release: bump version to 0.50.0
This commit is contained in:
rayd1o
192
motion_agent/server.py
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192
motion_agent/server.py
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"""Async WebSocket server for local gesture events."""
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from __future__ import annotations
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import asyncio
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from collections.abc import Iterable
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from contextlib import suppress
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from typing import Any
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from .cameras import (
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MotionAgentCameraError,
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NullCameraInput,
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UrlCameraInput,
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UrlCameraSpec,
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UsbCameraInput,
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UsbCameraSpec,
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)
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from .config import MotionAgentConfig
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from .events import GestureEvent, HeartbeatEvent, SkeletonEvent, StatusEvent
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from .recognizer import GestureRecognizer, MediaPipeGestureRecognizer, NullGestureRecognizer
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from .state import GestureStateMachine
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class MotionAgentServer:
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def __init__(
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self,
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config: MotionAgentConfig,
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cameras: Iterable[Any] | None = None,
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recognizer: GestureRecognizer | None = None,
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) -> None:
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self.config = config
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self.cameras = list(cameras) if cameras is not None else self._build_cameras(config)
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self.recognizer = recognizer if recognizer is not None else self._build_recognizer(config)
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self.state = GestureStateMachine(
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confidence_threshold=config.confidence_threshold,
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cooldown_ms=config.cooldown_ms,
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mode=self._resolve_mode(),
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)
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self.clients: set[Any] = set()
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self.last_gesture: str | None = None
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self.last_error: str | None = None
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self._stop = asyncio.Event()
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def _build_cameras(self, config: MotionAgentConfig) -> list[Any]:
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if config.dry_run:
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return [NullCameraInput()]
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if config.camera_urls:
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return [
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UrlCameraInput(UrlCameraSpec(url=url, camera_id=f"url:{index}"))
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for index, url in enumerate(config.camera_urls)
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]
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specs = [
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UsbCameraSpec(
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index=index,
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width=config.camera_width,
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height=config.camera_height,
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fps=config.camera_fps,
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)
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for index in config.camera_indexes
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]
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return [UsbCameraInput(spec) for spec in specs]
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def _build_recognizer(self, config: MotionAgentConfig) -> GestureRecognizer:
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if config.dry_run:
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return NullGestureRecognizer()
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return MediaPipeGestureRecognizer()
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def _resolve_mode(self) -> str:
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if self.config.mode in {"single", "dual", "auto"}:
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if self.config.mode != "auto":
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return self.config.mode
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return "dual" if len(self.cameras) >= 2 else "single"
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def open_cameras(self) -> None:
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opened = []
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try:
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for camera in self.cameras:
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camera.open()
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opened.append(camera)
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except Exception:
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for camera in opened:
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with suppress(Exception):
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camera.close()
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raise
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def close_cameras(self) -> None:
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for camera in self.cameras:
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with suppress(Exception):
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camera.close()
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def status_event(self, connected: bool = True) -> StatusEvent:
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return StatusEvent(
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connected=connected,
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camera_count=len(self.cameras),
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active_camera_ids=tuple(camera.camera_id for camera in self.cameras),
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mode=self.state.mode,
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recognizer=self.recognizer.name,
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last_gesture=self.last_gesture,
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error=self.last_error,
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)
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async def broadcast(
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self,
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event: GestureEvent | HeartbeatEvent | SkeletonEvent | StatusEvent,
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) -> None:
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if not self.clients:
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return
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payload = event.to_json()
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stale = []
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for websocket in self.clients:
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try:
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await websocket.send(payload)
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except Exception:
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stale.append(websocket)
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for websocket in stale:
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self.clients.discard(websocket)
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async def handler(self, websocket: Any, path: str | None = None) -> None:
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if path is not None and path != self.config.path:
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await websocket.close(code=1008, reason="Unsupported motion agent path")
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return
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self.clients.add(websocket)
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await websocket.send(self.status_event().to_json())
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try:
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async for _message in websocket:
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await websocket.send(self.status_event().to_json())
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finally:
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self.clients.discard(websocket)
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async def heartbeat_loop(self) -> None:
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interval = max(0.1, self.config.heartbeat_interval_ms / 1000)
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while not self._stop.is_set():
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await self.broadcast(HeartbeatEvent())
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await asyncio.sleep(interval)
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async def recognition_loop(self) -> None:
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min_interval = 1 / max(1, self.config.max_event_hz)
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while not self._stop.is_set():
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try:
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for camera in self.cameras:
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frame = camera.read()
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observation = self.recognizer.recognize(frame)
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matched_gesture = None
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matched_confidence = 0.0
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if observation is None:
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event = None
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else:
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event = self.state.accept(observation)
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if event is not None:
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self.last_gesture = event.gesture
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matched_gesture = event.gesture
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matched_confidence = event.confidence
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await self.broadcast(event)
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skeleton = self.recognizer.debug_skeleton(
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frame,
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camera_id=camera.camera_id,
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mode=self.state.mode,
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matched_gesture=matched_gesture,
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confidence=matched_confidence,
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)
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if skeleton is not None:
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await self.broadcast(skeleton)
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except MotionAgentCameraError as exc:
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self.last_error = str(exc)
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await self.broadcast(self.status_event(connected=True))
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await asyncio.sleep(1)
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await asyncio.sleep(min_interval)
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async def run(self) -> None:
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try:
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import websockets
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except ImportError as exc:
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raise RuntimeError("websockets is required to run the motion agent server.") from exc
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self.open_cameras()
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async with websockets.serve(self.handler, self.config.host, self.config.port):
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print(f"Motion agent listening on {self.config.websocket_url}", flush=True)
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heartbeat_task = asyncio.create_task(self.heartbeat_loop())
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recognition_task = asyncio.create_task(self.recognition_loop())
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try:
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await self._stop.wait()
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finally:
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heartbeat_task.cancel()
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recognition_task.cancel()
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with suppress(asyncio.CancelledError):
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await heartbeat_task
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with suppress(asyncio.CancelledError):
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await recognition_task
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self.close_cameras()
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def stop(self) -> None:
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self._stop.set()
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