Merge pull request #79 from LaboratoireMecaniqueLille/release/2.0.0

Release of Crappy version 2.0.0

docs/source/conf.py

@@ -16,7 +16,7 @@
 from time import gmtime, strftime
 from re import match
 
-__version__ = '2.0.0-rc.0'
+__version__ = '2.0.0'
 
 # -- Project information -----------------------------------------------------
 

setup.py

@@ -18,6 +18,8 @@
 extensions = []
 
 # Now finding the extensions to install
+install_camera_link = False
+install_py_fgen = False
 if platform.system() == "Linux":
   # Find the latest runtime version of SiliconSoftware install
   try:
@@ -38,16 +40,10 @@
                        "-l", "clsersis", "-l", "fglib5"],
       include_dirs=[f'/usr/local/lib/python{py_ver}/dist-packages/numpy/'
                     f'core/include'])
+
     p = popen("lsmod | grep menable")
-    if p.read():
-      if input("would you like to install CameraLink module? ([y]/n)") != "n":
-        print("menable kernel module found, installing CameraLink module.")
-        extensions.append(cl_module)
-      else:
-        print("menable kernel module found, but not installing")
-    else:
-      print("Cannot find menable kernel module, CameraLink module won't be "
-            "available.")
+    if p.read() and install_camera_link:
+      extensions.append(cl_module)
 
 if platform.system() == "Windows":
 
@@ -61,7 +57,7 @@
     library_dirs=["C:\\Program Files\\IVI Foundation\\IVI\\Lib_x64\\msc"],
     extra_compile_args=["/EHsc", "/WX"])
 
-  if input("would you like to install pyFgen module? ([y]/n)") != "n":
+  if install_py_fgen:
     extensions.append(py_fgen_module)
 
   cl_path = "C:\\Program Files\\SiliconSoftware\\Runtime5.2.1\\"
@@ -76,11 +72,7 @@
     extra_compile_args=["/EHsc", "/WX"])
 
   p = popen('driverquery /NH | findstr "me4"')
-  if p.read():
-    if input("would you like to install CameraLink module? ([y]/n)") != "n":
-      extensions.append(cl_module)
-  else:
-    print("Can't find microEnable4 Device driver, clModule will not be "
-          "compiled")
+  if p.read() and install_camera_link:
+    extensions.append(cl_module)
 
 setup(ext_package='crappy', ext_modules=extensions)

src/crappy/__version__.py

@@ -1,3 +1,3 @@
 # coding: utf-8
 
-__version__ = '2.0.0-rc.0'
+__version__ = '2.0.0'

src/crappy/blocks/_deprecated.py

@@ -3,6 +3,67 @@
 from .meta_block import Block
 
 
+def recv_all(_):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method recv_all was deprecated in version "
+                            "2.0.0, please use recv_all_data instead !")
+
+
+def poll(_):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method poll was deprecated in version "
+                            "2.0.0, please use data_available instead !")
+
+
+def recv_all_last(_):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method recv_all_last was deprecated in "
+                            "version 2.0.0, please use recv_last_data "
+                            "instead !")
+
+
+def get_last(_, *__, **___):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method get_last was deprecated in version "
+                            "2.0.0, please use recv_last_data instead !")
+
+
+def get_all_last(_, *__, **___):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method get_all_last was deprecated in "
+                            "version 2.0.0, please use recv_all_data "
+                            "instead !")
+
+
+def recv_all_delay(_, *__, **___):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method recv_all_delay was deprecated in "
+                            "version 2.0.0, please use recv_all_data_raw "
+                            "instead !")
+
+
+def drop(_, *__, **___):
+  """Empty function for signaling a deprecated method of the Block object."""
+
+  raise NotImplementedError("The method drop was deprecated in version "
+                            "2.0.0 !")
+
+
+setattr(Block, recv_all.__name__, recv_all)
+setattr(Block, poll.__name__, poll)
+setattr(Block, recv_all_last.__name__, recv_all_last)
+setattr(Block, get_last.__name__, get_last)
+setattr(Block, get_all_last.__name__, get_all_last)
+setattr(Block, recv_all_delay.__name__, recv_all_delay)
+setattr(Block, drop.__name__, drop)
+
+
 class AutoDrive(Block):
   """Empty class for signaling an object of version 1.5 whose name changed in
   version 2.0 and is now deprecated.

src/crappy/blocks/client_server.py

@@ -17,7 +17,7 @@
 try:
   import paho.mqtt.client as mqtt
 except (ModuleNotFoundError, ImportError):
-  mqtt = OptionalModule("paho.mqtt.client")
+  mqtt = OptionalModule("paho-mqtt")
 
 TopicsType = Iterable[Union[str, Iterable[str]]]
 
@@ -229,15 +229,8 @@ def __init__(self,
     self._port = port
     self._spam = spam
     self._init_output = init_output if init_output is not None else dict()
-    self._reader = Thread(target=self._output_reader)
 
     self._stop_mosquitto = False
-
-    # Instantiating the client
-    self._client = mqtt.Client(str(time()))
-    self._client.on_connect = self._on_connect
-    self._client.on_message = self._on_message
-    self._client.reconnect_delay_set(max_delay=10)
 
     # These attributes may be set later
     self._topics: Optional[List[Tuple[str, ...]]] = None
@@ -259,9 +252,6 @@ def __init__(self,
       # The last out vals are given for each label, not each topic
       self._last_out_val = {label: None for label in chain(*self._topics)}
 
-      # The buffer for received data is a dictionary of queues
-      self._buffer_output = {topic: Queue() for topic in self._topics}
-
     # Preparing for publishing data
     if cmd_labels is not None:
       # Replacing strings with tuples
@@ -292,16 +282,31 @@ def prepare(self) -> None:
     if self._cmd_labels is not None and not self.inputs:
       raise ValueError("cmd_labels are specified but there's no input link !")
 
+    # Setting the buffer here because Queue objects cannot be set during
+    # __init__ in spawn multiprocessing mode
+    if self._topics is not None:
+      # The buffer for received data is a dictionary of queues
+      self._buffer_output = {topic: Queue() for topic in self._topics}
+
     # Starting the broker
     if self._broker:
       self.log(logging.INFO, f"Starting the Mosquitto broker on port "
                              f"{self._port}")
       self._launch_mosquitto()
+      # Creating and starting a Thread reading the stdout of the broker
+      self._reader = Thread(target=self._output_reader)
       self._reader.start()
       sleep(2)
       self.log(logging.INFO, "Waiting for Mosquitto to start")
       sleep(2)
 
+    # Instantiating the client here as it cannot be set during __init__ in
+    # spawn multiprocessing mode
+    self._client = mqtt.Client(str(time()))
+    self._client.on_connect = self._on_connect
+    self._client.on_message = self._on_message
+    self._client.reconnect_delay_set(max_delay=10)
+
     # Connecting to the broker
     try_count = 15
     while True:

src/crappy/blocks/pid.py

@@ -187,7 +187,7 @@ def loop(self) -> None:
     # Calculating the three PID terms
     p_term = self._kp * error
     self._i_term += self._ki * error * delta_t
-    d_term = - self._kd * d_input / delta_t
+    d_term = - self._kd * d_input / delta_t if delta_t > 0 else 0
 
     self._prev_t = t
     self._last_input = input_

src/crappy/blocks/stop_block.py

@@ -64,8 +64,15 @@ def __init__(self,
       criteria = (criteria,)
     criteria = tuple(criteria)
 
-    # Ultimately, all the criteria are converted to Callables
-    self._criteria = tuple(map(self._parse_criterion, criteria))
+    self._raw_crit = criteria
+    self._criteria = None
+
+  def prepare(self) -> None:
+    """Converts all the given criteria to :ref:`collections.abc.Callable`."""
+
+    # This operation cannot be performed during __init__ due to limitations of
+    # the spawn start method of multiprocessing
+    self._criteria = tuple(map(self._parse_criterion, self._raw_crit))
 
   def loop(self) -> None:
     """Receives data from upstream Blocks, checks if this data meets the

src/crappy/camera/gstreamer_camera_v4l2.py

@@ -251,7 +251,7 @@ def open(self,
         else:
           self.log(logging.ERROR, f'The type {param.type} is not yet'
                                   f' implemented. Only int, bool and menu '
-                                  f'type are implemented. ')
+                                  f'type are implemented.')
           raise NotImplementedError
 
       # No need to add the channels setting if there's only one channel

src/crappy/modifier/__init__.py

@@ -15,4 +15,6 @@
 from .trig_on_change import TrigOnChange
 from .trig_on_value import TrigOnValue
 
+from ._deprecated import Moving_avg, Moving_med, Trig_on_change, Trig_on_value
+
 modifier_dict: Dict[str, Type[Modifier]] = MetaModifier.classes

src/crappy/modifier/_deprecated.py

@@ -0,0 +1,71 @@
+# coding: utf-8
+
+from .meta_modifier import Modifier
+
+
+class Moving_avg(Modifier):
+  """Empty class for signaling an object of version 1.5 whose name changed in
+    version 2.0 and is now deprecated.
+
+  The new name of the correct object to use is given.
+  """
+
+  def __init__(self, *_, **__) -> None:
+    """Simply raises the exception when instantiating the object."""
+
+    super().__init__()
+
+    raise NotImplementedError(f"The {type(self).__name__} Modifier was "
+                              f"renamed to MovingAvg in version 2.0.0 ! "
+                              f"Check the documentation for more information.")
+
+
+class Moving_med(Modifier):
+  """Empty class for signaling an object of version 1.5 whose name changed in
+    version 2.0 and is now deprecated.
+
+  The new name of the correct object to use is given.
+  """
+
+  def __init__(self, *_, **__) -> None:
+    """Simply raises the exception when instantiating the object."""
+
+    super().__init__()
+
+    raise NotImplementedError(f"The {type(self).__name__} Modifier was "
+                              f"renamed to MovingMed in version 2.0.0 ! "
+                              f"Check the documentation for more information.")
+
+
+class Trig_on_change(Modifier):
+  """Empty class for signaling an object of version 1.5 whose name changed in
+    version 2.0 and is now deprecated.
+
+  The new name of the correct object to use is given.
+  """
+
+  def __init__(self, *_, **__) -> None:
+    """Simply raises the exception when instantiating the object."""
+
+    super().__init__()
+
+    raise NotImplementedError(f"The {type(self).__name__} Modifier was "
+                              f"renamed to TrigOnChange in version 2.0.0 ! "
+                              f"Check the documentation for more information.")
+
+
+class Trig_on_value(Modifier):
+  """Empty class for signaling an object of version 1.5 whose name changed in
+    version 2.0 and is now deprecated.
+
+  The new name of the correct object to use is given.
+  """
+
+  def __init__(self, *_, **__) -> None:
+    """Simply raises the exception when instantiating the object."""
+
+    super().__init__()
+
+    raise NotImplementedError(f"The {type(self).__name__} Modifier was "
+                              f"renamed to TrigOnValue in version 2.0.0 ! "
+                              f"Check the documentation for more information.")

src/crappy/tool/camera_config/camera_config.py

@@ -10,8 +10,8 @@
 from pkg_resources import resource_string
 from io import BytesIO
 import logging
-from multiprocessing import current_process, Event, Pipe
-from multiprocessing.queues import Queue
+from multiprocessing import current_process, Event, Queue
+from multiprocessing.queues import Queue as MPQueue
 
 from .config_tools import Zoom, HistogramProcess
 from ...camera.meta_camera.camera_setting import CameraBoolSetting, \
@@ -58,7 +58,7 @@ class CameraConfig(tk.Tk):
 
   def __init__(self,
                camera: Camera,
-               log_queue: Queue,
+               log_queue: MPQueue,
                log_level: Optional[int],
                max_freq: Optional[float]) -> None:
     """Initializes the interface and displays it.
@@ -86,11 +86,11 @@ def __init__(self,
     # Instantiating objects for the process managing the histogram calculation
     self._stop_event = Event()
     self._processing_event = Event()
-    self._img_in, img_in_proc = Pipe()
-    img_out_proc, self._img_out = Pipe()
+    self._img_in = Queue(maxsize=0)
+    self._img_out = Queue(maxsize=0)
     self._histogram_process = HistogramProcess(
         stop_event=self._stop_event, processing_event=self._processing_event,
-        img_in=img_in_proc, img_out=img_out_proc, log_level=log_level,
+        img_in=self._img_in, img_out=self._img_out, log_level=log_level,
         log_queue=log_queue)
 
     # Attributes containing the several images and histograms
@@ -142,8 +142,8 @@ def main(self) -> None:
 
     while self._run:
       # Remaining below the max allowed frequency
-      if self._max_freq is None or \
-         self._n_loops / (time() - start_time) < self._max_freq:
+      if self._max_freq is None or (self._n_loops <
+                                    self._max_freq * (time() - start_time)):
         # Update the image, the histogram and the information
         self._update_img()
 
@@ -967,12 +967,12 @@ def _calc_hist(self) -> None:
 
       # Sending the image to the histogram process
       self.log(logging.DEBUG, "Sending image for histogram calculation")
-      self._img_in.send((hist_img, self._auto_range.get(),
-                         self._low_thresh, self._high_thresh))
+      self._img_in.put_nowait((hist_img, self._auto_range.get(),
+                               self._low_thresh, self._high_thresh))
 
     # Checking if a histogram is available for display
-    while self._img_out.poll():
-      self._hist = self._img_out.recv()
+    while not self._img_out.empty():
+      self._hist = self._img_out.get_nowait()
       self.log(logging.DEBUG, "Received histogram from histogram process")
 
   def _resize_hist(self) -> None: