fix - Activate API

- Pass the mode changed to 0.2 -> 0.5
- Remove all input_output
- PUT API in the last (Object Collector take long time to initialize)

rpi/manager/thymio/manager.py

@@ -11,16 +11,16 @@
 class ThymioManager(BaseManager):
     current_mode = 0
     last_mode_change_time = 0  
-    mode_change_delay = 0.2
+    mode_change_delay = 0.5
 
     def __init__(self):
         self.controller = ThymioController()
         self.logger = logging.getLogger(__name__)
 
         self.tasks = [
-            # API(self.controller),
             ObjectCollector(self.controller), 
             FollowLine(self.controller), 
+            API(self.controller),
         ]
 
         self.num_modes = len(self.tasks)

rpi/sockets/camera.py

@@ -1,2 +1,56 @@
-class CameraServer():
-    pass
+import asyncio
+import websockets
+import logging
+
+from PIL import Image
+from io import BytesIO
+from vision.camera import Camera
+
+class CameraServer:
+    def __init__(self):
+        self.connected = set()
+        self.logger = logging.getLogger(__name__)
+        self.camera = Camera()
+
+    async def send_to_all_clients(self):
+        while True:
+            await asyncio.sleep(1/20.0) 
+
+            if len(self.connected) == 0:
+                continue
+
+            img = self.camera.grab_frame_loop()
+            if img is None:
+                continue
+
+            with BytesIO() as bytes:
+                pil_img = Image.fromarray(img)
+                pil_img.save(bytes, 'jpeg')
+                message = bytes.getvalue()
+
+            for websocket in list(self.connected): 
+                try:
+                    await websocket.send(message)
+                except websockets.ConnectionClosed:
+                    self.logger.warning("Client disconnected. Removing from list.")
+                    self.connected.remove(websocket)
+
+    async def handler(self, websocket, path):
+        self.logger.debug("New connection added.")
+        self.connected.add(websocket)
+
+        try:
+            async for message in websocket:
+                self.logger.debug(f"Receive commands :", message)
+        except (websockets.ConnectionClosed, Exception) as e:
+            self.logger.warning(f"Connection closed due to error: {e}")
+        finally:
+            self.connected.remove(websocket)
+
+    def run(self):
+        server_coro = websockets.serve(self.handler, '0.0.0.0', 5678)
+
+        self.loop = asyncio.get_event_loop()
+
+        self.loop.run_until_complete(server_coro)
+        self.loop.create_task(self.send_to_all_clients())

rpi/tasks/api.py

@@ -2,80 +2,24 @@
 
 from controller.base import BaseController
 from tasks.base import Task
-from sockets.input_output import InputOuputServer
-
-import asyncio
-import websockets
-
-from PIL import Image
-from io import BytesIO
-from vision.camera import Camera
-
-class CameraServer:
-    def __init__(self):
-        self.connected = set()
-        self.logger = logging.getLogger(__name__)
-        self.camera = Camera()
-
-    async def send_to_all_clients(self):
-        while True:
-            await asyncio.sleep(1/20.0) 
-
-            if len(self.connected) == 0:
-                continue
-
-            img = self.camera.grab_frame_loop()
-            if img is None:
-                continue
-
-            with BytesIO() as bytes:
-                pil_img = Image.fromarray(img)
-                pil_img.save(bytes, 'jpeg')
-                message = bytes.getvalue()
-
-            for websocket in list(self.connected): 
-                try:
-                    await websocket.send(message)
-                except websockets.ConnectionClosed:
-                    self.logger.warning("Client disconnected. Removing from list.")
-                    self.connected.remove(websocket)
-
-    async def handler(self, websocket, path):
-        self.logger.debug("New connection added.")
-        self.connected.add(websocket)
-
-        try:
-            async for message in websocket:
-                self.logger.debug(f"Receive commands :", message)
-        except (websockets.ConnectionClosed, Exception) as e:
-            self.logger.warning(f"Connection closed due to error: {e}")
-        finally:
-            self.connected.remove(websocket)
-
-    def run(self):
-        server_coro = websockets.serve(self.handler, '0.0.0.0', 5678)
-
-        self.loop = asyncio.get_event_loop()
-
-        self.loop.run_until_complete(server_coro)
-        self.loop.create_task(self.send_to_all_clients())
-
+# from sockets.input_output import InputOuputServer
 
 class API(Task):
     def __init__(self, controller: BaseController):
         self.controller = controller
         self.logger = logging.getLogger(__name__)
 
-        self.input_output = InputOuputServer(self.controller)
-        self.input_output.run()
+        # self.input_output = InputOuputServer(self.controller)
+        # self.input_output.run()
 
-        self.camera_server = CameraServer()
-        self.camera_server.run()
+        # self.camera_server = CameraServer()
+        # self.camera_server.run()
 
-        asyncio.get_event_loop().run_forever()
+        # asyncio.get_event_loop().run_forever()
 
     def run(self):
         self.logger.info("API")
 
     def close(self):
-        self.input_output.close()
+        # self.input_output.close()
+        pass