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287 | class CameraHandler:
"""
Camera handler.
Handle camera initialization.
"""
_frame_rate: float = 10 # Number of images processed by seconds
_exiting: bool = False # Exit requested if True
def __init__(self, frame_queue: Queue, stream_queue: Queue):
"""
Class constructor.
Create SocketIO client and connect to server.
"""
self.settings = Settings()
self.frame_queue = frame_queue
self.stream_queue = stream_queue
self.camera: Camera | None = None
self.record_filename: Path | None = None
self.record_writer: cv2.VideoWriter | None = None
self.sio = socketio.Client(logger=False, engineio_logger=False, handle_sigint=False)
self.register_sio_events()
signal.signal(signal.SIGTERM, self.exit_handler)
signal.signal(signal.SIGINT, signal.SIG_IGN)
Thread(
target=lambda: polling2.poll(
self.sio_connect,
step=1,
ignore_exceptions=(socketio.exceptions.ConnectionError),
poll_forever=True,
),
daemon=True,
).start()
@staticmethod
def exit_handler(signum, frame):
"""
Function called when TERM signal is received.
"""
if CameraHandler._exiting:
return
CameraHandler._exiting = True
raise ExitSignal()
def sio_connect(self) -> bool:
"""
Connect to SocketIO server.
Returning True stops polling for connection to succeed.
"""
if self._exiting:
return True
self.sio.connect(
str(self.settings.socketio_server_url),
namespaces=["/robotcam"],
)
return True
def open_camera(self):
"""
Initialize camera.
"""
camera_name = CameraName[self.settings.camera_name]
camera_codec = VideoCodec[self.settings.camera_codec]
camera_path: Path = camera_name.val
if not camera_path.exists():
logger.error(f"Camera not found: {camera_path}")
return
if camera_name == CameraName.rpicam:
CameraClass = RPiCamera
elif camera_name == CameraName.simcam:
CameraClass = SimCamera
else:
CameraClass = USBCamera
self.camera = CameraClass(
self.settings.id,
camera_name,
camera_codec,
self.settings.camera_width,
self.settings.camera_height,
self.settings.stream_width,
self.settings.stream_height,
)
self.camera.open()
def close_camera(self) -> None:
"""
Release camera device.
"""
if self.camera:
try:
self.camera.close()
logger.info("Camera handler: Camera closed.")
except Exception as exc: # noqa
logger.info("Camera handler: Failed to release camera: {exc}")
self.camera = None
def camera_handler(self) -> None:
"""
Read and process frames from camera.
"""
interval = 1.0 / self._frame_rate
try:
while not self._exiting:
start = time.time()
if not self.camera:
self.open_camera()
if not self.camera:
logger.warning("Camera handler: Failed to open camera, retry in 1s.")
sleep(1)
continue
try:
self.process_image()
except ExitSignal:
break
except Exception as exc:
logger.warning(f"Unknown exception: {exc}")
self.close_camera()
sleep(1)
continue
now = time.time()
duration = now - start
if duration > interval:
logger.warning(f"Function too long: {duration} > {interval}")
else:
wait = interval - duration
time.sleep(wait)
except ExitSignal:
CameraHandler._exiting = True
logger.info("Camera handler: Exiting.")
self.close_camera()
if self.sio.connected:
self.sio.disconnect()
if self.frame_queue:
self.frame_queue.cancel_join_thread()
if self.stream_queue:
self.stream_queue.cancel_join_thread()
def process_image(self) -> None:
"""
Read one frame from camera, process it, send samples to cogip-server
and generate image to stream.
"""
image_main, image_stream = self.camera.read()
if image_main is None:
raise Exception("Camera handler: Cannot read frame.")
# Encode the frame in JPEG format
ret, encoded_image = cv2.imencode(".jpg", image_main, [int(cv2.IMWRITE_JPEG_QUALITY), 95])
if not ret:
raise Exception("Can't encode frame.")
frame_data = encoded_image.tobytes()
if self.frame_queue:
if self.frame_queue.full():
try:
self.frame_queue.get_nowait()
except Empty:
pass
try:
self.frame_queue.put_nowait(frame_data)
except Full:
pass
if image_stream is not None:
ret, encoded_stream = cv2.imencode(".jpg", image_stream, [int(cv2.IMWRITE_JPEG_QUALITY), 70])
if ret:
stream_frame_data = encoded_stream.tobytes()
if self.stream_queue:
if self.stream_queue.full():
try:
self.stream_queue.get_nowait()
except Exception:
pass
try:
self.stream_queue.put_nowait(stream_frame_data)
except Full:
pass
if self.record_writer:
if len(image_main.shape) == 2:
image_record = cv2.cvtColor(image_main, cv2.COLOR_GRAY2BGR)
else:
image_record = image_main
self.record_writer.write(image_record)
def start_video_record(self):
if self.record_writer:
self.stop_video_record()
records_dir = Path.home() / "records"
records_dir.mkdir(exist_ok=True)
# Keep only 20 last records
for old_record in sorted(records_dir.glob("*.mp4"))[:-20]:
old_record.unlink()
timestamp = datetime.now().strftime("%Y%m%d-%H%M%S")
self.record_filename = records_dir / f"robot{self.settings.id}_{timestamp}.mp4"
logger.info(f"Start recording video in {self.record_filename}")
self.record_writer = cv2.VideoWriter(
str(self.record_filename),
cv2.VideoWriter.fourcc(*"mp4v"),
self._frame_rate,
(self.settings.camera_width, self.settings.camera_height),
)
def stop_video_record(self):
if self.record_writer:
logger.info("Stop recording video")
self.record_writer.release()
self.record_filename = None
self.record_writer = None
def register_sio_events(self) -> None:
@self.sio.event(namespace="/robotcam")
def connect():
"""
Callback on server connection.
"""
polling2.poll(lambda: self.sio.connected is True, step=0.2, poll_forever=True)
logger.info("Camera handler: connected to server")
self.sio.emit("connected", namespace="/robotcam")
@self.sio.event(namespace="/robotcam")
def connect_error(data):
"""
Callback on server connection error.
"""
logger.info("Camera handler: connection to server failed.")
@self.sio.event(namespace="/robotcam")
def disconnect():
"""
Callback on server disconnection.
"""
logger.info("Camera handler: disconnected from server")
@self.sio.on("start_video_record", namespace="/robotcam")
def start_video_record():
self.start_video_record()
@self.sio.on("stop_video_record", namespace="/robotcam")
def stop_video_record():
self.stop_video_record()
|