发表更新Programming11 分钟读完 (大约1692个字)

分布式波达方向定位尝试

想把odas这个项目弄成分布式的，用一个主机同时监控多个树莓派进行波达方向定位。源码备份在doa-project，防丢用。

树莓派

新的 raspbian buster 自带了python 3.7，安装pipenv即可：

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proxychains4 pip install pipenv

环境准备

初始化虚拟环境

为odas项目新建文件夹odas，初始化pipenv环境：

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mkdir odas
cd odas
proxychains4 pipenv --python 3.7
# 或 pipenv --python /usr/bin/python3

安装声卡驱动

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mkdir 3rd-lib
cd 3rd-lib

# 安装声卡驱动
git clone https://github.com/respeaker/seeed-voicecard.git
cd seeed-voicecard
sudo proxychains4 ./install.sh
sudo reboot -h now

# 测试声卡
arecord -L
aplay -L

编译odas项目

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# 编译odas
cd 3rd-lib/
proxychains4 git clone https://github.com/introlab/odas.git
mkdir odas/build
cd odas/build
cmake ..
make

# 做软链接方便使用
ln -s ~/odas/3rd-lib/odas/bin/odaslive ~/.local/bin/odaslive

# 测试odas
odaslive -c ~/respeaker-6mic-odas.cfg

安装pyzmq

新的buster自带了libzmq 4.3.1，安装pyzmq即可：

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proxychains4 pip install pyzmq

测试：

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>>> import zmq
>>> zmq.zmq_version()
'4.3.1'

配置防火墙

检查端口是否开启可以使用nc -zvw3 192.168.1.108 5557（z用于扫描端口的零I/O模式，v显示详情，w3三秒后超时）。

为zmq打开防火墙端口：

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sudo ufw allow proto tcp to 0.0.0.0/0 port 5556 comment "zmq publish port of odas for sound source tracking"
sudo ufw allow proto tcp to 0.0.0.0/0 port 5557 comment "zmq publish port of odas for sound source localization"

注：我一开始为了用上Python 3.7，早早更新了buster的测试版，现在buster正式发布了，更新时报错：

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E: Repository 'http://mirrors.aliyun.com/raspbian/raspbian buster InRelease' changed its 'Suite' value from 'testing' to 'stable'
N: This must be accepted explicitly before updates for this repository can be applied. See apt-secure(8) manpage for details.

按照Explicitly accept change for PPA ‘Label’方法中说的，把apt-get改成apt即可。

使用pyzmq发布定位数据

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from multiprocessing import Process
import os
import socket
import zmq


def sst_write(rpi_host='0.0.0.0', rpi_port=9000, zmq_host='*', zmq_port=5556):
    """
    A process, listened on socket://rpi_host:port,
        receive odas Sound Source Tracking(SST) json format data in bytes.
    Reassemble json byte frames and publish using zmq on tcp://zmq_host:zmq_port.
    :return: None
    """
    write_pid = os.getpid()
    print('#Write Process# %s start' % write_pid)
    bind_ip, bind_port = rpi_host, rpi_port
    server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    server.bind((bind_ip, bind_port))
    server.listen(5)  # max backlog of connections
    print('#Write Process# listening on {}:{}'.format(bind_ip, bind_port))
    client_socket, address = server.accept()
    print('#Write Process# accepted connection from {}:{}'.format(address[0], address[1]))

    context = zmq.Context()
    zmq_socket = context.socket(zmq.PUB)
    zmq_socket.bind(f"tcp://{zmq_host}:{zmq_port}")

    temp = b''
    while True:
        t = 0
        temp = client_socket.recv(1024)
        for i in range(5):
            t = temp.find(b'}', t) + 1
        zmq_socket.send(temp[:t])
        temp = temp[t:]


def ssl_write(rpi_host='0.0.0.0', rpi_port=9001, zmq_host='*', zmq_port=5557):
    """
    A process, listened on socket://rpi_host:port,
        receive odas Sound Source Localization(SSL) json format data in bytes.
    Reassemble json byte frames and publish using zmq on tcp://zmq_host:zmq_port.
    :return: None
    """
    write_pid = os.getpid()
    print('#Write Process# %s start' % write_pid)
    bind_ip, bind_port = rpi_host, rpi_port
    server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    server.bind((bind_ip, bind_port))
    server.listen(5)  # max backlog of connections
    print('#Write Process# listening on {}:{}'.format(bind_ip, bind_port))
    client_socket, address = server.accept()
    print('#Write Process# accepted connection from {}:{}'.format(address[0], address[1]))

    context = zmq.Context()
    zmq_socket = context.socket(zmq.PUB)
    zmq_socket.bind(f"tcp://{zmq_host}:{zmq_port}")

    temp = b''
    while True:
        t = 0
        temp = client_socket.recv(1024)
        for i in range(5):
            t = temp.find(b'}', t) + 1
        zmq_socket.send(temp[:t])
        temp = temp[t:]


if __name__ == '__main__':
    try:
        p_ssl_w = Process(target=ssl_write)
        p_sst_w = Process(target=sst_write)
        # p_ssl_r = Process(target=ssl_read, kwargs={"verbose": True})
        # 启动子进程pw，写入:
        p_ssl_w.start()
        p_sst_w.start()
        # 等待pw结束:
        p_ssl_w.join()
        p_sst_w.join()
    except KeyboardInterrupt:
        p_ssl_w.terminate()
        p_sst_w.terminate()
        print('KeyboardInterrupt pw pr Terminated')

远端主机

使用pyzmq订阅定位数据

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from multiprocessing import Process
import os
import json
import asyncio
from aiohttp import web, WSMsgType
import zmq


def sst_read(zmq_host='192.168.1.108', zmq_port=5556, aio_host='0.0.0.0', aio_port=8080, verbose=False):
    """
    A process, used for subscribing zmq socket on tcp://zmq_host:zmq_port,
        receiving Sound Source Tracking(SST) data frames.
    In the meantime the process runs an aiohttp server on ws://aio_host:aio_port,
        sending SST data frames to user browser via websocket connection.
    User browser websocket-client should send a 'received' message after every data frame received,
        to tell the server 'last message received, please send next.'
    :output: Sound Source Tracking output like this:
    {
        "timeStamp": 45602,
        "src": [
            { "id": 43, "tag": "dynamic", "x": 0.025, "y": 0.128, "z": 0.991, "activity": 1.000 },
            { "id": 0, "tag": "", "x": 0.000, "y": 0.000, "z": 0.000, "activity": 0.000 },
            { "id": 0, "tag": "", "x": 0.000, "y": 0.000, "z": 0.000, "activity": 0.000 },
            { "id": 0, "tag": "", "x": 0.000, "y": 0.000, "z": 0.000, "activity": 0.000 }
        ]
    }
    :return: None
    """
    read_pid = os.getpid()
    print('#Read  Process# %s start' % read_pid)
    routes = web.RouteTableDef()

    context = zmq.Context()
    zmq_socket = context.socket(zmq.SUB)

    print("Collecting updates from odas publisher...")
    zmq_socket.connect(f"tcp://{zmq_host}:{zmq_port}")
    zmq_socket.setsockopt_string(zmq.SUBSCRIBE, '{')

    @routes.get('/ws')
    async def websocket_handler(request):
        print('websocket connection open')

        ws = web.WebSocketResponse()
        await ws.prepare(request)
        c = 0
        await ws.send_str(zmq_socket.recv_string())
        async for msg in ws:
            if msg.type == WSMsgType.TEXT:
                if msg.data == 'close':
                    print('websocket connection close')
                    await ws.close()
                else:
                    c += 1
                    tmp = zmq_socket.recv_string()
                    await ws.send_str(tmp)
                    if verbose:
                        c += 1
                        print(f'\r{c}', end='', flush=True)
                    # TODO: debug jump, delete later
                    # for i in range(100):
                    #     zmq_socket.recv_string()
            elif msg.type == WSMsgType.ERROR:
                print('ws connection closed with exception %s' %
                      ws.exception())
        return ws

    app = web.Application()
    app.add_routes(routes)
    web.run_app(app, host=aio_host, port=aio_port)


def ssl_read(zmq_host='192.168.1.108', zmq_port=5557, aio_host='0.0.0.0', aio_port=8081, verbose=False):
    """
    A process, used for subscribing zmq socket on tcp://zmq_host:zmq_port,
        receiving Sound Source Localization(SSL) data frames.
    In the meantime the process runs an aiohttp server on ws://aio_host:aio_port/ws,
        sending SSL data frames to user browser via websocket connection.
    User browser websocket-client should send a 'received' message after every data frame received,
        to tell the server 'last message received, please send next.'
    :output: Sound Source Localization output like this:
    {
        "timeStamp": 45608,
        "src": [
            { "x": 0.132, "y": 0.181, "z": 0.975, "E": 0.557 },
            { "x": 0.198, "y": 0.342, "z": 0.918, "E": 0.130 },
            { "x": 0.000, "y": 0.273, "z": 0.962, "E": 0.018 },
            { "x": 0.000, "y": 0.339, "z": 0.941, "E": 0.006 }
        ]
    }
    :return: None
    """
    read_pid = os.getpid()
    print('#Read  Process# %s start' % read_pid)
    routes = web.RouteTableDef()

    context = zmq.Context()
    zmq_socket = context.socket(zmq.SUB)

    print("Collecting updates from odas publisher...")
    zmq_socket.connect(f"tcp://{zmq_host}:{zmq_port}")
    zmq_socket.setsockopt_string(zmq.SUBSCRIBE, '{')

    @routes.get('/ws')
    async def websocket_handler(request):
        print('websocket connection open')

        ws = web.WebSocketResponse()
        await ws.prepare(request)
        c = 0
        await ws.send_str(zmq_socket.recv_string())
        async for msg in ws:
            if msg.type == WSMsgType.TEXT:
                if msg.data == 'close':
                    print('websocket connection close')
                    await ws.close()
                else:
                    tmp = zmq_socket.recv_string()
                    await ws.send_str(tmp)
                    if verbose:
                        c += 1
                        print(f'\r{c}', end='', flush=True)
                    # TODO: debug jump, delete later
                    # for i in range(100):
                    #     zmq_socket.recv_string()
            elif msg.type == WSMsgType.ERROR:
                print('ws connection closed with exception %s' %
                      ws.exception())
        return ws

    app = web.Application()
    app.add_routes(routes)
    web.run_app(app, host=aio_host, port=aio_port)


if __name__ == '__main__':
    try:
        p_ssl_r = Process(target=ssl_read, kwargs={"verbose": True})
        # p_ssl_r = Process(target=ssl_read)
        p_sst_r = Process(target=sst_read)
        # 启动子进程pr，读取:
        p_ssl_r.start()
        p_sst_r.start()
    except KeyboardInterrupt:
        p_ssl_r.terminate()
        p_sst_r.terminate()
        print('KeyboardInterrupt pw pr Terminated')

注意： 这里我使用了aiohttp将数据发布为websocket，在浏览器上进行可视化。

使用three.js可视化数据

封装ant-design组件

为了以后用着方便，我特意将可视化代码封装为ant-design的组件：

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# 新建文件夹
mkdir odas-front
# 安装antd测试
npm install antd --save

注意： 在电脑上用nvm控制node版本，最新的已经是版本12.x了。但是port安装的yarn使用的是node --version 10.16.0，因此还是要配合安装nvm install 10.16.0，使默认node变成10.16.0（12版本会报错）。

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安装`create-umi`
npm create umi
选择`app`，并同意使用`typescript`，再选择`dva`和`antd`

代码基本照抄odas的Element版本。

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