-

Author: previ

.gitignore

@@ -34,6 +34,9 @@
 # Pictures taken
 photos/
 
+# Logs
+logs/
+
 # Tutorial
 static/blockly-tutorial
 

camera.py

@@ -5,6 +5,7 @@
 from PIL import Image as PILImage
 from StringIO import StringIO
 from threading import Thread, Lock
+import logging
 
 from viz import camera, streamer, image, blob
 import config
@@ -35,7 +36,7 @@ def get_instance(cls):
     return cls._instance
 
   def __init__(self):
-    print "starting camera"
+    logging.info("starting camera")
     cam_props = {"width":640, "height":480, "exposure_mode": config.Config.get().get("camera_exposure_mode")}
     self._camera = camera.Camera(props=cam_props)
     self._streamer = streamer.JpegStreamer("0.0.0.0:"+str(self.stream_port), st=0.1)
@@ -153,7 +154,7 @@ def get_photo_thumb_file(self, filename):
     return open(PHOTO_PATH + "/" + filename[:-len(PHOTO_FILE_EXT)] + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT)
 
   def delete_photo(self, filename):
-    print filename
+    logging.info("delete photo: " + filename)
     os.remove(PHOTO_PATH + "/" + filename)
     os.remove(PHOTO_PATH + "/" + filename[:filename.rfind(".")] + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT)
     self._photos.remove(filename)
@@ -179,7 +180,7 @@ def find_line(self):
       blobs[idx] = slice.find_blobs(minsize=30, maxsize=160)
       if len(blobs[idx]):
         coords[idx] = (blobs[idx][0].center[0] * 100) / 160
-	print "line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area())
+	logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
 
     self._image_lock.release()
     return coords[0]
@@ -192,7 +193,7 @@ def find_signal(self):
     img = self.get_image(0)
     signals = img.find_template(self._img_template)
 
-    print "signal: " + str(time.time() - ts)
+    logging.info("signal: " + str(time.time() - ts))
     if len(signals):
       angle = signals[0].angle
 
@@ -246,14 +247,14 @@ def path_ahead(self):
       #for b in blobs:
       #  print "blobs.bottom: " + str(b.bottom) + " area: " + str(b.area())
 
-      print "obstacle:" + str(obstacle.bottom) 
+      logging.info("obstacle:" + str(obstacle.bottom)) 
       #print "path_ahead.sortdistnace: " + str(time.time() - ts)
       #dw_x = 260 + obstacle.coordinates()[0] - (obstacle.width()/2)
       #dw_y = 160 + obstacle.coordinates()[1] - (obstacle.height()/2) 
       #img.drawRectangle(dw_x, dw_y, obstacle.width(), obstacle.height(), color=(255,0,0))
       x, y = img.transform((obstacle.center[0], obstacle.bottom))
       coordY = 60 - ((y * 48) / 100) 
-      print "coordY: " + str(coordY)
+      logging.info("coordY: " + str(coordY))
       #print obstacle.coordinates()[1]+(obstacle.height()/2)
       #ar_layer.centeredRectangle(obstacle.coordinates(), (obstacle.width(), obstacle.height()))
       #warped.addDrawingLayer(ar_layer)
@@ -281,22 +282,22 @@ def find_color(self, s_color):
     #objects = warped.findBlobs(minsize=200, maxsize=4000)
     bw = img.filter_color(color)
     objects = bw.find_blobs(minsize=50, maxsize=1000)
-    print objects
+    logging.debug("objects: " + str(objects))
     dist = -1
     angle = 180
 
     if objects and len(objects):
       obj = objects[-1]
       bottom = obj.bottom
-      print "bottom: ", obj.center[0], obj.bottom
+      logging.info("bottom: ", obj.center[0], obj.bottom)
       coords = bw.transform([(obj.center[0], obj.bottom)])
-      print "coordinates: ", coords
+      logging.info("coordinates: " + coords)
       x = coords[0][0]
       y = coords[0][1]
       #print "height: " + str(object.height())
       dist = math.sqrt(math.pow(12 + (68 * (120 - y) / 100),2) + (math.pow((x-80)*60/160,2)))
       angle = math.atan2(x - 80, 120 - y) * 180 / math.pi
-      print "object found, dist: " + str(dist) + " angle: " + str(angle)
+      logging.info("object found, dist: " + str(dist) + " angle: " + str(angle))
       #img.drawText("object found, dist: " + str(dist) + " angle: " + str(angle), 0, 0, fontsize=32 )
     #self.save_image(self._camera.get_image_jpeg())
     #self.save_image(img.to_jpeg())
@@ -305,6 +306,6 @@ def find_color(self, s_color):
     return [dist, angle]
 
   def sleep(self, elapse):
-    print "sleep"
+    logging.debug("sleep: " + elapse)
     time.sleep(elapse)
 

main.py

@@ -1,5 +1,7 @@
 import os
 import json
+import logging
+import logging.handlers
 
 from coderbot import CoderBot, PIN_PUSHBUTTON
 from camera import Camera
@@ -11,6 +13,13 @@
 from flask.ext.babel import Babel
 #from flask_sockets import Sockets
 
+logger = logging.getLogger()
+logger.setLevel(logging.INFO)
+ 
+# add a rotating handler
+handler = logging.handlers.RotatingFileHandler('logs/coderbot.log', maxBytes=1000000, backupCount=5)
+logger.addHandler(handler)
+
 bot = None
 cam = None
 motion = None
@@ -48,9 +57,9 @@ def handle_wifi():
     mode = request.form.get("wifi_mode")
     ssid = request.form.get("wifi_ssid")
     psk = request.form.get("wifi_psk")
-    print "mode ", mode, " ssid: ", ssid, " psk: ", psk
+    logging.info( "mode ", mode, " ssid: ", ssid, " psk: ", psk)
     client_params = " \"" + ssid + "\" \"" + psk + "\"" if ssid != "" and psk != "" else ""
-    print client_params
+    logging.info(client_params)
     os.system("sudo python wifi.py updatecfg " + mode + client_params)
     if mode == "ap":
       return "http://coder.bot:8080";
@@ -84,29 +93,29 @@ def handle_bot():
         bot.say(app.bot_config.get("sound_shutter"))
 
     elif cmd == "say":
-        print "say: " + str(param1)
+        logging.info("say: " + str(param1))
 	bot.say(param1)
 
     elif cmd == "halt":
-        print "shutting down"
+        logging.info("shutting down")
         bot.say(app.bot_config.get("sound_stop"))
 	bot.halt()
 
     return "ok"
 
 @app.route("/bot/status", methods=["GET"])
 def handle_bot_status():
-    print "bot_status"
+    logging.info( "bot_status" )
     return json.dumps({'status': 'ok'}) 
 
 @app.route("/photos", methods=["GET"])
 def handle_photos():
-    print "photos"
+    logging.info("photos")
     return json.dumps(cam.get_photo_list())
 
 @app.route("/photos/<filename>", methods=["GET"])
 def handle_photo(filename):
-    print "photo"
+    logging.info("photo")
     mimetype = {'jpeg': 'image/jpeg', 'h264': 'video/mp4'}
     video = None
     try:
@@ -118,30 +127,30 @@ def handle_photo(filename):
 
 @app.route("/photos/<filename>", methods=["POST"])
 def handle_photo_cmd(filename):
-    print "photo delete"
+    logging.debug("photo delete")
     cam.delete_photo(filename)
     return "ok"
 
 @app.route("/photos/<filename>/thumb", methods=["GET"])
 def handle_photo_thumb(filename):
-    print "photo_thumb"
+    logging.debug("photo_thumb")
     return send_file(cam.get_photo_thumb_file(filename))
 
 @app.route("/program/list", methods=["GET"])
 def handle_program_list():
-    print "program_list"
+    logging.debug("program_list")
     return json.dumps(app.prog_engine.list())
 
 @app.route("/program/load", methods=["GET"])
 def handle_program_load():
-    print "program_load"
+    logging.debug("program_load")
     name = request.args.get('name')
     app.prog = app.prog_engine.load(name)
     return app.prog.dom_code
 
 @app.route("/program/save", methods=["POST"])
 def handle_program_save():
-    print "program_save"
+    logging.debug("program_save")
     name = request.form.get('name')
     dom_code = request.form.get('dom_code')
     code = request.form.get('code')
@@ -151,30 +160,30 @@ def handle_program_save():
 
 @app.route("/program/delete", methods=["POST"])
 def handle_program_delete():
-    print "program_delete"
+    logging.debug("program_delete")
     name = request.form.get('name')
     app.prog_engine.delete(name)
     return "ok"
 
 @app.route("/program/exec", methods=["POST"])
 def handle_program_exec():
-    print "program_exec"
+    logging.debug("program_exec")
     name = request.form.get('name')
     code = request.form.get('code')
     app.prog = app.prog_engine.create(name, code)
     return json.dumps(app.prog.execute())
 
 @app.route("/program/end", methods=["POST"])
 def handle_program_end():
-    print "program_end"
+    logging.debug("program_end")
     if app.prog:
         app.prog.end()
     app.prog = None  
     return "ok"
 
 @app.route("/program/status", methods=["GET"])
 def handle_program_status():
-    print "program_status"
+    logging.debug("program_status")
     prog = Program("")
     if app.prog:
       prog = app.prog
@@ -202,7 +211,7 @@ def run_server():
     motion = Motion.get_instance()
   except ValueError as e:
     app.bot_config = {}
-    print e
+    logging.error(e)
   if app.bot_config.get('load_at_start') and len(app.bot_config.get('load_at_start')):
     app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
 

motion.py

@@ -1,6 +1,7 @@
 import cv2
 import math
 import numpy as np
+import logging
 from time import clock, time, sleep
 from viz import image, streamer
 
@@ -146,7 +147,7 @@ def track_keypoints(self, prev_image, cur_image, tracks):
         #print len(new_tracks), len(tracks)
         tracks[:] = new_tracks[:]
         if len(tracks) == 0:
-            print "lost ALL tp!"
+            logging.warn("lost ALL tp!")
             self.bot.stop()
             #exit(0)
         #cv2.polylines(self.vis, [np.int32(tr) for tr in self.tracks], False, (0, 255, 0))
@@ -194,7 +195,7 @@ def bot_turn(self, target_angle, delta_angle):
         power_angles = [[15, (40, -1)], [4, (80, 0.05)], [1, (80,0.02)], [0, (0, 0)]]
         done = False
         sign = (target_angle - delta_angle) / abs(target_angle - delta_angle)
-        print( "abs delta: ", abs(target_angle - delta_angle), " sign delta: ", sign ) 
+        logging.info( "abs delta: " + abs(target_angle - delta_angle) + " sign delta: " + sign )
         for p_a in power_angles:
            if abs(target_angle - delta_angle) > p_a[0]:
                print "pow: ", p_a[1][0], " duration: ", p_a[1][1]
@@ -206,9 +207,9 @@ def bot_turn(self, target_angle, delta_angle):
 
     def bot_move(self, target_dist, delta_dist, delta_angle):
         base_power = 100 * (target_dist/abs(target_dist))
-        print "base power", base_power
+        logging.info("base power" + base_power)
         self.delta_power += (delta_angle * 0.01)
-        print( "delta power: ", self.delta_power)
+        logging.info( "delta power: " + self.delta_power)
         if abs(delta_dist) < abs(target_dist):
             self.bot.motor_control(min(max(base_power-self.delta_power,-100),100), min(max(base_power+self.delta_power,-100),100), -1)
         else:

viz/camera.py

@@ -4,7 +4,7 @@
 import os
 import time
 import copy
-
+import logging
 
 class Camera():
 
@@ -14,7 +14,7 @@ class Camera():
   VIDEO_FILE_EXT_H264 = '.h264'
 
   def __init__(self, props):
-    print "camera init"
+    logging.info("camera init")
     self.camera = picamera.PiCamera()
     self.camera.resolution = (props.get('width', 640), props.get('height', 240))
     self.camera.framerate = 30
@@ -34,12 +34,12 @@ def video_rec(self, filename):
     with self.camera._encoders_lock:
       self.camera._encoders[2] = self.h264_encoder
 
-    print self.video_filename + self.VIDEO_FILE_EXT_H264
+    logging.debug( self.video_filename + self.VIDEO_FILE_EXT_H264 )
 
     self.h264_encoder.start(self.video_filename + self.VIDEO_FILE_EXT_H264)
 
   def video_stop(self):
-    print "video_stop"
+    logging.debug("video_stop")
     self.h264_encoder.stop()
 
     with self.camera._encoders_lock:
@@ -93,10 +93,10 @@ def grab(self):
     self.jpeg_encoder.close()
     self.rgb_encoder.close()
 
-    print "g.5: " + str(ts - time.time())
+    #print "g.5: " + str(ts - time.time())
 
   def grab_start(self):
-    print "grab_start"
+    logging.debug("grab_start")
 
     #ts = time.time()
     camera_port_0, output_port_0 = self.camera._get_ports(True, 0)
@@ -121,7 +121,7 @@ def grab_one(self):
       raise picamera.PiCameraError('Timed out')
 
   def grab_stop(self):
-    print "grab_stop"
+    logging.debug("grab_stop")
 
     with self.camera._encoders_lock:
       del self.camera._encoders[0]

viz/image.py

@@ -3,6 +3,7 @@
 import colorsys
 import copy
 import blob
+import logging
 
 r_from = np.float32([[0, 0], [160, 0], [160, 120], [0, 120]])
 r_dest   = np.float32([[0, -30], [160, -30], [95, 120], [65, 120]])
@@ -130,11 +131,11 @@ def find_template(self, img_template):
         h,w = img_template.shape
         pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2)
         dst = cv2.perspectiveTransform(pts,M)
-        print "found template: ", dst
+        logging.info("found template: " + dst)
         templates[0] = dst
 
       else:
-        print "Not enough matches are found - %d/%d" % (len(good),MIN_MATCH_COUNT)
+        logging.info( "Not enough matches are found - %d/%d" % (len(good),MIN_MATCH_COUNT))
         matchesMask = None
 
       return templates