refactor: fix pylint
This commit is contained in:
Cyrille Nofficial
parent
6db1afce75
commit
7670b8b01a
@ -5,14 +5,14 @@ import abc
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import datetime
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import logging
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import typing
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from dataclasses import dataclass
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import cv2
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import depthai as dai
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import events.events_pb2
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import numpy as np
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import paho.mqtt.client as mqtt
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import events.events_pb2
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logger = logging.getLogger(__name__)
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_NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
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@ -92,7 +92,7 @@ class FrameProcessor:
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def process(self, img: dai.ImgFrame) -> typing.Any:
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"""
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Publish camera frames
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:param img:
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:param img: image read from camera
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:return:
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id frame reference
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:raise:
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@ -119,13 +119,23 @@ class FrameProcessor:
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class Source(abc.ABC):
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@abc.abstractmethod
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def get_stream_name(self) -> str:
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pass
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"""Base class for image source"""
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@abc.abstractmethod
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def link_preview(self, input_node: dai.Node.Input):
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pass
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def get_stream_name(self) -> str:
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"""
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Queue/stream name to use to get data
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:return: steam name
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"""
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@abc.abstractmethod
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def link(self, input_node: dai.Node.Input) -> None:
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"""
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Link this source to the input node
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:param: input_node: input node to link
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"""
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class ObjectDetectionNN:
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@ -165,9 +175,18 @@ class ObjectDetectionNN:
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return xout_nn
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def get_stream_name(self) -> str:
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"""
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Queue/stream name to use to get data
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:return: stream name
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"""
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return self._xout.getStreamName()
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def get_input(self) -> dai.Node.Input:
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"""
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Get input node to use to link with source node
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:return: input to link with source output, see Source.link()
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"""
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return self._manip_image.inputImage
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@ -192,23 +211,29 @@ class CameraSource(Source):
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# link camera preview to output
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cam_rgb.preview.link(xout_rgb.input)
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def link_preview(self, input_node: dai.Node.Input):
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def link(self, input_node: dai.Node.Input) -> None:
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self._cam_rgb.preview.link(input_node)
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def get_stream_name(self) -> str:
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return self._xout_rgb.getStreamName()
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@dataclass
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class MqttConfig:
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"""MQTT configuration"""
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host: str
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topic: str
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port: int = 1883
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qos: int = 0
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class MqttSource(Source):
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"""Image source based onto mqtt stream"""
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def __init__(self, device: dai.Device, pipeline: dai.Pipeline, mqtt_host: str, mqtt_topic: str,
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mqtt_port: int = 1883, mqtt_qos: int = 0):
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self._mqtt_host = mqtt_host
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self._mqtt_port = mqtt_port
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def __init__(self, device: dai.Device, pipeline: dai.Pipeline, mqtt_config: MqttConfig):
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self._mqtt_config = mqtt_config
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self._client = mqtt.Client()
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self._client.user_data_set({"topic": mqtt_topic, "qos": str(mqtt_qos)})
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self._client.user_data_set(mqtt_config)
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self._client.on_connect = self._on_connect
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self._client.on_message = self._on_message
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@ -220,27 +245,32 @@ class MqttSource(Source):
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self._img_in_queue = device.getInputQueue(self._img_in.getStreamName())
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def run(self):
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self._client.connect(host=self._mqtt_host, port=self._mqtt_port)
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def run(self) -> None:
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""" Connect and start mqtt loop """
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self._client.connect(host=self._mqtt_config.host, port=self._mqtt_config.port)
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self._client.loop_start()
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def stop(self):
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def stop(self) -> None:
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"""Stop and disconnect mqtt loop"""
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self._client.loop_stop()
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self._client.disconnect()
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@staticmethod
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def _on_connect(client: mqtt.Client, userdata: dict[str, str], flags, rc):
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# pylint: disable=unused-argument
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def _on_connect(client: mqtt.Client, userdata: MqttConfig, flags: typing.Any,
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result_connection: typing.Any) -> None:
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# if we lose the connection and reconnect then subscriptions will be renewed.
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client.subscribe(topic=userdata["topic"], qos=int(userdata["qos"]))
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client.subscribe(topic=userdata.topic, qos=userdata.qos)
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def _on_message(self, _: mqtt.Client, user_data: dict[str, str], msg: mqtt.MQTTMessage):
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# pylint: disable=unused-argument
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def _on_message(self, _: mqtt.Client, user_data: MqttConfig, msg: mqtt.MQTTMessage) -> None:
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frame_msg = events.events_pb2.FrameMessage()
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frame_msg.ParseFromString(msg.payload)
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frame = np.asarray(frame_msg.frame, dtype="uint8")
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frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
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nn_data = dai.NNData()
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nn_data.setLayer("data", _to_planar(frame, frame.shape()))
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nn_data.setLayer("data", _to_planar(frame, (300, 300)))
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self._img_in_queue.send(nn_data)
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def get_stream_name(self) -> str:
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@ -261,8 +291,6 @@ class PipelineController:
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def __init__(self, img_width: int, img_height: int, frame_processor: FrameProcessor,
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object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN):
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self._img_width = img_width
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self._img_height = img_height
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self._pipeline = self._configure_pipeline()
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self._frame_processor = frame_processor
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self._object_processor = object_processor
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@ -277,7 +305,7 @@ class PipelineController:
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pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
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# Link preview to manip and manip to nn
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self._camera.link_preview(self._object_node.get_input())
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self._camera.link(self._object_node.get_input())
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logger.info("pipeline configured")
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return pipeline
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@ -288,7 +316,7 @@ class PipelineController:
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:return:
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"""
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# Connect to device and start pipeline
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with dai.Device(self._pipeline) as device:
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with dai.Device(pipeline=self._pipeline) as device:
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logger.info('MxId: %s', device.getDeviceInfo().getMxId())
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logger.info('USB speed: %s', device.getUsbSpeed())
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logger.info('Connected cameras: %s', device.getConnectedCameras())
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@ -311,7 +339,7 @@ class PipelineController:
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except Exception as ex:
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logger.exception("unexpected error: %s", str(ex))
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def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue):
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def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue) -> None:
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logger.debug("wait for new frame")
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# Wait for frame
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@ -325,7 +353,7 @@ class PipelineController:
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in_nn: dai.NNData = q_nn.get()
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self._object_processor.process(in_nn, frame_ref)
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def stop(self):
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def stop(self) -> None:
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"""
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Stop event loop, if loop is not running, do nothing
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:return:
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@ -1,53 +0,0 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: events/events.proto
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"""Generated protocol buffer code."""
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from google.protobuf.internal import builder as _builder
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3')
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
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if _descriptor._USE_C_DESCRIPTORS == False:
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DESCRIPTOR._options = None
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DESCRIPTOR._serialized_options = b'Z\010./events'
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_DRIVEMODE._serialized_start=1196
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_DRIVEMODE._serialized_end=1241
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_TYPEOBJECT._serialized_start=1243
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_TYPEOBJECT._serialized_end=1293
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_FRAMEREF._serialized_start=72
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_FRAMEREF._serialized_end=156
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_FRAMEMESSAGE._serialized_start=158
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_FRAMEMESSAGE._serialized_end=225
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_STEERINGMESSAGE._serialized_start=227
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_STEERINGMESSAGE._serialized_end=327
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_THROTTLEMESSAGE._serialized_start=329
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_THROTTLEMESSAGE._serialized_end=429
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_DRIVEMODEMESSAGE._serialized_start=431
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_DRIVEMODEMESSAGE._serialized_end=496
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_OBJECTSMESSAGE._serialized_start=498
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_OBJECTSMESSAGE._serialized_end=600
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_OBJECT._serialized_start=603
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_OBJECT._serialized_end=731
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_SWITCHRECORDMESSAGE._serialized_start=733
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_SWITCHRECORDMESSAGE._serialized_end=771
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_ROADMESSAGE._serialized_start=774
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_ROADMESSAGE._serialized_end=914
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_POINT._serialized_start=916
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_POINT._serialized_end=945
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_ELLIPSE._serialized_start=947
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_ELLIPSE._serialized_end=1061
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_RECORDMESSAGE._serialized_start=1064
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_RECORDMESSAGE._serialized_end=1194
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# @@protoc_insertion_point(module_scope)
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