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<title>displayarray.__main__ &#8212; DisplayArray documentation</title>
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<h1>Source code for displayarray.__main__</h1><div class="highlight"><pre>
<span></span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd">DisplayArray.</span>
<span class="sd">Display NumPy arrays.</span>
<span class="sd">Usage:</span>
<span class="sd"> displayarray (-w &lt;webcam-number&gt; | -v &lt;video-filename&gt; | -t &lt;topic-name&gt;[,dtype])... [-m &lt;msg-backend&gt;]</span>
<span class="sd"> displayarray -h</span>
<span class="sd"> displayarray --version</span>
<span class="sd">Options:</span>
<span class="sd"> -h, --help Show this help text.</span>
<span class="sd"> --version Show version number.</span>
<span class="sd"> -w &lt;webcam-number&gt;, --webcam=&lt;webcam-number&gt; Display video from a webcam.</span>
<span class="sd"> -v &lt;video-filename&gt;, --video=&lt;video-filename&gt; Display frames from a video file.</span>
<span class="sd"> -t &lt;topic-name&gt;, --topic=&lt;topic-name&gt; Display frames from a topic using the chosen message broker.</span>
<span class="sd"> -m &lt;msg-backend&gt;, --message-backend &lt;msg-backend&gt; Choose message broker backend. [Default: ROS]</span>
<span class="sd"> Currently supported: ROS, ZeroMQ</span>
<span class="sd"> --ros Use ROS as the backend message broker.</span>
<span class="sd"> --zeromq Use ZeroMQ as the backend message broker.</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="kn">from</span> <span class="nn">docopt</span> <span class="k">import</span> <span class="n">docopt</span>
<span class="kn">import</span> <span class="nn">asyncio</span>
<div class="viewcode-block" id="main"><a class="viewcode-back" href="../../../displayarray_bash/#displayarray.__main__.main">[docs]</a><span class="k">def</span> <span class="nf">main</span><span class="p">(</span><span class="n">argv</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
<span class="sd">&quot;&quot;&quot;Process command line arguments.&quot;&quot;&quot;</span>
<span class="n">arguments</span> <span class="o">=</span> <span class="n">docopt</span><span class="p">(</span><span class="vm">__doc__</span><span class="p">,</span> <span class="n">argv</span><span class="o">=</span><span class="n">argv</span><span class="p">)</span>
<span class="k">if</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--version&quot;</span><span class="p">]:</span>
<span class="kn">from</span> <span class="nn">displayarray</span> <span class="k">import</span> <span class="n">__version__</span>
<span class="nb">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;DisplayArray V</span><span class="si">{__version__}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">return</span>
<span class="kn">from</span> <span class="nn">displayarray</span> <span class="k">import</span> <span class="n">display</span>
<span class="n">vids</span> <span class="o">=</span> <span class="p">[</span><span class="nb">int</span><span class="p">(</span><span class="n">w</span><span class="p">)</span> <span class="k">for</span> <span class="n">w</span> <span class="ow">in</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--webcam&quot;</span><span class="p">]]</span> <span class="o">+</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--video&quot;</span><span class="p">]</span>
<span class="n">v_disps</span> <span class="o">=</span> <span class="kc">None</span>
<span class="k">if</span> <span class="n">vids</span><span class="p">:</span>
<span class="n">v_disps</span> <span class="o">=</span> <span class="n">display</span><span class="p">(</span><span class="o">*</span><span class="n">vids</span><span class="p">,</span> <span class="n">blocking</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="kn">from</span> <span class="nn">displayarray.frame.frame_updater</span> <span class="k">import</span> <span class="n">read_updates_ros</span><span class="p">,</span> <span class="n">read_updates_zero_mq</span>
<span class="n">topics</span> <span class="o">=</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--topic&quot;</span><span class="p">]</span>
<span class="n">topics_split</span> <span class="o">=</span> <span class="p">[</span><span class="n">t</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;,&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">t</span> <span class="ow">in</span> <span class="n">topics</span><span class="p">]</span>
<span class="n">d</span> <span class="o">=</span> <span class="n">display</span><span class="p">()</span>
<span class="k">async</span> <span class="k">def</span> <span class="nf">msg_recv</span><span class="p">():</span>
<span class="k">nonlocal</span> <span class="n">d</span>
<span class="k">while</span> <span class="n">d</span><span class="p">:</span>
<span class="k">if</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--message-backend&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;ROS&quot;</span><span class="p">:</span>
<span class="k">async</span> <span class="k">for</span> <span class="n">v_name</span><span class="p">,</span> <span class="n">frame</span> <span class="ow">in</span> <span class="n">read_updates_ros</span><span class="p">(</span>
<span class="p">[</span><span class="n">t</span> <span class="k">for</span> <span class="n">t</span><span class="p">,</span> <span class="n">d</span> <span class="ow">in</span> <span class="n">topics_split</span><span class="p">],</span> <span class="p">[</span><span class="n">d</span> <span class="k">for</span> <span class="n">t</span><span class="p">,</span> <span class="n">d</span> <span class="ow">in</span> <span class="n">topics_split</span><span class="p">]</span>
<span class="p">):</span>
<span class="n">d</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">arr</span><span class="o">=</span><span class="n">frame</span><span class="p">,</span> <span class="nb">id</span><span class="o">=</span><span class="n">v_name</span><span class="p">)</span>
<span class="k">if</span> <span class="n">arguments</span><span class="p">[</span><span class="s2">&quot;--message-backend&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;ZeroMQ&quot;</span><span class="p">:</span>
<span class="k">async</span> <span class="k">for</span> <span class="n">v_name</span><span class="p">,</span> <span class="n">frame</span> <span class="ow">in</span> <span class="n">read_updates_zero_mq</span><span class="p">(</span>
<span class="o">*</span><span class="p">[</span><span class="nb">bytes</span><span class="p">(</span><span class="n">t</span><span class="p">,</span> <span class="n">encoding</span><span class="o">=</span><span class="s2">&quot;ascii&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">t</span> <span class="ow">in</span> <span class="n">topics</span><span class="p">]</span>
<span class="p">):</span>
<span class="n">d</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">arr</span><span class="o">=</span><span class="n">frame</span><span class="p">,</span> <span class="nb">id</span><span class="o">=</span><span class="n">v_name</span><span class="p">)</span>
<span class="k">async</span> <span class="k">def</span> <span class="nf">update_vids</span><span class="p">():</span>
<span class="k">while</span> <span class="n">v_disps</span><span class="p">:</span>
<span class="k">if</span> <span class="n">v_disps</span><span class="p">:</span>
<span class="n">v_disps</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
<span class="k">await</span> <span class="n">asyncio</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
<span class="k">async</span> <span class="k">def</span> <span class="nf">runner</span><span class="p">():</span>
<span class="k">await</span> <span class="n">asyncio</span><span class="o">.</span><span class="n">wait</span><span class="p">([</span><span class="n">msg_recv</span><span class="p">(),</span> <span class="n">update_vids</span><span class="p">()])</span>
<span class="n">loop</span> <span class="o">=</span> <span class="n">asyncio</span><span class="o">.</span><span class="n">get_event_loop</span><span class="p">()</span>
<span class="n">loop</span><span class="o">.</span><span class="n">run_until_complete</span><span class="p">(</span><span class="n">runner</span><span class="p">())</span>
<span class="n">loop</span><span class="o">.</span><span class="n">close</span><span class="p">()</span></div>
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
<span class="n">main</span><span class="p">()</span>
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