Adding Signal Task service

src/delcommand.py

@@ -81,6 +81,7 @@ parser.add_option ("", "--search-areas", action="store_true", dest="search_areas
 parser.add_option ("", "--n-areas", action="store", type="int", dest="n_areas", default=3, help="Specify number of areas to search")
 parser.add_option ("", "--paper-scenario1", action="store_true", dest="paper_scenario1", help="Paper Scenario 1")
 parser.add_option ("", "--paper-scenario2", action="store_true", dest="paper_scenario2", help="Paper Scenario 2")
+parser.add_option ("", "--paper-scenario3", action="store_true", dest="paper_scenario3", help="Paper Scenario 3")
 parser.add_option ("", "--frame-rate", action="store", type="int", dest="frame_rate", default=15, help="frame_rate")
 (options, args) = parser.parse_args()
 
@@ -498,6 +499,48 @@ def paper_scenario2(ns, unit):
     (res, reason, timing) = mo.delegation_process(tree, options.exectree)
     return (res, reason, timing)
 
+def paper_scenario3(ns, unit):
+    conc = Node("conc", {"execution-ns": ns})
+    det =  Node("image-object-detection", {"execution-ns": "/gpu0"})
+
+    det_uuid = str(uuid.uuid4())
+    loop_uuid = str(uuid.uuid4())    
+    
+    objtypes = ["person", "car", "all"]    
+    det.set_params({"execution-ns": "/gpu0",
+                    "node-uuid": det_uuid,
+                    "image-input-url": "rtsp://178.174.249.11:5000/dji0",
+                    "image-input-ros-topic": "",
+                    "score": 0.4,
+                    "annotation": "standard",
+                    "detections-sensor-topic": "sensor/detections",
+                    "wanted-detection-rate": options.frame_rate,
+                    "object-types": objtypes})
+    conc.add_child(det)
+
+    seq = Node("seq", {"execution-ns": unit})
+    speed = 7.0
+    searcharea = Node("search-area", {"execution-ns": unit})
+    searcharea.set_params({"execution-ns": ns, "area": get_area(0, 0, 200), "speed": "standard" })
+    seq.add_child(searcharea)
+
+    send_signal_1 = Node("send-signal", {"execution-ns": unit, "uuid": det_uuid, "signal": "$enough"})
+    send_signal_2 = Node("send-signal", {"execution-ns": unit, "uuid": loop_uuid, "signal": "$enough"})
+    seq.add_child(send_signal_1)
+    seq.add_child(send_signal_2)
+
+    conc.add_child(seq)
+    
+    add_task = Node("add-task-to-team-queue", {"execution-ns": unit})
+
+    loop = Node("loop", {"execution-ns": unit, "node-uuid": loop_uuid})
+    loop.add_child(add_task)
+    conc.add_child(loop)
+    
+    tree = Node("seq", {"execution-ns": options.op}, [conc])
+    mo = MissionObject("search_area", ns, options.display, options.verbose)
+    (res, reason, timing) = mo.delegation_process(tree, options.exectree)
+    return (res, reason, timing)
 
 
 
@@ -597,5 +640,8 @@ if __name__ == "__main__":
     if options.paper_scenario2:
         paper_scenario2(ns, unit)
         
+    if options.paper_scenario3:
+        paper_scenario3(ns, unit)
+        
     print("RES:", res)