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1 #!camtest/bin/python3
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2 import binascii
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3 import logging
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4 import time
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5 import io
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6 import os
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7 import json
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8 from docopt import docopt
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9 from standardservice.logsetup import log, verboseLogging
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10
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11 logging.basicConfig(level=logging.INFO)
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12 from aiohttp import web
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13 from aiohttp.web import Response
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14 from aiohttp_sse import sse_response
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15
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16 import asyncio
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17
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18 from aioesphomeapi import APIClient
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19 from aioesphomeapi.model import CameraState
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20 import apriltag
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21 import cv2
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22 import numpy
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23
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24 class CameraReceiver:
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25 def __init__(self, loop, host):
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26 self.lastFrameTime = None
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27 self.loop = loop
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28 self.host = host
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29 self.lastFrame = b"", ''
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30 self.recent = []
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31
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32 async def start(self):
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33 try:
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34 self.c = c = APIClient(self.loop,
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35 self.host,
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36 6053, 'MyPassword')
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37 await c.connect(login=True)
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38 await c.subscribe_states(on_state=self.on_state)
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39 except OSError:
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40 loop.stop()
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41 return
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42 self.loop.create_task(self.start_requesting_image_stream_forever())
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43
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44 async def start_requesting_image_stream_forever(self):
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45 while True:
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46 try:
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47 await self.c.request_image_stream()
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48 except AttributeError:
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49 self.loop.stop()
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50 return
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51 # https://github.com/esphome/esphome/blob/dev/esphome/components/esp32_camera/esp32_camera.cpp#L265 says a 'stream' is 5 sec long
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52 await asyncio.sleep(4)
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53
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54 def on_state(self, s):
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55 if isinstance(s, CameraState):
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56 jpg = s.image
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57 if len(self.recent) > 10:
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58 self.recent = self.recent[-10:]
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59
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60 self.recent.append(jpg)
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61 #print('recent lens: %s' % (','.join(str(len(x))
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62 # for x in self.recent)))
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63 else:
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64 print('other on_state', s)
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65
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66 def analyze(self, jpg):
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67 img = cv2.imdecode(numpy.asarray(bytearray(jpg)),
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68 cv2.IMREAD_GRAYSCALE)
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69 result = detector.detect(img)
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70 msg = {}
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71 if result:
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72 center = result[0].center
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73 msg['center'] = [round(center[0], 2), round(center[1], 2)]
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74 return msg
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75
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76 async def frames(self):
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77 while True:
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78 if self.recent:
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79 if self.lastFrameTime and time.time() - self.lastFrameTime > 15:
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80 print('no recent frames')
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81 os.abort()
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82
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83 jpg = self.recent.pop(0)
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84 msg = self.analyze(jpg)
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85 yield jpg, msg
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86 self.lastFrame = jpg, msg
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87 self.lastFrameTime = time.time()
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88 else:
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89 await asyncio.sleep(.05)
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90
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91
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92 def imageUri(jpg):
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93 return 'data:image/jpeg;base64,' + binascii.b2a_base64(jpg).decode('ascii')
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94
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95 async def stream(request):
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96 async with sse_response(request) as resp:
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97 await resp.send(imageUri(recv.lastFrame[0]))
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98 await resp.send(json.dumps(recv.lastFrame[1]))
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99 async for frame, msg in recv.frames():
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100 await resp.send(json.dumps(msg))
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101 await resp.send(imageUri(frame))
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102 return resp
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103
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104 async def index(request):
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105 d = r"""
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106 <html>
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107 <body>
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108 <style>
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109 #center {
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110 position: absolute;
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111 font-size: 35px;
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112 color: orange;
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113 text-shadow: black 0 1px 1px;
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114 margin-left: -14px;
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115 margin-top: -23px;
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116 }
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117 </style>
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118 <script>
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119 var evtSource = new EventSource("/stream");
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120 evtSource.onmessage = function(e) {
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121 if (e.data[0] == '{') {
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122 const msg = JSON.parse(e.data);
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123 const st = document.querySelector('#center').style;
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124 if (msg.center) {
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125 st.left = msg.center[0];
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126 st.top = msg.center[1];
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127 } else {
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128 st.left = -999;
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129 }
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130 } else {
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131 document.getElementById('response').src = e.data;
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132 }
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133 }
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134 </script>
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135 <h1>Response from server:</h1>
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136 <div style="position: relative">
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137 <img id="response"></img>
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138 <span id="center" style="position: absolute">◎</span>
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139 </div>
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140 </body>
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141 </html>
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142 """
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143 return Response(text=d, content_type='text/html')
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144
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145 arguments = docopt('''
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146 this
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147
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148 Usage:
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149 this [-v] [--cam host] [--port to_serve]
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150
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151 Options:
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152 -v --verbose more log
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153 --port n http server [default: 10020]
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154 --cam host hostname of esphome server
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155 ''')
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156
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157 verboseLogging(arguments['--verbose'])
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158 logging.getLogger('aioesphomeapi.connection').setLevel(logging.INFO)
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159
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160 loop = asyncio.get_event_loop()
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161
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162 recv = CameraReceiver(loop, arguments['--cam'])
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163 detector = apriltag.Detector()
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164
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165 f = recv.start()
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166 loop.create_task(f)
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167
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168 start_time = time.time()
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169 app = web.Application()
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170 app.router.add_route('GET', '/stream', stream)
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171 app.router.add_route('GET', '/', index)
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172 try:
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173 web.run_app(app, host='0.0.0.0', port=int(arguments['--port']))
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174 except RuntimeError as e:
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175 log.error(e)
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176 log.info(f'run_app stopped after {time.time() - start_time} sec') |
