros2_humble/image.png | Bin 62912 -> 0 bytes .../src/components/visualizers/Camera.js | 16 +- 4 files changed, 111 insertions(+), 95 deletions(-) delete mode 100644 exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/image.png diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py index 783c04c97..6be4d88a5 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -3,101 +3,118 @@ import base64 import threading import time -import websocket + +from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI from src.manager.ram_logging.log_manager import LogManager from console import start_console import numpy as np -class ThreadingGUI: +# Graphical User Interface Class + +class GUI(MeasuringThreadingGUI): - def __init__(self, host="ws://127.0.0.1:2303", freq=30.0): + def __init__(self, host="ws://127.0.0.1:2303"): + super().__init__(host) # Execution control vars - self.out_period = 1.0 / freq - self.image = None - self.image_lock = threading.Lock() - self.ack = True - self.ack_lock = threading.Lock() - self.running = True + self.image_to_be_shown = None + self.image_to_be_shown_updated = False + self.image_show_lock = threading.Lock() + #self.ack = True + #self.ack_lock = threading.Lock() + #self.running = True self.host = host - self.msg = {"image": ""} - - # Initialize and start the WebSocket client thread - threading.Thread(target=self.run_websocket, daemon=True).start() - - # Initialize and start the image sending thread (GUI out thread) - threading.Thread( - target=self.gui_out_thread, name="gui_out_thread", daemon=True - ).start() - - # Init websocket client - def run_websocket(self): - self.client = websocket.WebSocketApp(self.host, on_message=self.gui_in_thread) - self.client.run_forever(ping_timeout=None, ping_interval=0) + self.payload = {"image": ""} + self.frame_rgb = None + self.start() + # Process incoming messages to the GUI def gui_in_thread(self, ws, message): - - # In this case, messages can be either acks or key strokes + # In this case, incoming msgs can only be acks if "ack" in message: with self.ack_lock: self.ack = True - else: - LogManager.logger.error("Unsupported msg") - - # Process outcoming messages from the GUI - def gui_out_thread(self): - while self.running: - start_time = time.time() - - # Check if a new image should be sent - with self.ack_lock: - with self.image_lock: - if self.ack: - if np.any(self.image): - self.send_image() - self.ack = False - - # Maintain desired frequency - elapsed = time.time() - start_time - sleep_time = max(0, self.out_period - elapsed) - time.sleep(sleep_time) - - # Prepares and send image to the websocket server - def send_image(self): - - if np.any(self.image): - _, encoded_image = cv2.imencode(".JPEG", self.image) - b64 = base64.b64encode(encoded_image).decode("utf-8") - shape = self.image.shape - else: - b64 = None - shape = 0 - - payload= { - "image": b64, - "shape": shape, - } - - self.msg["image"] = json.dumps(payload) - message = json.dumps(self.msg) - try: - if self.client: - self.client.send(message) - except Exception as e: - LogManager.logger.info(f"Error sending message: {e}") - - # Functions to set the next image to be sent - def setImage(self, image): - with self.image_lock: - self.image = image - - + self.ack_frontend = True + elif "pick" in message: + print ("pick") + message_array=np.fromstring(message, dtype=int, sep=',') + message_array.resize(240,320,3) + frame_int64 = message_array + frame_bgr = np.uint8(frame_int64) + self.frame_rgb = cv2.cvtColor(frame_bgr ,cv2.COLOR_BGR2RGB) + + # Prepares and sends a map to the websocket server + def update_gui(self): + + payload = self.payloadImage() + self.payload["image"] = json.dumps(payload) + + message = json.dumps(self.payload) + self.send_to_client(message) + + # Function to prepare image payload + # Encodes the image as a JSON string and sends through the WS + def payloadImage(self): + with self.image_show_lock: + image_to_be_shown_updated = self.image_to_be_shown_updated + image_to_be_shown = self.image_to_be_shown + + image = image_to_be_shown + payload = {'image': '', 'shape': ''} + + if not image_to_be_shown_updated: + return payload + + shape = image.shape + + frame = cv2.imencode('.JPEG', image)[1] + encoded_image = base64.b64encode(frame) + + payload['image'] = encoded_image.decode('utf-8') + payload['shape'] = shape + + with self.image_show_lock: + self.image_to_be_shown_updated = False + + return payload + + # Function for student to call + def showImage(self, image): + with self.image_show_lock: + self.image_to_be_shown = image + self.image_to_be_shown_updated = True + + + def getImage(self): + # TEMPORAL PARA PROBAR EL ENVIO DE IMAGENES + self.frame_rgb = np.ones((240, 320, 3), dtype="uint8") * 0 # Blanco + + # Establecer el texto a mostrar + texto = "Hola" + + # Definir la fuente, tamaño, color y grosor del texto + fuente = cv2.FONT_HERSHEY_SIMPLEX + tamaño_fuente = 1 + color = (255, 0, 0) # Negro + grosor = 2 + + # Obtener el tamaño del texto para centrarlo + (tamaño_texto, _) = cv2.getTextSize(texto, fuente, tamaño_fuente, grosor) + ancho_texto, alto_texto = tamaño_texto + + # Calcular las coordenadas para centrar el texto + pos_x = (self.frame_rgb.shape[1] - ancho_texto) // 2 + pos_y = (self.frame_rgb.shape[0] + alto_texto) // 2 + + # Poner el texto sobre la imagen + cv2.putText(self.frame_rgb, texto, (pos_x, pos_y), fuente, tamaño_fuente, color, grosor) + return self.frame_rgb + host = "ws://127.0.0.1:2303" -gui = ThreadingGUI(host) - +gui = GUI(host) # Redirect the console start_console() @@ -105,6 +122,8 @@ def setImage(self, image): # Expose the user functions def showImage(image): - gui.setImage(image) + gui.showImage(image) +def getImage(): + return gui.getImage() diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py index 20acd0161..baa47e6df 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py @@ -1,6 +1,4 @@ -import numpy as np import rclpy -import cv2 from jderobot_drones.drone_wrapper 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d`gimnTjuf!W=-+(RPNhn0 { if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { navigator.mediaDevices.getUserMedia({ video: true }) .then(stream => { + // Establecer el stream y asignarlo al video + //setStream(stream); if (videoRef.current) { videoRef.current.srcObject = stream; + try { + window.RoboticsExerciseComponents.commsManager.send("gui", `pick${videoRef.current.srcObject}`) + } catch (error) + { + } } }) .catch(err => console.log(err)); } }, []); + + return (
    From 74208f6a68d71886a4be6780b57b458e62c60f53 Mon Sep 17 00:00:00 2001 From: vanejessi Date: Sat, 28 Dec 2024 12:11:03 +0100 Subject: [PATCH 3/7] =?UTF-8?q?Se=20env=C3=ADa=20la=20imagen=20cada=202=20?= =?UTF-8?q?segundos=20desde=20el=20browser=20al=20componente=20GUI?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CODE_OF_CONDUCT.md | 132 ------------------ .../python_template/ros2_humble/GUI.py | 50 +++---- .../react-components/SpecificColorFilter.js | 6 - .../helpers/showImagesColorFilter.js | 49 ------- exercises/templates/exercise_base.html | 2 + .../color_filter_newmanager/exercise.html | 1 + .../src/components/visualizers/Camera.js | 76 +++++++--- 7 files changed, 84 insertions(+), 232 deletions(-) delete mode 100644 CODE_OF_CONDUCT.md diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md deleted file mode 100644 index c5310e488..000000000 --- a/CODE_OF_CONDUCT.md +++ /dev/null @@ -1,132 +0,0 @@ - - -# Code of Conduct - - - -## Our Pledge - -We as members, contributors, and leaders pledge to make participation in our -community a harassment-free experience for everyone, regardless of age, body -size, visible or invisible disability, ethnicity, sex characteristics, gender -identity and expression, level of experience, education, socio-economic status, -nationality, personal appearance, race, religion, or sexual identity -and orientation. - -We pledge to act and interact in ways that contribute to an open, welcoming, -diverse, inclusive, and healthy community. - -## Our Standards - -Examples of behavior that contributes to a positive environment for our -community include: - -* Demonstrating empathy and kindness toward other people -* Being respectful of differing opinions, viewpoints, and experiences -* Giving and gracefully accepting constructive feedback -* Accepting responsibility and apologizing to those affected by our mistakes, - and learning from the experience -* Focusing on what is best not just for us as individuals, but for the - overall community - -Examples of unacceptable behavior include: - -* The use of sexualized language or imagery, and sexual attention or - advances of any kind -* Trolling, insulting or derogatory comments, and personal or political attacks -* Public or private harassment -* Publishing others' private information, such as a physical or email - address, without their explicit permission -* Other conduct which could reasonably be considered inappropriate in a - professional setting - -## Enforcement Responsibilities - -Community leaders are responsible for clarifying and enforcing our standards of -acceptable behavior and will take appropriate and fair corrective action in -response to any behavior that they deem inappropriate, threatening, offensive, -or harmful. - -Community leaders have the right and responsibility to remove, edit, or reject -comments, commits, code, wiki edits, issues, and other contributions that are -not aligned to this Code of Conduct, and will communicate reasons for moderation -decisions when appropriate. - -## Scope - -This Code of Conduct applies within all community spaces, and also applies when -an individual is officially representing the community in public spaces. -Examples of representing our community include using an official e-mail address, -posting via an official social media account, or acting as an appointed -representative at an online or offline event. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported to the community leaders. - -All complaints will be reviewed and investigated promptly and fairly. - -All community leaders are obligated to respect the privacy and security of the -reporter of any incident. - -## Enforcement Guidelines - -Community leaders will follow these Community Impact Guidelines in determining -the consequences for any action they deem in violation of this Code of Conduct: - -### 1. Correction - -**Community Impact**: Use of inappropriate language or other behavior deemed -unprofessional or unwelcome in the community. - -**Consequence**: A private, written warning from community leaders, providing -clarity around the nature of the violation and an explanation of why the -behavior was inappropriate. A public apology may be requested. - -### 2. Warning - -**Community Impact**: A violation through a single incident or series -of actions. - -**Consequence**: A warning with consequences for continued behavior. No -interaction with the people involved, including unsolicited interaction with -those enforcing the Code of Conduct, for a specified period of time. This -includes avoiding interactions in community spaces as well as external channels -like social media. Violating these terms may lead to a temporary or -permanent ban. - -### 3. Temporary Ban - -**Community Impact**: A serious violation of community standards, including -sustained inappropriate behavior. - -**Consequence**: A temporary ban from any sort of interaction or public -communication with the community for a specified period of time. No public or -private interaction with the people involved, including unsolicited interaction -with those enforcing the Code of Conduct, is allowed during this period. -Violating these terms may lead to a permanent ban. - -### 4. Permanent Ban - -**Community Impact**: Demonstrating a pattern of violation of community -standards, including sustained inappropriate behavior, harassment of an -individual, or aggression toward or disparagement of classes of individuals. - -**Consequence**: A permanent ban from any sort of public interaction within -the community. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], -version 2.0, available at -https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. - -Community Impact Guidelines were inspired by [Mozilla's code of conduct -enforcement ladder](https://github.com/mozilla/diversity). - -[homepage]: https://www.contributor-covenant.org - -For answers to common questions about this code of conduct, see the FAQ at -https://www.contributor-covenant.org/faq. Translations are available at -https://www.contributor-covenant.org/translations. diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py index 6be4d88a5..68bfa6a67 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -39,12 +39,22 @@ def gui_in_thread(self, ws, message): self.ack = True self.ack_frontend = True elif "pick" in message: - print ("pick") - message_array=np.fromstring(message, dtype=int, sep=',') - message_array.resize(240,320,3) - frame_int64 = message_array - frame_bgr = np.uint8(frame_int64) - self.frame_rgb = cv2.cvtColor(frame_bgr ,cv2.COLOR_BGR2RGB) + base64_buffer = message[4:] + + if base64_buffer.startswith('data:image/jpeg;base64,'): + base64_buffer = base64_buffer[len('data:image/jpeg;base64,'):] + + # Decodificar la cadena base64 a bytes + image_data = base64.b64decode(base64_buffer) + + # Convertir los bytes a un array de numpy + nparr = np.frombuffer(image_data, np.uint8) + + # Decodificar la imagen (convertirla a formato OpenCV) + img = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + + self.frame_rgb = img + # Prepares and sends a map to the websocket server def update_gui(self): @@ -89,29 +99,13 @@ def showImage(self, image): def getImage(self): - # TEMPORAL PARA PROBAR EL ENVIO DE IMAGENES - self.frame_rgb = np.ones((240, 320, 3), dtype="uint8") * 0 # Blanco - - # Establecer el texto a mostrar - texto = "Hola" - - # Definir la fuente, tamaño, color y grosor del texto - fuente = cv2.FONT_HERSHEY_SIMPLEX - tamaño_fuente = 1 - color = (255, 0, 0) # Negro - grosor = 2 - - # Obtener el tamaño del texto para centrarlo - (tamaño_texto, _) = cv2.getTextSize(texto, fuente, tamaño_fuente, grosor) - ancho_texto, alto_texto = tamaño_texto - - # Calcular las coordenadas para centrar el texto - pos_x = (self.frame_rgb.shape[1] - ancho_texto) // 2 - pos_y = (self.frame_rgb.shape[0] + alto_texto) // 2 + if (self.frame_rgb is None): + # TEMPORAL PARA PROBAR EL ENVIO DE IMAGENES + frame_rgb = np.ones((240, 320, 3), dtype="uint8") * 255 # Blanco - # Poner el texto sobre la imagen - cv2.putText(self.frame_rgb, texto, (pos_x, pos_y), fuente, tamaño_fuente, color, grosor) - return self.frame_rgb + return frame_rgb + else: + return self.frame_rgb host = "ws://127.0.0.1:2303" gui = GUI(host) diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js index 2fd2999da..61e048d5d 100644 --- a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js +++ b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js @@ -21,12 +21,6 @@ function SpecificColorFilter(props) { // Send the ACK of the msg window.RoboticsExerciseComponents.commsManager.send("gui", "ack"); }; - - /*return () => { - - // Start Streaming - startStreaming() - };*/ window.RoboticsExerciseComponents.commsManager.subscribe( [window.RoboticsExerciseComponents.commsManager.events.UPDATE], diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js index 64f09c734..d677b431a 100644 --- a/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js +++ b/exercises/static/exercises/color_filter_newmanager/react-components/helpers/showImagesColorFilter.js @@ -6,10 +6,6 @@ function decode_utf8(s){ let image = new Image(); let image_camera = new Image(); -// The stream & capture -//var stream = document.getElementById('stream'); -// The video stream -//var cameraStream = null; export function drawImage (data){ var canvas = document.getElementById("gui_canvas"), @@ -39,48 +35,3 @@ export function drawImage (data){ } -// Start Streaming -/*export function startStreaming() { - -console.log("startStreaming"); - var mediaSupport = 'mediaDevices' in navigator; - - if( mediaSupport && null == cameraStream ) { - - window.navigator.mediaDevices.getUserMedia({video: true}) - .then(function(mediaStream) { - - cameraStream = mediaStream; - videoRef.current.srcObject = mediaStream; - videoRef.current.play(); - console.log("stream play"); - - }) - .catch(function(err) { - - console.log("Unable to access camera: " + err); - //stopStreaming(); - }); - } - else { - - alert('Your browser does not support media devices.'); - - return; - } - //requestAnimationFrame(showImageOutput); - -}*/ - -/*function stopStreaming() { - - if(null != cameraStream) { - - var track = cameraStream.getTracks()[0]; - - track.stop(); - stream.load(); - - cameraStream = null; - } -}*/ diff --git a/exercises/templates/exercise_base.html b/exercises/templates/exercise_base.html index 40b0e9ef0..b2a8996d2 100644 --- a/exercises/templates/exercise_base.html +++ b/exercises/templates/exercise_base.html @@ -5,6 +5,7 @@ + @@ -612,5 +613,6 @@ {% endif %} {% include "info_modal.html" %} {% include "load_modal.html" %} + diff --git a/exercises/templates/exercises/color_filter_newmanager/exercise.html b/exercises/templates/exercises/color_filter_newmanager/exercise.html index e8f9e6b5f..d52067d22 100644 --- a/exercises/templates/exercises/color_filter_newmanager/exercise.html +++ b/exercises/templates/exercises/color_filter_newmanager/exercise.html @@ -2,6 +2,7 @@ {% load react_component %} {% block exercise_header %} + {% endblock %} {% block react-content %} diff --git a/react_frontend/src/components/visualizers/Camera.js b/react_frontend/src/components/visualizers/Camera.js index e58337de9..3d6b06c80 100644 --- a/react_frontend/src/components/visualizers/Camera.js +++ b/react_frontend/src/components/visualizers/Camera.js @@ -1,30 +1,72 @@ import React, { useEffect, useRef, useState} from 'react'; + function Camera() { const videoRef = useRef(null); - const [stream] = useState(null); - + const streamRef = useRef(null); // Usamos useRef para manejar el stream + const [stream, setStream] = useState(null); + // Obtener el stream de la cámara useEffect(() => { - if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { - navigator.mediaDevices.getUserMedia({ video: true }) - .then(stream => { - // Establecer el stream y asignarlo al video - //setStream(stream); - if (videoRef.current) { - videoRef.current.srcObject = stream; - try { - window.RoboticsExerciseComponents.commsManager.send("gui", `pick${videoRef.current.srcObject}`) - } catch (error) - { + const startCamera = () => { + if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { + navigator.mediaDevices.getUserMedia({ video: true }) + .then(stream => { + // Establecer el stream y asignarlo al video + setStream(stream); + if (videoRef.current) { + videoRef.current.srcObject = stream; + streamRef.current = stream; // Guardamos el stream en la referencia + } + }) + .catch(err => console.log(err)); } - } - }) - .catch(err => console.log(err)); + }; + + startCamera(); + + // Limpiar el stream cuando el componente se desmonte + return () => { + if (streamRef,current) { + streamRef.getTracks().forEach(track => track.stop()); + } + }; + }, []); + + // Función para capturar un fotograma del video y convertirlo en una matriz CV_8UC4 + const captureFrame = () => { + const video = videoRef.current; + const canvas = document.createElement('canvas'); + const ctx = canvas.getContext('2d'); + + if (video && canvas && ctx) { + // Establecer el tamaño del canvas igual al tamaño del video + canvas.width = 320; + canvas.height = 240; + + // Dibujar el frame del video en el canvas + ctx.drawImage(video, 0, 0, canvas.width, canvas.height); + + // Obtener los datos de la imagen (array de píxeles RGBA) + const imageDataURL = canvas.toDataURL('image/jpeg'); + // Codificamos en base64 + // Enviar la matriz por WebSocket + window.RoboticsExerciseComponents.commsManager.send("gui", `pick${imageDataURL}`); + + } + }; + + // Llamar a captureFrame cada 100 ms para enviar imágenes de la cámara + useEffect(() => { + const interval = setInterval(() => { + captureFrame(); + }, 2000); // 10 fotogramas por segundo (100 ms) + + return () => clearInterval(interval); }, []); - + return (
    From ab0a0c1b64af2d02c850a5c3b1d6285841ef3ac3 Mon Sep 17 00:00:00 2001 From: vanejessi Date: Sat, 11 Jan 2025 17:02:10 +0100 Subject: [PATCH 4/7] Limpieza codigo --- .../python_template/ros2_humble/GUI.py | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py index 68bfa6a67..277d0c2df 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -21,10 +21,6 @@ def __init__(self, host="ws://127.0.0.1:2303"): self.image_to_be_shown = None self.image_to_be_shown_updated = False self.image_show_lock = threading.Lock() - #self.ack = True - #self.ack_lock = threading.Lock() - #self.running = True - self.host = host self.payload = {"image": ""} self.frame_rgb = None @@ -33,12 +29,8 @@ def __init__(self, host="ws://127.0.0.1:2303"): # Process incoming messages to the GUI def gui_in_thread(self, ws, message): - # In this case, incoming msgs can only be acks - if "ack" in message: - with self.ack_lock: - self.ack = True - self.ack_frontend = True - elif "pick" in message: + # In this case + if "pick" in message: base64_buffer = message[4:] if base64_buffer.startswith('data:image/jpeg;base64,'): From 3b5a9cfc1e514a348058f429f05dc3f3a87d6e79 Mon Sep 17 00:00:00 2001 From: vanejessi Date: Sun, 12 Jan 2025 17:58:26 +0100 Subject: [PATCH 5/7] =?UTF-8?q?a=C3=B1adido=20envio=20de=20ack=20y=20recep?= =?UTF-8?q?cion?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../python_template/ros2_humble/GUI.py | 1 + .../react-components/SpecificColorFilter.js | 2 +- .../src/components/visualizers/Camera.js | 25 ++++++++++++++++++- 3 files changed, 26 insertions(+), 2 deletions(-) diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py index 277d0c2df..25944c42d 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -46,6 +46,7 @@ def gui_in_thread(self, ws, message): img = cv2.imdecode(nparr, cv2.IMREAD_COLOR) self.frame_rgb = img + self.send_to_client("ack") # Prepares and sends a map to the websocket server diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js index 61e048d5d..cd9ba960e 100644 --- a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js +++ b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js @@ -12,7 +12,7 @@ function SpecificColorFilter(props) { // Start Streaming //startStreaming() const callback = (message) => { - console.log(message); + //console.log(message); if (message.data.update.image) { drawImage(message.data.update); diff --git a/react_frontend/src/components/visualizers/Camera.js b/react_frontend/src/components/visualizers/Camera.js index 3d6b06c80..f0e3d3805 100644 --- a/react_frontend/src/components/visualizers/Camera.js +++ b/react_frontend/src/components/visualizers/Camera.js @@ -52,7 +52,6 @@ function Camera() { // Enviar la matriz por WebSocket window.RoboticsExerciseComponents.commsManager.send("gui", `pick${imageDataURL}`); - } }; @@ -66,6 +65,30 @@ function Camera() { }, []); + + React.useEffect(() => { + // Callback para recibir el 'ACK' + const ackCallback = (ackMessage) => { + console.log("ACK recibido:", ackMessage); + // Aquí puedes manejar lo que ocurre cuando recibes el ACK + // Por ejemplo, podrías actualizar el estado o mostrar un mensaje + }; + + // Suscribirse al evento 'ACK' para recibir la confirmación de respuesta + window.RoboticsExerciseComponents.commsManager.subscribe( + ["ack"], // Aquí se asume que el "ack" es un evento que se dispara con la respuesta + ackCallback + ); + + // Limpiar las suscripciones cuando el componente se desmonte + return () => { + // Desuscribirse también del evento de "ACK" + window.RoboticsExerciseComponents.commsManager.unsubscribe( + ["ack"], + ackCallback + ); + }; + }, []); return (
    From 93ee12f183cec13bf64065604433d0ce566caa78 Mon Sep 17 00:00:00 2001 From: vanejessi Date: Sun, 12 Jan 2025 18:51:46 +0100 Subject: [PATCH 6/7] cambio ack --- .../python_template/ros2_humble/GUI.py | 3 ++- .../color_filter_newmanager/exercise.html | 1 - .../src/components/visualizers/Camera.js | 21 ++++++++++++------- 3 files changed, 16 insertions(+), 9 deletions(-) diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py index 25944c42d..dcf6691ed 100644 --- a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -46,7 +46,8 @@ def gui_in_thread(self, ws, message): img = cv2.imdecode(nparr, cv2.IMREAD_COLOR) self.frame_rgb = img - self.send_to_client("ack") + ack_message = {'ack_img': 'ack'} + self.send_to_client(json.dumps(ack_message)) # Prepares and sends a map to the websocket server diff --git a/exercises/templates/exercises/color_filter_newmanager/exercise.html b/exercises/templates/exercises/color_filter_newmanager/exercise.html index d52067d22..e8f9e6b5f 100644 --- a/exercises/templates/exercises/color_filter_newmanager/exercise.html +++ b/exercises/templates/exercises/color_filter_newmanager/exercise.html @@ -2,7 +2,6 @@ {% load react_component %} {% block exercise_header %} - {% endblock %} {% block react-content %} diff --git a/react_frontend/src/components/visualizers/Camera.js b/react_frontend/src/components/visualizers/Camera.js index f0e3d3805..18b8ef719 100644 --- a/react_frontend/src/components/visualizers/Camera.js +++ b/react_frontend/src/components/visualizers/Camera.js @@ -68,25 +68,32 @@ function Camera() { React.useEffect(() => { // Callback para recibir el 'ACK' - const ackCallback = (ackMessage) => { - console.log("ACK recibido:", ackMessage); + const callback = (message) => { + console.log("ACK recibido:", message); + const update = message.data.update; + if (update.ack_img) + { + console.log("ACK recibido 1:", message); + } // Aquí puedes manejar lo que ocurre cuando recibes el ACK // Por ejemplo, podrías actualizar el estado o mostrar un mensaje }; // Suscribirse al evento 'ACK' para recibir la confirmación de respuesta window.RoboticsExerciseComponents.commsManager.subscribe( - ["ack"], // Aquí se asume que el "ack" es un evento que se dispara con la respuesta - ackCallback + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], // Aquí se asume que el "ack" es un evento que se dispara con la respuesta + callback ); - + console.log("Suscripción a 'ack' completada"); // Limpiar las suscripciones cuando el componente se desmonte return () => { + console.log("Desuscribiendo de 'ack' events"); // Desuscribirse también del evento de "ACK" window.RoboticsExerciseComponents.commsManager.unsubscribe( - ["ack"], - ackCallback + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback ); + console.log("Desuscripción de 'ack' completada"); }; }, []); From ee52b20b4add3b090cec069624eafc326741e163 Mon Sep 17 00:00:00 2001 From: code_zerro Date: Mon, 13 Jan 2025 17:05:00 +0600 Subject: [PATCH 7/7] update camera framerate --- .../react-components/SpecificColorFilter.js | 85 +++++----- react_frontend/package.json | 3 +- .../src/components/visualizers/Camera.js | 153 ++++++++++-------- scripts/yarn.lock | 4 + 4 files changed, 140 insertions(+), 105 deletions(-) create mode 100644 scripts/yarn.lock diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js index cd9ba960e..8be47e7e9 100644 --- a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js +++ b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js @@ -1,54 +1,61 @@ import * as React from "react"; import PropTypes from "prop-types"; -import {drawImage, startStreaming} from "./helpers/showImagesColorFilter"; +import { drawImage, startStreaming } from "./helpers/showImagesColorFilter"; // The stream & capture //var stream = document.getElementById('stream'); +function decode_utf8(s) { + return decodeURIComponent(escape(s)); +} +function SpecificColorFilter(props) { + const [image, setImage] = React.useState(null); + const [imageData, setImageData] = React.useState(""); + React.useEffect(() => { + console.log("TestShowScreen subscribing to ['update'] events"); + // Start Streaming + //startStreaming() + const callback = (message) => { + // console.log(message); + if (message.data.update.image) { + // drawImage(message.data.update); -function SpecificColorFilter(props) { - const [image, setImage] = React.useState(null) - React.useEffect(() => { - console.log("TestShowScreen subscribing to ['update'] events"); - // Start Streaming - //startStreaming() - const callback = (message) => { - //console.log(message); - - if (message.data.update.image) { - drawImage(message.data.update); - } - - // Send the ACK of the msg - window.RoboticsExerciseComponents.commsManager.send("gui", "ack"); - }; - - window.RoboticsExerciseComponents.commsManager.subscribe( - [window.RoboticsExerciseComponents.commsManager.events.UPDATE], - callback - ); + let image_data = JSON.parse(message.data.update.image); + let source = decode_utf8(image_data.image); - return () => { - console.log("TestShowScreen unsubscribing from ['state-changed'] events"); - window.RoboticsExerciseComponents.commsManager.unsubscribe( - [window.RoboticsExerciseComponents.commsManager.events.UPDATE], - callback - ); - }; - }, []); + if (source.length > 0) + setImageData(`data:image/jpeg;base64,${source}`); + } + // Send the ACK of the msg + window.RoboticsExerciseComponents.commsManager.send("gui", "ack"); + }; + window.RoboticsExerciseComponents.commsManager.subscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); - return ( -
    - -
    - ); -} + return () => { + console.log( + "TestShowScreen unsubscribing from ['state-changed'] events" + ); + window.RoboticsExerciseComponents.commsManager.unsubscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + }; + }, []); + return ( +
    + {/* */} + {imageData && } +
    + ); +} SpecificColorFilter.propTypes = { - circuit: PropTypes.string, + circuit: PropTypes.string, }; /*setTimeout(function(){ @@ -58,4 +65,4 @@ SpecificColorFilter.propTypes = { //declare_webrtcframe(); }, 15000);*/ -export default SpecificColorFilter +export default SpecificColorFilter; diff --git a/react_frontend/package.json b/react_frontend/package.json index 7186bb74a..2d9966664 100644 --- a/react_frontend/package.json +++ b/react_frontend/package.json @@ -62,5 +62,6 @@ "styled-components": "^5.3.6", "three": "^0.144.0", "uuid": "^9.0.0" - } + }, + "packageManager": "yarn@1.22.22+sha512.a6b2f7906b721bba3d67d4aff083df04dad64c399707841b7acf00f6b133b7ac24255f2652fa22ae3534329dc6180534e98d17432037ff6fd140556e2bb3137e" } diff --git a/react_frontend/src/components/visualizers/Camera.js b/react_frontend/src/components/visualizers/Camera.js index 18b8ef719..615194ad9 100644 --- a/react_frontend/src/components/visualizers/Camera.js +++ b/react_frontend/src/components/visualizers/Camera.js @@ -1,104 +1,127 @@ -import React, { useEffect, useRef, useState} from 'react'; - +import React, { useEffect, useRef, useState } from "react"; function Camera() { + const commsManager = window.RoboticsExerciseComponents.commsManager; const videoRef = useRef(null); - const streamRef = useRef(null); // Usamos useRef para manejar el stream + const streamRef = useRef(null); // Usamos useRef para manejar el stream const [stream, setStream] = useState(null); + const [readyCamera, setReadyCamera] = useState(false); + const [pauseCamera, setPauseCamera] = useState(false); + // Obtener el stream de la cámara useEffect(() => { + if (!readyCamera) return; + const startCamera = () => { - if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { - navigator.mediaDevices.getUserMedia({ video: true }) - .then(stream => { - // Establecer el stream y asignarlo al video - setStream(stream); - if (videoRef.current) { - videoRef.current.srcObject = stream; - streamRef.current = stream; // Guardamos el stream en la referencia - } - }) - .catch(err => console.log(err)); - } + const frameRate = 20; + const constraints = { + video: { + frameRate: { ideal: frameRate, min: frameRate, max: frameRate }, + }, + audio: false, + }; + if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { + navigator.mediaDevices + .getUserMedia({ video: true, audio: false }) + .then((stream) => { + // Establecer el stream y asignarlo al video + setStream(stream); + if (videoRef.current) { + videoRef.current.srcObject = stream; + streamRef.current = stream; // Guardamos el stream en la referencia + } + }) + .catch((err) => console.log(err)); + } }; startCamera(); - - // Limpiar el stream cuando el componente se desmonte + + // Limpiar el stream cuando el componente se desmonte return () => { - if (streamRef,current) { - streamRef.getTracks().forEach(track => track.stop()); + if ((streamRef, current)) { + streamRef.getTracks().forEach((track) => track.stop()); } }; - }, []); + }, [readyCamera]); // Función para capturar un fotograma del video y convertirlo en una matriz CV_8UC4 const captureFrame = () => { const video = videoRef.current; - const canvas = document.createElement('canvas'); - const ctx = canvas.getContext('2d'); + const canvas = document.createElement("canvas"); + const ctx = canvas.getContext("2d"); if (video && canvas && ctx) { // Establecer el tamaño del canvas igual al tamaño del video canvas.width = 320; canvas.height = 240; - + // Dibujar el frame del video en el canvas ctx.drawImage(video, 0, 0, canvas.width, canvas.height); // Obtener los datos de la imagen (array de píxeles RGBA) - const imageDataURL = canvas.toDataURL('image/jpeg'); + const imageDataURL = canvas.toDataURL("image/jpeg"); // Codificamos en base64 // Enviar la matriz por WebSocket - window.RoboticsExerciseComponents.commsManager.send("gui", `pick${imageDataURL}`); - + window.RoboticsExerciseComponents.commsManager.send( + "gui", + `pick${imageDataURL}` + ); } }; // Llamar a captureFrame cada 100 ms para enviar imágenes de la cámara useEffect(() => { - const interval = setInterval(() => { - captureFrame(); - }, 2000); // 10 fotogramas por segundo (100 ms) + if (readyCamera && !pauseCamera) { + const interval = setInterval(() => { + captureFrame(); + }, 0); + return () => { + clearInterval(interval); + }; + } + }, [readyCamera, pauseCamera]); - return () => clearInterval(interval); + useEffect(() => { + const callback = (message) => { + if ( + message.data.state === "visualization_ready" || + message.data.state === "application_running" + ) { + setReadyCamera(true); + setPauseCamera(false); + } else if (message.data.state === "paused") { + setPauseCamera(true); + } + }; + commsManager.subscribe([commsManager.events.STATE_CHANGED], callback); + + return () => { + commsManager.unsubscribe([commsManager.events.STATE_CHANGED], callback); + }; }, []); - - - - React.useEffect(() => { - // Callback para recibir el 'ACK' - const callback = (message) => { - console.log("ACK recibido:", message); - const update = message.data.update; - if (update.ack_img) - { - console.log("ACK recibido 1:", message); - } - // Aquí puedes manejar lo que ocurre cuando recibes el ACK - // Por ejemplo, podrías actualizar el estado o mostrar un mensaje - }; - - // Suscribirse al evento 'ACK' para recibir la confirmación de respuesta - window.RoboticsExerciseComponents.commsManager.subscribe( - [window.RoboticsExerciseComponents.commsManager.events.UPDATE], // Aquí se asume que el "ack" es un evento que se dispara con la respuesta - callback - ); - console.log("Suscripción a 'ack' completada"); - // Limpiar las suscripciones cuando el componente se desmonte - return () => { - console.log("Desuscribiendo de 'ack' events"); - // Desuscribirse también del evento de "ACK" - window.RoboticsExerciseComponents.commsManager.unsubscribe( - [window.RoboticsExerciseComponents.commsManager.events.UPDATE], - callback - ); - console.log("Desuscripción de 'ack' completada"); - }; - }, []); - + + // ack (you can get response from update_gui() in GUI.py) + useEffect(() => { + const callback = (message) => { + console.log("message ", message); + }; + window.RoboticsExerciseComponents.commsManager.subscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + + return () => { + console.log("TestShowScreen unsubscribing from ['state-changed'] events"); + window.RoboticsExerciseComponents.commsManager.unsubscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + }; + }, []); + return ( -
    +
    ); diff --git a/scripts/yarn.lock b/scripts/yarn.lock new file mode 100644 index 000000000..fb57ccd13 --- /dev/null +++ b/scripts/yarn.lock @@ -0,0 +1,4 @@ +# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY. +# yarn lockfile v1 + +

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zzw_JW_2rGNHjW@d7OFSlBhBk}M4H6&c9RE>AIeQ9ZL51uLff&U$8Vupr>QkeFa zxtow1wlequ&SFVA7XKr7K%?^Sz>>xRpT?*_pS-xbzOjtA!FNJ-&Q;bPe_&!}b7Tep z0DRsW=H7PJ-uCjgp7!_$00xDLi$EnrpmJv7vhpxVd6>+7C{!K_^-f4*`acFQ-R+zm x0{(vk;$d(F-T?HU5lr13y#1^_?E$7vKHlE;p0;6Q + + + + + + + + + + + + + + + + + + + + + + + diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/launch.py b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/launch.py new file mode 100644 index 000000000..0f0b852f1 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/launch.py @@ -0,0 +1,134 @@ +#!/usr/bin/env python3 + +import stat +import rospy +import os +from subprocess import Popen, PIPE + + +# If DRI_NAME is not set by user, use card0 +DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0")) +EXERCISE = "rescue_people_newmanager" +TIMEOUT = 30 +MAX_ATTEMPT = 2 + + +# Check if acceleration can be enabled +def check_device(device_path): + try: + return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE]) + except: + return False + + +# Spawn new process +def spawn_process(args, insert_vglrun=False): + if insert_vglrun: + args.insert(0, "vglrun") + process = Popen(args, stdout=PIPE, bufsize=1, universal_newlines=True) + return process + + +class Test(): + def gazebo(self): + rospy.logwarn("[GAZEBO] Launching") + try: + rospy.wait_for_service("/gazebo/get_model_properties", TIMEOUT) + return True + except rospy.ROSException: + return False + + def px4(self): + rospy.logwarn("[PX4-SITL] Launching") + start_time = rospy.get_time() + args = ["./PX4-Autopilot/build/px4_sitl_default/bin/px4-commander", + "--instance", "0", "check"] + while rospy.get_time() - start_time < TIMEOUT: + process = spawn_process(args, insert_vglrun=False) + with process.stdout: + for line in iter(process.stdout.readline, ''): + if ("Prearm check: OK" in line): + return True + rospy.sleep(2) + return False + + def mavros(self, ns=""): + rospy.logwarn("[MAVROS] Launching") + try: + rospy.wait_for_service(ns + "/mavros/cmd/arming", TIMEOUT) + return True + except rospy.ROSException: + return False + + +class Launch(): + def __init__(self): + self.test = Test() + self.acceleration_enabled = check_device(DRI_PATH) + + # Start roscore + args = ["/opt/ros/noetic/bin/roscore"] + spawn_process(args, insert_vglrun=False) + + rospy.init_node("launch", anonymous=True) + + def start(self): + ######## LAUNCH GAZEBO ######## + args = ["/opt/ros/noetic/bin/roslaunch", + "/RoboticsAcademy/exercises/static/exercises/" + + EXERCISE + "/launch/ros1_noetic/gazebo.launch", + "--wait", + "--log" + ] + + attempt = 1 + while True: + spawn_process(args, insert_vglrun=self.acceleration_enabled) + if self.test.gazebo() == True: + break + if attempt == MAX_ATTEMPT: + rospy.logerr("[GAZEBO] Launch Failed") + return + attempt = attempt + 1 + + ######## LAUNCH PX4 ######## + args = ["/opt/ros/noetic/bin/roslaunch", + "/RoboticsAcademy/exercises/static/exercises/" + + EXERCISE + "/launch/ros1_noetic/px4.launch", + "--log" + ] + + attempt = 1 + while True: + spawn_process(args, insert_vglrun=self.acceleration_enabled) + if self.test.px4() == True: + break + if attempt == MAX_ATTEMPT: + rospy.logerr("[PX4] Launch Failed") + return + attempt = attempt + 1 + + ######## LAUNCH MAVROS ######## + args = ["/opt/ros/noetic/bin/roslaunch", + "/RoboticsAcademy/exercises/static/exercises/" + + EXERCISE + "/launch/ros1_noetic/mavros.launch", + "--log" + ] + + attempt = 1 + while True: + spawn_process(args, insert_vglrun=self.acceleration_enabled) + if self.test.mavros() == True: + break + if attempt == MAX_ATTEMPT: + rospy.logerr("[MAVROS] Launch Failed") + return + attempt = attempt + 1 + + +if __name__ == "__main__": + launch = Launch() + launch.start() + + with open("/drones_launch.log", "w") as f: + f.write("success") diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/mavros.launch b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/mavros.launch new file mode 100644 index 000000000..b899c0ec1 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/mavros.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/px4.launch b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/px4.launch new file mode 100644 index 000000000..bb3f656b5 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/px4.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/rescue_people.launch b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/rescue_people.launch new file mode 100644 index 000000000..2a43e7841 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/rescue_people.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/unified_launchs.launch b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/unified_launchs.launch new file mode 100644 index 000000000..97d270ccf --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros1_noetic/unified_launchs.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/exercises/static/exercises/color_filter_newmanager/launch/ros2_humble/world.json b/exercises/static/exercises/color_filter_newmanager/launch/ros2_humble/world.json new file mode 100644 index 000000000..40ecb612f --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/launch/ros2_humble/world.json @@ -0,0 +1,9 @@ +{ + "world": "rescue_people", + "drones": [ + { + "model": "iris_dual_cam", + "pose": [ 0.0, 0.0, 1.45, 0.0] + } + ] +} \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/console.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/console.py new file mode 100644 index 000000000..7b72a0913 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/console.py @@ -0,0 +1,20 @@ +# Functions to start and close console +import os +import sys + + +def start_console(): + # Get all the file descriptors and choose the latest one + fds = os.listdir("/dev/pts/") + fds.sort() + console_fd = fds[-2] + + sys.stderr = open('/dev/pts/' + console_fd, 'w') + sys.stdout = open('/dev/pts/' + console_fd, 'w') + sys.stdin = open('/dev/pts/' + console_fd, 'w') + + +def close_console(): + sys.stderr.close() + sys.stdout.close() + sys.stdin.close() diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/exercise.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/exercise.py new file mode 100644 index 000000000..98edbe8da --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/exercise.py @@ -0,0 +1,365 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from websocket_server import WebsocketServer +import time +import threading +import subprocess +import sys +from datetime import datetime +import re +import json +import importlib + +import os + +import rospy +from std_srvs.srv import Empty + +from gui import GUI, ThreadGUI +from hal import HAL +from console import start_console, close_console + + +class Template: + # Initialize class variables + # self.ideal_cycle to run an execution for at least 1 second + # self.process for the current running process + def __init__(self): + self.measure_thread = None + self.thread = None + self.reload = False + self.stop_brain = True + self.user_code = "" + + # Time variables + self.ideal_cycle = 80 + self.measured_cycle = 80 + self.iteration_counter = 0 + self.real_time_factor = 0 + self.frequency_message = {'brain': '', 'gui': '', 'rtf': ''} + + self.server = None + self.client = None + self.host = sys.argv[1] + + # Initialize the GUI, HAL and Console behind the scenes + self.hal = HAL() + self.gui = GUI(self.host) + + # Function to parse the code + # A few assumptions: + # 1. The user always passes sequential and iterative codes + # 2. Only a single infinite loop + def parse_code(self, source_code): + sequential_code, iterative_code = self.seperate_seq_iter(source_code) + return iterative_code, sequential_code + + # Function to separate the iterative and sequential code + def seperate_seq_iter(self, source_code): + if source_code == "": + return "", "" + + # Search for an instance of while True + infinite_loop = re.search(r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:', source_code) + + # Separate the content inside while True and the other + # (Separating the sequential and iterative part!) + try: + start_index = infinite_loop.start() + iterative_code = source_code[start_index:] + sequential_code = source_code[:start_index] + + # Remove while True: syntax from the code + # And remove the the 4 spaces indentation before each command + iterative_code = re.sub(r'[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:', '', iterative_code) + # Add newlines to match line on bug report + extra_lines = sequential_code.count('\n') + while (extra_lines >= 0): + iterative_code = '\n' + iterative_code + extra_lines -= 1 + iterative_code = re.sub(r'^[ ]{4}', '', iterative_code, flags=re.M) + + except: + sequential_code = source_code + iterative_code = "" + + return sequential_code, iterative_code + + # The process function + def process_code(self, source_code): + # Redirect the information to console + start_console() + + iterative_code, sequential_code = self.parse_code(source_code) + + # print(sequential_code) + # print(iterative_code) + + # The Python exec function + # Run the sequential part + gui_module, hal_module = self.generate_modules() + reference_environment = {"GUI": gui_module, "HAL": hal_module} + self.stop_brain = False + while (self.stop_brain == True): + if (self.reload == True): + return + time.sleep(0.1) + exec(sequential_code, reference_environment) + time.sleep(1) + + # Run the iterative part inside template + # and keep the check for flag + while self.reload == False: + while (self.stop_brain == True): + if (self.reload == True): + return + time.sleep(0.1) + + start_time = datetime.now() + + # Execute the iterative portion + exec(iterative_code, reference_environment) + + # Template specifics to run! + finish_time = datetime.now() + dt = finish_time - start_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + + # Keep updating the iteration counter + if (iterative_code == ""): + self.iteration_counter = 0 + else: + self.iteration_counter = self.iteration_counter + 1 + + # The code should be run for atleast the target time step + # If it's less put to sleep + if (ms < self.ideal_cycle): + time.sleep((self.ideal_cycle - ms) / 1000.0) + + close_console() + print("Current Thread Joined!") + + # Function to generate the modules for use in ACE Editor + def generate_modules(self): + # Define HAL module + hal_module = importlib.util.module_from_spec(importlib.machinery.ModuleSpec("HAL", None)) + hal_module.HAL = importlib.util.module_from_spec(importlib.machinery.ModuleSpec("HAL", None)) + # hal_module.drone = imp.new_module("drone") + # motors# hal_module.HAL.motors = imp.new_module("motors") + + # Add HAL functions + hal_module.HAL.get_frontal_image = self.hal.get_frontal_image + hal_module.HAL.get_ventral_image = self.hal.get_ventral_image + hal_module.HAL.get_position = self.hal.get_position + hal_module.HAL.get_velocity = self.hal.get_velocity + hal_module.HAL.get_yaw_rate = self.hal.get_yaw_rate + hal_module.HAL.get_orientation = self.hal.get_orientation + hal_module.HAL.get_roll = self.hal.get_roll + hal_module.HAL.get_pitch = self.hal.get_pitch + hal_module.HAL.get_yaw = self.hal.get_yaw + hal_module.HAL.get_landed_state = self.hal.get_landed_state + hal_module.HAL.set_cmd_pos = self.hal.set_cmd_pos + hal_module.HAL.set_cmd_vel = self.hal.set_cmd_vel + hal_module.HAL.set_cmd_mix = self.hal.set_cmd_mix + hal_module.HAL.takeoff = self.hal.takeoff + hal_module.HAL.land = self.hal.land + + # Define GUI module + gui_module = importlib.util.module_from_spec(importlib.machinery.ModuleSpec("GUI", None)) + gui_module.GUI = importlib.util.module_from_spec(importlib.machinery.ModuleSpec("GUI", None)) + + # Add GUI functions + gui_module.GUI.showImage = self.gui.showImage + gui_module.GUI.showLeftImage = self.gui.showLeftImage + + # Adding modules to system + # Protip: The names should be different from + # other modules, otherwise some errors + sys.modules["HAL"] = hal_module + sys.modules["GUI"] = gui_module + + return gui_module, hal_module + + # Function to measure the frequency of iterations + def measure_frequency(self): + previous_time = datetime.now() + # An infinite loop + while True: + # Sleep for 2 seconds + time.sleep(2) + + # Measure the current time and subtract from the previous time to get real time interval + current_time = datetime.now() + dt = current_time - previous_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + previous_time = current_time + + # Get the time period + try: + # Division by zero + self.measured_cycle = ms / self.iteration_counter + except: + self.measured_cycle = 0 + + # Reset the counter + self.iteration_counter = 0 + + # Send to client + self.send_frequency_message() + + # Function to generate and send frequency messages + def send_frequency_message(self): + # This function generates and sends frequency measures of the brain and gui + brain_frequency = 0; gui_frequency = 0 + try: + brain_frequency = round(1000 / self.measured_cycle, 1) + except ZeroDivisionError: + brain_frequency = 0 + + try: + gui_frequency = round(1000 / self.thread_gui.measured_cycle, 1) + except ZeroDivisionError: + gui_frequency = 0 + + self.frequency_message["brain"] = brain_frequency + self.frequency_message["gui"] = gui_frequency + self.frequency_message["rtf"] = self.real_time_factor + + message = "#freq" + json.dumps(self.frequency_message) + self.server.send_message(self.client, message) + + def send_ping_message(self): + self.server.send_message(self.client, "#ping") + + # Function to notify the front end that the code was received and sent to execution + def send_code_message(self): + self.server.send_message(self.client, "#exec") + + # Function to track the real time factor from Gazebo statistics + # https://stackoverflow.com/a/17698359 + # (For reference, Python3 solution specified in the same answer) + def track_stats(self): + args = ["gz", "stats", "-p"] + # Prints gz statistics. "-p": Output comma-separated values containing- + # real-time factor (percent), simtime (sec), realtime (sec), paused (T or F) + stats_process = subprocess.Popen(args, stdout=subprocess.PIPE, bufsize=1, universal_newlines=True) + # bufsize=1 enables line-bufferred mode (the input buffer is flushed + # automatically on newlines if you would write to process.stdin ) + with stats_process.stdout: + for line in iter(stats_process.stdout.readline, ''): + stats_list = [x.strip() for x in line.split(',')] + self.real_time_factor = stats_list[0] + + # Function to maintain thread execution + def execute_thread(self, source_code): + # Keep checking until the thread is alive + # The thread will die when the coming iteration reads the flag + if self.thread is not None: + while self.thread.is_alive(): + time.sleep(0.2) + + # Turn the flag down, the iteration has successfully stopped! + self.reload = False + # New thread execution + self.thread = threading.Thread(target=self.process_code, args=[source_code]) + self.thread.start() + self.send_code_message() + print("New Thread Started!") + + # Function to read and set frequency from incoming message + def read_frequency_message(self, message): + frequency_message = json.loads(message) + + # Set brain frequency + frequency = float(frequency_message["brain"]) + self.ideal_cycle = 1000.0 / frequency + + # Set gui frequency + frequency = float(frequency_message["gui"]) + self.thread_gui.ideal_cycle = 1000.0 / frequency + + return + + # The websocket function + # Gets called when there is an incoming message from the client + def handle(self, client, server, message): + if message[:5] == "#freq": + frequency_message = message[5:] + self.read_frequency_message(frequency_message) + time.sleep(1) + return + + elif(message[:5] == "#ping"): + time.sleep(1) + self.send_ping_message() + return + elif (message[:5] == "#code"): + try: + # Once received turn the reload flag up and send it to execute_thread function + self.user_code = message[6:] + # print(repr(code)) + self.reload = True + self.execute_thread(self.user_code) + except: + pass + + elif (message[:5] == "#rest"): + try: + self.reload = True + self.stop_brain = True + self.execute_thread(self.user_code) + except: + pass + + elif (message[:5] == "#stop"): + self.stop_brain = True + + + # Function that gets called when the server is connected + def connected(self, client, server): + self.client = client + # Start the GUI update thread + self.thread_gui = ThreadGUI(self.gui) + self.thread_gui.start() + + # Start the real time factor tracker thread + self.stats_thread = threading.Thread(target=self.track_stats) + self.stats_thread.start() + + # Start measure frequency + self.measure_thread = threading.Thread(target=self.measure_frequency) + self.measure_thread.start() + + print(client, 'connected') + + # Function that gets called when the connected closes + def handle_close(self, client, server): + print(client, 'closed') + + def run_server(self): + self.server = WebsocketServer(port=1905, host=self.host) + self.server.set_fn_new_client(self.connected) + self.server.set_fn_client_left(self.handle_close) + self.server.set_fn_message_received(self.handle) + + home_dir = os.path.expanduser('~') + + logged = False + while not logged: + try: + f = open(f"{home_dir}/ws_code.log", "w") + f.write("websocket_code=ready") + f.close() + logged = True + except: + time.sleep(0.1) + + self.server.run_forever() + + +# Execute! +if __name__ == "__main__": + server = Template() + server.run_server() \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/gui.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/gui.py new file mode 100644 index 000000000..df4309c3f --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/gui.py @@ -0,0 +1,251 @@ +import json +import cv2 +import base64 +import threading +import time +from datetime import datetime +from websocket_server import WebsocketServer +import os + + +# Graphical User Interface Class +class GUI: + # Initialization function + # The actual initialization + def __init__(self, host): + t = threading.Thread(target=self.run_server) + + self.payload = {'image': ''} + self.left_payload = {'image_left': ''} + self.server = None + self.client = None + + self.host = host + + # Image variables + self.image_to_be_shown = None + self.image_to_be_shown_updated = False + self.image_show_lock = threading.Lock() + + self.left_image_to_be_shown = None + self.left_image_to_be_shown_updated = False + self.left_image_show_lock = threading.Lock() + + self.acknowledge = False + self.acknowledge_lock = threading.Lock() + + # Take the console object to set the same websocket and client + t.start() + + # Explicit initialization function + # Class method, so user can call it without instantiation + @classmethod + def initGUI(cls, host): + # self.payload = {'image': '', 'shape': []} + new_instance = cls(host) + return new_instance + + # Function to prepare image payload + # Encodes the image as a JSON string and sends through the WS + def payloadImage(self): + self.image_show_lock.acquire() + image_to_be_shown_updated = self.image_to_be_shown_updated + image_to_be_shown = self.image_to_be_shown + self.image_show_lock.release() + + image = image_to_be_shown + payload = {'image': '', 'shape': ''} + + if not image_to_be_shown_updated: + return payload + + shape = image.shape + frame = cv2.imencode('.JPEG', image)[1] + encoded_image = base64.b64encode(frame) + + payload['image'] = encoded_image.decode('utf-8') + payload['shape'] = shape + + self.image_show_lock.acquire() + self.image_to_be_shown_updated = False + self.image_show_lock.release() + + return payload + + # Function to prepare image payload + # Encodes the image as a JSON string and sends through the WS + def payloadLeftImage(self): + self.left_image_show_lock.acquire() + left_image_to_be_shown_updated = self.left_image_to_be_shown_updated + left_image_to_be_shown = self.left_image_to_be_shown + self.left_image_show_lock.release() + + image = left_image_to_be_shown + payload = {'image_left': '', 'shape': ''} + + if not left_image_to_be_shown_updated: + return payload + + shape = image.shape + frame = cv2.imencode('.JPEG', image)[1] + encoded_image = base64.b64encode(frame) + + payload['image_left'] = encoded_image.decode('utf-8') + payload['shape'] = shape + + self.left_image_show_lock.acquire() + self.left_image_to_be_shown_updated = False + self.left_image_show_lock.release() + + return payload + + # Function for student to call + def showImage(self, image): + self.image_show_lock.acquire() + self.image_to_be_shown = image + self.image_to_be_shown_updated = True + self.image_show_lock.release() + + # Function for student to call + def showLeftImage(self, image): + self.left_image_show_lock.acquire() + self.left_image_to_be_shown = image + self.left_image_to_be_shown_updated = True + self.left_image_show_lock.release() + + # Function to get the client + # Called when a new client is received + def get_client(self, client, server): + self.client = client + + # Function to get value of Acknowledge + def get_acknowledge(self): + self.acknowledge_lock.acquire() + acknowledge = self.acknowledge + self.acknowledge_lock.release() + + return acknowledge + + # Function to get value of Acknowledge + def set_acknowledge(self, value): + self.acknowledge_lock.acquire() + self.acknowledge = value + self.acknowledge_lock.release() + + # Update the gui + def update_gui(self): + # Payload Image Message + payload = self.payloadImage() + self.payload["image"] = json.dumps(payload) + + message = "#gui" + json.dumps(self.payload) + self.server.send_message(self.client, message) + + # Payload Left Image Message + left_payload = self.payloadLeftImage() + self.left_payload["image_left"] = json.dumps(left_payload) + + message = "#gui" + json.dumps(self.left_payload) + self.server.send_message(self.client, message) + + # Function to read the message from websocket + # Gets called when there is an incoming message from the client + def get_message(self, client, server, message): + # Acknowledge Message for GUI Thread + if message[:4] == "#ack": + self.set_acknowledge(True) + + # Activate the server + def run_server(self): + self.server = WebsocketServer(port=2303, host=self.host) + self.server.set_fn_new_client(self.get_client) + self.server.set_fn_message_received(self.get_message) + + home_dir = os.path.expanduser('~') + + logged = False + while not logged: + try: + f = open(f"{home_dir}/ws_gui.log", "w") + f.write("websocket_gui=ready") + f.close() + logged = True + except: + time.sleep(0.1) + + self.server.run_forever() + + # Function to reset + def reset_gui(self): + pass + + +# This class decouples the user thread +# and the GUI update thread +class ThreadGUI: + def __init__(self, gui): + self.gui = gui + + # Time variables + self.ideal_cycle = 80 + self.measured_cycle = 80 + self.iteration_counter = 0 + + # Function to start the execution of threads + def start(self): + self.measure_thread = threading.Thread(target=self.measure_thread) + self.thread = threading.Thread(target=self.run) + + self.measure_thread.start() + self.thread.start() + + print("GUI Thread Started!") + + # The measuring thread to measure frequency + def measure_thread(self): + while self.gui.client is None: + pass + + previous_time = datetime.now() + while True: + # Sleep for 2 seconds + time.sleep(2) + + # Measure the current time and subtract from previous time to get real time interval + current_time = datetime.now() + dt = current_time - previous_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + previous_time = current_time + + # Get the time period + try: + # Division by zero + self.measured_cycle = ms / self.iteration_counter + except: + self.measured_cycle = 0 + + # Reset the counter + self.iteration_counter = 0 + + # The main thread of execution + def run(self): + while self.gui.client is None: + pass + + while True: + start_time = datetime.now() + self.gui.update_gui() + acknowledge_message = self.gui.get_acknowledge() + + while not acknowledge_message: + acknowledge_message = self.gui.get_acknowledge() + + self.gui.set_acknowledge(False) + + finish_time = datetime.now() + self.iteration_counter = self.iteration_counter + 1 + + dt = finish_time - start_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + if ms < self.ideal_cycle: + time.sleep((self.ideal_cycle-ms) / 1000.0) diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/hal.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/hal.py new file mode 100644 index 000000000..25635a119 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/hal.py @@ -0,0 +1,82 @@ +import numpy as np +import rospy +import cv2 + +from drone_wrapper import DroneWrapper + + +# Hardware Abstraction Layer +class HAL: + IMG_WIDTH = 320 + IMG_HEIGHT = 240 + + def __init__(self): + rospy.init_node("HAL") + + self.image = None + self.drone = DroneWrapper(name="rqt") + + # Explicit initialization functions + # Class method, so user can call it without instantiation + @classmethod + def initRobot(cls): + new_instance = cls() + return new_instance + + # Get Image from ROS Driver Camera + def get_frontal_image(self): + image = self.drone.get_frontal_image() + image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + return image_rgb + + def get_ventral_image(self): + image = self.drone.get_ventral_image() + image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + return image_rgb + + def get_position(self): + pos = self.drone.get_position() + return pos + + def get_velocity(self): + vel = self.drone.get_velocity() + return vel + + def get_yaw_rate(self): + yaw_rate = self.drone.get_yaw_rate() + return yaw_rate + + def get_orientation(self): + orientation = self.drone.get_orientation() + return orientation + + def get_roll(self): + roll = self.drone.get_roll() + return roll + + def get_pitch(self): + pitch = self.drone.get_pitch() + return pitch + + def get_yaw(self): + yaw = self.drone.get_yaw() + return yaw + + def get_landed_state(self): + state = self.drone.get_landed_state() + return state + + def set_cmd_pos(self, x, y, z, az): + self.drone.set_cmd_pos(x, y, z, az) + + def set_cmd_vel(self, vx, vy, vz, az): + self.drone.set_cmd_vel(vx, vy, vz, az) + + def set_cmd_mix(self, vx, vy, z, az): + self.drone.set_cmd_mix(vx, vy, z, az) + + def takeoff(self, h=3): + self.drone.takeoff(h) + + def land(self): + self.drone.land() diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/__init__.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/camera.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/camera.py new file mode 100644 index 000000000..5a021a13e --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/camera.py @@ -0,0 +1,89 @@ +import rospy +from sensor_msgs.msg import Image as ImageROS +import threading +from math import pi as PI +import cv2 +from cv_bridge import CvBridge, CvBridgeError + + +MAXRANGE = 8 # max length received from imageD +MINRANGE = 0 + + +def imageMsg2Image(img, bridge): + + image = Image() + + image.width = img.width + image.height = img.height + image.format = "BGR8" + image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs * 1e-9) + cv_image = 0 + if img.encoding[-2:] == "C1": + gray_img_buff = bridge.imgmsg_to_cv2(img, img.encoding) + cv_image = depthToRGB8(gray_img_buff, img.encoding) + else: + cv_image = bridge.imgmsg_to_cv2(img, "bgr8") + image.data = cv_image + return image + + +import numpy as np + + +class Image: + + def __init__(self): + + self.height = 3 # Image height [pixels] + self.width = 3 # Image width [pixels] + self.timeStamp = 0 # Time stamp [s] */ + self.format = "" # Image format string (RGB8, BGR,...) + self.data = np.zeros((self.height, self.width, 3), np.uint8) # The image data itself + self.data.shape = self.height, self.width, 3 + + def __str__(self): + s = "Image: {\n height: " + str(self.height) + "\n width: " + str(self.width) + s = s + "\n format: " + self.format + "\n timeStamp: " + str(self.timeStamp) + s = s + "\n data: " + str(self.data) + "\n}" + return s + + +class ListenerCamera: + + def __init__(self, topic): + + self.topic = topic + self.data = Image() + self.sub = None + self.lock = threading.Lock() + + self.bridge = CvBridge() + self.start() + + def __callback(self, img): + + image = imageMsg2Image(img, self.bridge) + + self.lock.acquire() + self.data = image + self.lock.release() + + def stop(self): + + self.sub.unregister() + + def start(self): + self.sub = rospy.Subscriber(self.topic, ImageROS, self.__callback) + + def getImage(self): + + self.lock.acquire() + image = self.data + self.lock.release() + + return image + + def hasproxy(self): + + return hasattr(self, "sub") and self.sub diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/motors.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/motors.py new file mode 100644 index 000000000..70dca8a46 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/motors.py @@ -0,0 +1,123 @@ +import rospy +from geometry_msgs.msg import Twist +import threading +from math import pi as PI +from .threadPublisher import ThreadPublisher + + + +def cmdvel2Twist(vel): + + tw = Twist() + tw.linear.x = vel.vx + tw.linear.y = vel.vy + tw.linear.z = vel.vz + tw.angular.x = vel.ax + tw.angular.y = vel.ay + tw.angular.z = vel.az + + return tw + + +class CMDVel (): + + def __init__(self): + + self.vx = 0 # vel in x[m/s] (use this for V in wheeled robots) + self.vy = 0 # vel in y[m/s] + self.vz = 0 # vel in z[m/s] + self.ax = 0 # angular vel in X axis [rad/s] + self.ay = 0 # angular vel in X axis [rad/s] + self.az = 0 # angular vel in Z axis [rad/s] (use this for W in wheeled robots) + self.timeStamp = 0 # Time stamp [s] + + + def __str__(self): + s = "CMDVel: {\n vx: " + str(self.vx) + "\n vy: " + str(self.vy) + s = s + "\n vz: " + str(self.vz) + "\n ax: " + str(self.ax) + s = s + "\n ay: " + str(self.ay) + "\n az: " + str(self.az) + s = s + "\n timeStamp: " + str(self.timeStamp) + "\n}" + return s + +class PublisherMotors: + + def __init__(self, topic, maxV, maxW): + + self.maxW = maxW + self.maxV = maxV + + self.topic = topic + self.data = CMDVel() + self.pub = rospy.Publisher(self.topic, Twist, queue_size=1) + + self.lock = threading.Lock() + + self.kill_event = threading.Event() + self.thread = ThreadPublisher(self, self.kill_event) + + self.thread.daemon = True + self.start() + + def publish (self): + + self.lock.acquire() + tw = cmdvel2Twist(self.data) + self.lock.release() + self.pub.publish(tw) + + def stop(self): + + self.kill_event.set() + self.pub.unregister() + + def start (self): + + self.kill_event.clear() + self.thread.start() + + + + def getMaxW(self): + return self.maxW + + def getMaxV(self): + return self.maxV + + + def sendVelocities(self, vel): + + self.lock.acquire() + self.data = vel + self.lock.release() + + def sendV(self, v): + + self.sendVX(v) + + def sendL(self, l): + + self.sendVY(l) + + def sendW(self, w): + + self.sendAZ(w) + + def sendVX(self, vx): + + self.lock.acquire() + self.data.vx = vx + self.lock.release() + + def sendVY(self, vy): + + self.lock.acquire() + self.data.vy = vy + self.lock.release() + + def sendAZ(self, az): + + self.lock.acquire() + self.data.az = az + self.lock.release() + + diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/pose3d.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/pose3d.py new file mode 100644 index 000000000..fd0bfc37a --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/pose3d.py @@ -0,0 +1,176 @@ +import rospy +import threading +from math import asin, atan2, pi +from nav_msgs.msg import Odometry + +def quat2Yaw(qw, qx, qy, qz): + ''' + Translates from Quaternion to Yaw. + + @param qw,qx,qy,qz: Quaternion values + + @type qw,qx,qy,qz: float + + @return Yaw value translated from Quaternion + + ''' + rotateZa0=2.0*(qx*qy + qw*qz) + rotateZa1=qw*qw + qx*qx - qy*qy - qz*qz + rotateZ=0.0 + if(rotateZa0 != 0.0 and rotateZa1 != 0.0): + rotateZ=atan2(rotateZa0,rotateZa1) + return rotateZ + +def quat2Pitch(qw, qx, qy, qz): + ''' + Translates from Quaternion to Pitch. + + @param qw,qx,qy,qz: Quaternion values + + @type qw,qx,qy,qz: float + + @return Pitch value translated from Quaternion + + ''' + + rotateYa0=-2.0*(qx*qz - qw*qy) + rotateY=0.0 + if(rotateYa0 >= 1.0): + rotateY = pi/2.0 + elif(rotateYa0 <= -1.0): + rotateY = -pi/2.0 + else: + rotateY = asin(rotateYa0) + + return rotateY + +def quat2Roll (qw, qx, qy, qz): + ''' + Translates from Quaternion to Roll. + + @param qw,qx,qy,qz: Quaternion values + + @type qw,qx,qy,qz: float + + @return Roll value translated from Quaternion + + ''' + rotateXa0=2.0*(qy*qz + qw*qx) + rotateXa1=qw*qw - qx*qx - qy*qy + qz*qz + rotateX=0.0 + + if(rotateXa0 != 0.0 and rotateXa1 != 0.0): + rotateX=atan2(rotateXa0, rotateXa1) + return rotateX + + +def odometry2Pose3D(odom): + ''' + Translates from ROS Odometry to JderobotTypes Pose3d. + + @param odom: ROS Odometry to translate + + @type odom: Odometry + + @return a Pose3d translated from odom + + ''' + pose = Pose3d() + ori = odom.pose.pose.orientation + + pose.x = odom.pose.pose.position.x + pose.y = odom.pose.pose.position.y + pose.z = odom.pose.pose.position.z + #pose.h = odom.pose.pose.position.h + pose.yaw = quat2Yaw(ori.w, ori.x, ori.y, ori.z) + pose.pitch = quat2Pitch(ori.w, ori.x, ori.y, ori.z) + pose.roll = quat2Roll(ori.w, ori.x, ori.y, ori.z) + pose.q = [ori.w, ori.x, ori.y, ori.z] + pose.timeStamp = odom.header.stamp.secs + (odom.header.stamp.nsecs *1e-9) + + return pose + +class Pose3d (): + + def __init__(self): + + self.x = 0 # X coord [meters] + self.y = 0 # Y coord [meters] + self.z = 0 # Z coord [meters] + self.h = 1 # H param + self.yaw = 0 #Yaw angle[rads] + self.pitch = 0 # Pitch angle[rads] + self.roll = 0 # Roll angle[rads] + self.q = [0,0,0,0] # Quaternion + self.timeStamp = 0 # Time stamp [s] + + + def __str__(self): + s = "Pose3D: {\n x: " + str(self.x) + "\n Y: " + str(self.y) + s = s + "\n Z: " + str(self.z) + "\n H: " + str(self.h) + s = s + "\n Yaw: " + str(self.yaw) + "\n Pitch: " + str(self.pitch) + "\n Roll: " + str(self.roll) + s = s + "\n quaternion: " + str(self.q) + "\n timeStamp: " + str(self.timeStamp) + "\n}" + return s + + +class ListenerPose3d: + ''' + ROS Pose3D Subscriber. Pose3D Client to Receive pose3d from ROS nodes. + ''' + def __init__(self, topic): + ''' + ListenerPose3d Constructor. + + @param topic: ROS topic to subscribe + + @type topic: String + + ''' + self.topic = topic + self.data = Pose3d() + self.sub = None + self.lock = threading.Lock() + self.start() + + def __callback (self, odom): + ''' + Callback function to receive and save Pose3d. + + @param odom: ROS Odometry received + + @type odom: Odometry + + ''' + pose = odometry2Pose3D(odom) + + self.lock.acquire() + self.data = pose + self.lock.release() + + def stop(self): + ''' + Stops (Unregisters) the client. + + ''' + self.sub.unregister() + + def start (self): + ''' + Starts (Subscribes) the client. + + ''' + self.sub = rospy.Subscriber(self.topic, Odometry, self.__callback) + + def getPose3d(self): + ''' + Returns last Pose3d. + + @return last JdeRobotTypes Pose3d saved + + ''' + self.lock.acquire() + pose = self.data + self.lock.release() + + return pose + diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadPublisher.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadPublisher.py new file mode 100644 index 000000000..69aa0ad48 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadPublisher.py @@ -0,0 +1,46 @@ +# +# Copyright (C) 1997-2016 JDE Developers Team +# +# 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 http://www.gnu.org/licenses/. +# Authors : +# Alberto Martin Florido +# Aitor Martinez Fernandez +# +import threading +import time +from datetime import datetime + +time_cycle = 80 + + +class ThreadPublisher(threading.Thread): + + def __init__(self, pub, kill_event): + self.pub = pub + self.kill_event = kill_event + threading.Thread.__init__(self, args=kill_event) + + def run(self): + while (not self.kill_event.is_set()): + start_time = datetime.now() + + self.pub.publish() + + finish_Time = datetime.now() + + dt = finish_Time - start_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + #print (ms) + if (ms < time_cycle): + time.sleep((time_cycle - ms) / 1000.0) \ No newline at end of file diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadStoppable.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadStoppable.py new file mode 100644 index 000000000..b631d180f --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros1_noetic/interfaces/threadStoppable.py @@ -0,0 +1,36 @@ +import threading +import time +from datetime import datetime + +time_cycle = 80 + + +class StoppableThread(threading.Thread): + """Thread class with a stop() method. The thread itself has to check + regularly for the stopped() condition.""" + + def __init__(self, target, kill_event=threading.Event(), *args, **kwargs): + super(StoppableThread, self).__init__(*args, **kwargs) + self._target = target + self._target_args = kwargs["args"] + self._kill_event = kill_event + + def run(self): + while not self.stopped(): + start_time = datetime.now() + + self._target(*self._target_args) + + finish_time = datetime.now() + + dt = finish_time - start_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + # print (ms) + if ms < time_cycle: + time.sleep((time_cycle - ms) / 1000.0) + + def stop(self): + self._kill_event.set() + + def stopped(self): + return self._kill_event.is_set() diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py new file mode 100644 index 000000000..783c04c97 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/GUI.py @@ -0,0 +1,110 @@ +import json +import cv2 +import base64 +import threading +import time +import websocket +from src.manager.ram_logging.log_manager import LogManager +from console import start_console +import numpy as np + + +class ThreadingGUI: + + def __init__(self, host="ws://127.0.0.1:2303", freq=30.0): + + # Execution control vars + self.out_period = 1.0 / freq + self.image = None + self.image_lock = threading.Lock() + self.ack = True + self.ack_lock = threading.Lock() + self.running = True + + self.host = host + self.msg = {"image": ""} + + # Initialize and start the WebSocket client thread + threading.Thread(target=self.run_websocket, daemon=True).start() + + # Initialize and start the image sending thread (GUI out thread) + threading.Thread( + target=self.gui_out_thread, name="gui_out_thread", daemon=True + ).start() + + # Init websocket client + def run_websocket(self): + self.client = websocket.WebSocketApp(self.host, on_message=self.gui_in_thread) + self.client.run_forever(ping_timeout=None, ping_interval=0) + + # Process incoming messages to the GUI + def gui_in_thread(self, ws, message): + + # In this case, messages can be either acks or key strokes + if "ack" in message: + with self.ack_lock: + self.ack = True + else: + LogManager.logger.error("Unsupported msg") + + # Process outcoming messages from the GUI + def gui_out_thread(self): + while self.running: + start_time = time.time() + + # Check if a new image should be sent + with self.ack_lock: + with self.image_lock: + if self.ack: + if np.any(self.image): + self.send_image() + self.ack = False + + # Maintain desired frequency + elapsed = time.time() - start_time + sleep_time = max(0, self.out_period - elapsed) + time.sleep(sleep_time) + + # Prepares and send image to the websocket server + def send_image(self): + + if np.any(self.image): + _, encoded_image = cv2.imencode(".JPEG", self.image) + b64 = base64.b64encode(encoded_image).decode("utf-8") + shape = self.image.shape + else: + b64 = None + shape = 0 + + payload= { + "image": b64, + "shape": shape, + } + + self.msg["image"] = json.dumps(payload) + message = json.dumps(self.msg) + try: + if self.client: + self.client.send(message) + except Exception as e: + LogManager.logger.info(f"Error sending message: {e}") + + # Functions to set the next image to be sent + def setImage(self, image): + with self.image_lock: + self.image = image + + +host = "ws://127.0.0.1:2303" +gui = ThreadingGUI(host) + + +# Redirect the console +start_console() + + +# Expose the user functions +def showImage(image): + gui.setImage(image) + + diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py new file mode 100644 index 000000000..20acd0161 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/HAL.py @@ -0,0 +1,28 @@ +import numpy as np +import rclpy +import cv2 + +from jderobot_drones.drone_wrapper import DroneWrapper +from jderobot_drones.image_sub import ImageSubscriberNode + +### HAL INIT ### + +print("HAL initializing", flush=True) +if not rclpy.ok(): + rclpy.init() + + +IMG_WIDTH = 320 +IMG_HEIGHT = 240 + + +# Get Image from ROS Driver Camera +def get_image(): + #image = self.cam.get_frontal_image() + image = cv2.imread('/RoboticsAcademy/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/image.png', cv2.IMREAD_COLOR) + image = cv2.resize(image, (320, 240)) + image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + return image_rgb + + + diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/console.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/console.py new file mode 100644 index 000000000..3c88c9d71 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/console.py @@ -0,0 +1,19 @@ +# Functions to start and close console +import os +import sys + + +def start_console(): + # Get all the file descriptors and choose the latest one + fds = os.listdir("/dev/pts/") + console_fd = str(max(map(int, fds[:-1]))) + + sys.stderr = open('/dev/pts/' + console_fd, 'w') + sys.stdout = open('/dev/pts/' + console_fd, 'w') + sys.stdin = open('/dev/pts/' + console_fd, 'w') + + +def close_console(): + sys.stderr.close() + sys.stdout.close() + sys.stdin.close() diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/gui_exercise.py b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/gui_exercise.py new file mode 100644 index 000000000..d0e7dec73 --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/gui_exercise.py @@ -0,0 +1,199 @@ +import json +import cv2 +import base64 +import threading +import time +from datetime import datetime +import websocket +import subprocess + + +# Graphical User Interface Class +class GUI: + # Initialization function + # The actual initialization + def __init__(self, host): + + self.payload = {"image": ""} + self.server = None + self.client = None + + self.host = host + + # Image variables + self.image_to_be_shown = None + self.image_to_be_shown_updated = False + self.image_show_lock = threading.Lock() + + self.acknowledge = False + self.acknowledge_lock = threading.Lock() + + self.client_thread = threading.Thread(target=self.run_websocket) + self.client_thread.start() + + def run_websocket(self): + while True: + self.client = websocket.WebSocketApp( + "ws://127.0.0.1:2303", + on_message=self.on_message, + ) + self.client.run_forever(ping_timeout=None, ping_interval=0) + + # Explicit initialization function + # Class method, so user can call it without instantiation + @classmethod + def initGUI(cls, host): + # self.payload = {'image': '', 'shape': []} + new_instance = cls(host) + return new_instance + + # Function to prepare image payload + # Encodes the image as a JSON string and sends through the WS + def payloadImage(self): + self.image_show_lock.acquire() + image_to_be_shown_updated = self.image_to_be_shown_updated + image_to_be_shown = self.image_to_be_shown + self.image_show_lock.release() + + image = image_to_be_shown + payload = {"image": "", "shape": ""} + + if not image_to_be_shown_updated: + return payload + + shape = image.shape + frame = cv2.imencode(".JPEG", image)[1] + encoded_image = base64.b64encode(frame) + + payload["image"] = encoded_image.decode("utf-8") + payload["shape"] = shape + + self.image_show_lock.acquire() + self.image_to_be_shown_updated = False + self.image_show_lock.release() + + return payload + + # Function for student to call + def showImage(self, image): + self.image_show_lock.acquire() + self.image_to_be_shown = image + self.image_to_be_shown_updated = True + self.image_show_lock.release() + + # Function to get the client + # Called when a new client is received + def get_client(self, client, server): + self.client = client + + # Function to get value of Acknowledge + def get_acknowledge(self): + self.acknowledge_lock.acquire() + acknowledge = self.acknowledge + self.acknowledge_lock.release() + + return acknowledge + + # Function to get value of Acknowledge + def set_acknowledge(self, value): + self.acknowledge_lock.acquire() + self.acknowledge = value + self.acknowledge_lock.release() + + # Update the gui + def update_gui(self): + # Payload Image Message + payload = self.payloadImage() + self.payload["image"] = json.dumps(payload) + + message = json.dumps(self.payload) + if self.client: + try: + self.client.send(message) + except Exception as e: + print(f"Error sending message: {e}") + + + def on_message(self, ws, message): + """Handles incoming messages from the websocket client.""" + if message.startswith("#ack"): + self.set_acknowledge(True) + + # Function to reset + def reset_gui(self): + pass + + +class ThreadGUI: + """Class to manage GUI updates and frequency measurements in separate threads.""" + + def __init__(self, gui): + """Initializes the ThreadGUI with a reference to the GUI instance.""" + self.gui = gui + self.ideal_cycle = 80 + self.real_time_factor = 0 + self.frequency_message = {"brain": "", "gui": "", "rtf": ""} + self.iteration_counter = 0 + self.running = True + + def start(self): + """Starts the GUI, frequency measurement, and real-time factor threads.""" + self.frequency_thread = threading.Thread(target=self.measure_and_send_frequency) + self.gui_thread = threading.Thread(target=self.run) + self.rtf_thread = threading.Thread(target=self.get_real_time_factor) + self.frequency_thread.start() + self.gui_thread.start() + self.rtf_thread.start() + print("GUI Thread Started!") + + def get_real_time_factor(self): + """Continuously calculates the real-time factor.""" + while True: + time.sleep(2) + args = ["gz", "stats", "-p"] + stats_process = subprocess.Popen(args, stdout=subprocess.PIPE) + with stats_process.stdout: + for line in iter(stats_process.stdout.readline, b""): + stats_list = [x.strip() for x in line.split(b",")] + self.real_time_factor = stats_list[0].decode("utf-8") + + def measure_and_send_frequency(self): + """Measures and sends the frequency of GUI updates and brain cycles.""" + previous_time = datetime.now() + while self.running: + time.sleep(2) + current_time = datetime.now() + dt = current_time - previous_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + previous_time = current_time + measured_cycle = ( + ms / self.iteration_counter if self.iteration_counter > 0 else 0 + ) + self.iteration_counter = 0 + brain_frequency = ( + round(1000 / measured_cycle, 1) if measured_cycle != 0 else 0 + ) + gui_frequency = round(1000 / self.ideal_cycle, 1) + self.frequency_message = { + "brain": brain_frequency, + "gui": gui_frequency, + "rtf": self.real_time_factor, + } + message = json.dumps(self.frequency_message) + if self.gui.client: + try: + self.gui.client.send(message) + except Exception as e: + print(f"Error sending frequency message: {e}") + + def run(self): + """Main loop to update the GUI at regular intervals.""" + while self.running: + start_time = datetime.now() + self.gui.update_gui() + self.iteration_counter += 1 + finish_time = datetime.now() + dt = finish_time - start_time + ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0 + sleep_time = max(0, (50 - ms) / 1000.0) + time.sleep(sleep_time) diff --git a/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/image.png b/exercises/static/exercises/color_filter_newmanager/python_template/ros2_humble/image.png new file mode 100644 index 0000000000000000000000000000000000000000..b95b8b8410041003739b05216e10a3469ff8e295 GIT binary patch literal 62912 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zn&(q7`&hi{3nuZ!l);fH&&R9jHL~ENRMObzGa&p!OIXjau<*LNez4O8a4PGnb*|W8 zcctxWtaMtoTkmQ0BnQH*%*;1M{;cDBKud*P_kg${@4a#fL6t7ub2tL&b?c8L-X^bX z{jFWv4qWT>IPQ>1a^0|1^ZWo5HNx+nvz+XuV0p!V;t)0l_CZ!wjTnaCMd}8p0={ET zqIT{eMeMB#y8k6EeNF&=Q7ydoFrov~r`DRfdSrR6`Zzio?^^Na0TA7RH-||d!1L_8 z{LidcY{a(*0cG8#0f`@Md2~#&Xkh`i+>O4sl#s_6>+f;KTa(9p_S6CUwjLrY7{8R$uxE?^q8Ru;vCBJOG*1J-EBbnH(gOx#?|eNeH~PP4 d`gimnTjuf!W=-+(RPNhn0 { + return ( + + {props.children} + + ); +}; + +export default ColorFilterRR; diff --git a/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js new file mode 100644 index 000000000..2fd2999da --- /dev/null +++ b/exercises/static/exercises/color_filter_newmanager/react-components/SpecificColorFilter.js @@ -0,0 +1,67 @@ +import * as React from "react"; +import PropTypes from "prop-types"; +import {drawImage, startStreaming} from "./helpers/showImagesColorFilter"; +// The stream & capture +//var stream = document.getElementById('stream'); + + +function SpecificColorFilter(props) { + const [image, setImage] = React.useState(null) + React.useEffect(() => { + console.log("TestShowScreen subscribing to ['update'] events"); + // Start Streaming + //startStreaming() + const callback = (message) => { + console.log(message); + + if (message.data.update.image) { + drawImage(message.data.update); + } + + // Send the ACK of the msg + window.RoboticsExerciseComponents.commsManager.send("gui", "ack"); + }; + + /*return () => { + + // Start Streaming + startStreaming() + };*/ + + window.RoboticsExerciseComponents.commsManager.subscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + + return () => { + console.log("TestShowScreen unsubscribing from ['state-changed'] events"); + window.RoboticsExerciseComponents.commsManager.unsubscribe( + [window.RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + }; + }, []); + + + + return ( +