580 lines
20 KiB
Python
580 lines
20 KiB
Python
"""
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.. moduleauthor:: Fabio Manganiello <blacklight86@gmail.com>
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"""
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import os
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import socket
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import threading
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import time
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from typing import Optional
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from platypush.plugins import action
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from platypush.plugins.camera import CameraPlugin, StreamingOutput
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class CameraPiPlugin(CameraPlugin):
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"""
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Plugin to control a Pi camera.
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Requires:
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* **picamera** (``pip install picamera``)
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* **numpy** (``pip install numpy``)
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"""
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_default_resolution = (800, 600)
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_default_listen_port = 5000
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def __init__(self, resolution=(_default_resolution[0], _default_resolution[1]), framerate=24,
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hflip=False, vflip=False, sharpness=0, contrast=0, brightness=50, video_stabilization=False, iso=0,
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exposure_compensation=0, exposure_mode='auto', meter_mode='average', awb_mode='auto',
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image_effect='none', color_effects=None, rotation=0, zoom=(0.0, 0.0, 1.0, 1.0),
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listen_port: int = _default_listen_port, **kwargs):
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"""
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See https://www.raspberrypi.org/documentation/usage/camera/python/README.md
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for a detailed reference about the Pi camera options.
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:param listen_port: Default port that will be used for streaming the feed (default: 5000)
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"""
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super().__init__(**kwargs)
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self.camera_args = {
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'resolution': tuple(resolution),
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'framerate': framerate,
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'hflip': hflip,
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'vflip': vflip,
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'sharpness': sharpness,
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'contrast': contrast,
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'brightness': brightness,
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'video_stabilization': video_stabilization,
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'iso': iso,
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'exposure_compensation': exposure_compensation,
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'exposure_mode': exposure_mode,
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'meter_mode': meter_mode,
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'awb_mode': awb_mode,
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'image_effect': image_effect,
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'color_effects': color_effects,
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'rotation': rotation,
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'zoom': tuple(zoom),
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}
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self._camera = None
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self.listen_port = listen_port
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self._time_lapse_thread = None
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self._recording_thread = None
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self._streaming_thread = None
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self._capturing_thread = None
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self._time_lapse_stop_condition = threading.Condition()
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self._recording_stop_condition = threading.Condition()
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self._can_stream = False
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self._can_capture = False
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# noinspection PyUnresolvedReferences,PyPackageRequirements
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def _get_camera(self, **opts):
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if self._camera and not self._camera.closed:
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return self._camera
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import picamera
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self._camera = picamera.PiCamera()
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for (attr, value) in self.camera_args.items():
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setattr(self._camera, attr, value)
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for (attr, value) in opts.items():
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setattr(self._camera, attr, value)
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return self._camera
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@action
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def close(self):
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"""
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Close an active connection to the camera.
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"""
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import picamera
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if self._output and self._camera:
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try:
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self._camera.stop_recording()
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except picamera.PiCameraNotRecording:
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pass
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if self._camera and not self._camera.closed:
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try:
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self._camera.close()
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except picamera.PiCameraClosed:
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pass
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self._camera = None
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@action
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def start_preview(self, **opts):
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"""
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Start camera preview.
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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"""
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camera = self._get_camera(**opts)
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camera.start_preview()
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@action
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def stop_preview(self):
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"""
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Stop camera preview.
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"""
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camera = self._get_camera()
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try:
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camera.stop_preview()
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except Exception as e:
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self.logger.warning(str(e))
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@action
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def take_picture(self, image_file, preview=False, warmup_time=2, resize=None, close=True, **opts):
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"""
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Take a picture.
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:param image_file: Path where the output image will be stored.
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:type image_file: str
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:param preview: Show a preview before taking the picture (default: False)
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:type preview: bool
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:param warmup_time: Time before taking the picture (default: 2 seconds)
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:type warmup_time: float
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:param resize: Set if you want to resize the picture to a new format
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:type resize: list or tuple (with two elements)
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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:param close: If True (default) close the connection to the camera after capturing,
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otherwise keep the connection open (e.g. if you want to take a sequence of pictures).
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If you set close=False you should remember to call ``close`` when you don't need
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the connection anymore.
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:return: dict::
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{"image_file": path_to_the_image}
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"""
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camera = None
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try:
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camera = self._get_camera(**opts)
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image_file = os.path.abspath(os.path.expanduser(image_file))
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if preview:
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camera.start_preview()
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if warmup_time:
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time.sleep(warmup_time)
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capture_opts = {}
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if resize:
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capture_opts['resize'] = tuple(resize)
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camera.capture(image_file, **capture_opts)
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if preview:
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camera.stop_preview()
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return {'image_file': image_file}
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finally:
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if camera and close:
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self.close()
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def _raw_capture(self):
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import numpy as np
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resolution = self.camera_args['resolution']
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camera = self._get_camera()
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while self._can_capture:
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shape = (resolution[1] + (resolution[1]%16),
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resolution[0] + (resolution[0]%32),
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3)
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frame = np.empty(shape, dtype=np.uint8)
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camera.capture(frame, 'bgr')
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frame.reshape((shape[0], shape[1], 3))
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self._output.write(frame)
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def __enter__(self):
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camera = self._get_camera()
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self._output = StreamingOutput(raw=self.stream_raw_frames)
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self._can_capture = True
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if self.stream_raw_frames:
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self._capturing_thread = threading.Thread(target=self._raw_capture)
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self._capturing_thread.start()
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else:
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camera.start_recording(self._output, format='mjpeg')
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def __exit__(self, exc_type, exc_val, exc_tb):
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self._can_capture = False
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if self._capturing_thread:
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self._capturing_thread.join()
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self._capturing_thread = None
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self.close()
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@action
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def capture_sequence(self, n_images, directory, name_format='image_%04d.jpg', preview=False, warmup_time=2,
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resize=None, **opts):
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"""
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Capture a sequence of images
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:param n_images: Number of images to capture
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:type n_images: int
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:param directory: Path where the images will be stored
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:type directory: str
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:param name_format: Format for the name of the stored images. Use %d or any other format string for representing
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the image index (default: image_%04d.jpg)
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:type name_format: str
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:param preview: Show a preview before taking the picture (default: False)
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:type preview: bool
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:param warmup_time: Time before taking the picture (default: 2 seconds)
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:type warmup_time: float
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:param resize: Set if you want to resize the picture to a new format
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:type resize: list or tuple (with two elements)
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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:return: dict::
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{"image_files": [list of captured images]}
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"""
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try:
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camera = self._get_camera(**opts)
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directory = os.path.abspath(os.path.expanduser(directory))
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if preview:
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camera.start_preview()
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if warmup_time:
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time.sleep(warmup_time)
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camera.exposure_mode = 'off'
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camera.shutter_speed = camera.exposure_speed
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g = camera.awb_gains
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camera.awb_mode = 'off'
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camera.awb_gains = g
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capture_opts = {}
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if resize:
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capture_opts['resize'] = tuple(resize)
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images = [os.path.join(directory, name_format % (i+1)) for i in range(0, n_images)]
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camera.capture_sequence(images, **capture_opts)
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if preview:
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camera.stop_preview()
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return {'image_files': images}
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finally:
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self.close()
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@action
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def start_time_lapse(self, directory, n_images=None, interval=0, warmup_time=2,
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resize=None, **opts):
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"""
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Start a time lapse capture
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:param directory: Path where the images will be stored
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:type directory: str
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:param n_images: Number of images to capture (default: None, capture until stop_time_lapse)
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:type n_images: int
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:param interval: Interval in seconds between two pictures (default: 0)
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:type interval: float
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:param warmup_time: Time before taking the picture (default: 2 seconds)
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:type warmup_time: float
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:param resize: Set if you want to resize the picture to a new format
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:type resize: list or tuple (with two elements)
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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"""
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if self._time_lapse_thread:
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return None, 'A time lapse thread is already running'
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camera = self._get_camera(**opts)
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directory = os.path.abspath(os.path.expanduser(directory))
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if warmup_time:
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time.sleep(warmup_time)
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capture_opts = {}
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if resize:
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capture_opts['resize'] = tuple(resize)
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def capture_thread():
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try:
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self.logger.info('Starting time lapse recording to directory {}'.format(directory))
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i = 0
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for filename in camera.capture_continuous(os.path.join(directory, 'image_{counter:04d}.jpg')):
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i += 1
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self.logger.info('Captured {}'.format(filename))
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if n_images and i >= n_images:
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break
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self._time_lapse_stop_condition.acquire()
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should_stop = self._time_lapse_stop_condition.wait(timeout=interval)
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self._time_lapse_stop_condition.release()
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if should_stop:
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break
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finally:
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self._time_lapse_thread = None
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self.logger.info('Stopped time lapse recording')
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self._time_lapse_thread = threading.Thread(target=capture_thread)
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self._time_lapse_thread.start()
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@action
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def stop_time_lapse(self):
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"""
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Stop a time lapse sequence if it's running
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"""
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if not self._time_lapse_thread:
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self.logger.info('No time lapse thread is running')
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return
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self._time_lapse_stop_condition.acquire()
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self._time_lapse_stop_condition.notify_all()
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self._time_lapse_stop_condition.release()
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if self._time_lapse_thread:
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self._time_lapse_thread.join()
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# noinspection PyMethodOverriding
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@action
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def start_recording(self, video_file=None, directory=None, name_format='video_%04d.h264', duration=None,
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split_duration=None, **opts):
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"""
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Start recording to a video file or to multiple video files
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:param video_file: Path of the video file, if you want to keep the recording all in one file
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:type video_file: str
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:param directory: Path of the directory that will store the video files, if you want to split the recording
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on multiple files. Note that you need to specify either video_file (to save the recording to one single
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file) or directory (to split the recording on multiple files)
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:type directory: str
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:param name_format: If you're splitting the recording to multiple files, then you can specify the name format
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for those files (default: 'video_%04d.h264')
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on multiple files. Note that you need to specify either video_file (to save the recording to one single
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file) or directory (to split the recording on multiple files)
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:type name_format: str
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:param duration: Video duration in seconds (default: None, record until stop_recording is called)
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:type duration: float
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:param split_duration: If you're splitting the recording to multiple files, then you should specify how long
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each video should be in seconds
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:type split_duration: float
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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"""
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if self._recording_thread:
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return None, 'A recording thread is already running'
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multifile = not video_file
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if multifile and not (directory and split_duration):
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return None, 'No video_file specified for single file capture and no directory/split_duration ' + \
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'specified for multi-file split'
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camera = self._get_camera(**opts)
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video_file = os.path.abspath(os.path.expanduser(video_file))
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def recording_thread():
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try:
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if not multifile:
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self.logger.info('Starting recording to video file {}'.format(video_file))
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camera.start_recording(video_file, format='h264')
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self._recording_stop_condition.acquire()
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self._recording_stop_condition.wait(timeout=duration)
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self._recording_stop_condition.release()
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self.logger.info('Video recorded to {}'.format(video_file))
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return
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self.logger.info('Starting recording video files to directory {}'.format(directory))
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i = 1
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end_time = None
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timeout = split_duration
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if duration is not None:
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end_time = time.time() + duration
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timeout = min(split_duration, duration)
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camera.start_recording(name_format % i, format='h264')
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self._recording_stop_condition.acquire()
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self._recording_stop_condition.wait(timeout=timeout)
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self._recording_stop_condition.release()
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self.logger.info('Video file {} saved'.format(name_format % i))
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while True:
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i += 1
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timeout = None
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if end_time:
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remaining_duration = end_time - time.time()
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timeout = min(split_duration, remaining_duration)
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if remaining_duration <= 0:
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break
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camera.split_recording(name_format % i)
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self._recording_stop_condition.acquire()
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should_stop = self._recording_stop_condition.wait(timeout=timeout)
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self._recording_stop_condition.release()
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self.logger.info('Video file {} saved'.format(name_format % i))
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if should_stop:
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break
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finally:
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try:
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camera.stop_recording()
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except Exception as e:
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self.logger.exception(e)
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self._recording_thread = None
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self.logger.info('Stopped camera recording')
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self._recording_thread = threading.Thread(target=recording_thread)
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self._recording_thread.start()
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@action
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def stop_recording(self, **kwargs):
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"""
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Stop a camera recording
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"""
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if not self._recording_thread:
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self.logger.info('No recording thread is running')
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return
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self._recording_stop_condition.acquire()
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self._recording_stop_condition.notify_all()
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self._recording_stop_condition.release()
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if self._recording_thread:
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self._recording_thread.join()
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# noinspection PyShadowingBuiltins
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@action
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def start_streaming(self, listen_port: Optional[int] = None, format='h264', **opts):
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"""
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Start recording to a network stream
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:param listen_port: TCP listen port (default: `listen_port` configured value or 5000)
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:type listen_port: int
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:param format: Video stream format (default: h264)
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:type format: str
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:param opts: Extra options to pass to the camera (see
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https://www.raspberrypi.org/documentation/usage/camera/python/README.md)
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"""
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if self._streaming_thread:
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return None, 'A streaming thread is already running'
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if not listen_port:
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listen_port = self.listen_port
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camera = self._get_camera(**opts)
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server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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server_socket.bind(('0.0.0.0', listen_port))
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server_socket.listen(1)
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server_socket.settimeout(1)
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# noinspection PyBroadException
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def streaming_thread():
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try:
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self.logger.info('Starting streaming on port {}'.format(listen_port))
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while self._can_stream:
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try:
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sock = server_socket.accept()[0]
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stream = sock.makefile('wb')
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self.logger.info('Accepted client connection from {}'.format(sock.getpeername()))
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except socket.timeout:
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continue
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try:
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if stream:
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camera.start_recording(stream, format=format)
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while True:
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camera.wait_recording(1)
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except ConnectionError:
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self.logger.info('Client closed connection')
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finally:
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if sock:
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sock.close()
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finally:
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try:
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server_socket.close()
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camera.stop_recording()
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except:
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pass
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try:
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camera.close()
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except:
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pass
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self._streaming_thread = None
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self.logger.info('Stopped camera stream')
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self._can_stream = True
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self._streaming_thread = threading.Thread(target=streaming_thread)
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self._streaming_thread.start()
|
|
|
|
@action
|
|
def stop_streaming(self):
|
|
"""
|
|
Stop a camera streaming session
|
|
"""
|
|
|
|
if not self._streaming_thread:
|
|
self.logger.info('No recording thread is running')
|
|
return
|
|
|
|
self._can_stream = False
|
|
|
|
if self._streaming_thread:
|
|
self._streaming_thread.join()
|
|
|
|
@action
|
|
def is_streaming(self):
|
|
"""
|
|
:return: True if the Pi Camera network streaming thread is running,
|
|
False otherwise.
|
|
"""
|
|
return self._streaming_thread is not None
|
|
|
|
|
|
# vim:sw=4:ts=4:et:
|