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1486
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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 logging.basicConfig(level=logging.INFO)
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9 from aiohttp import web
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10 from aiohttp.web import Response
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11 from aiohttp_sse import sse_response
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12
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13 import asyncio
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14
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15 from aioesphomeapi import APIClient
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16 from aioesphomeapi.model import CameraState
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17 import apriltag
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18 import cv2
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19 import numpy
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20
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21 class CameraReceiver:
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22 def __init__(self, loop):
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23 self.lastFrameTime = None
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24 self.loop = loop
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25 self.lastFrame = b"", ''
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26 self.recent = []
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27
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28 async def start(self):
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29 self.c = c = APIClient(self.loop, '10.2.0.21', 6053, 'MyPassword')
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30 await c.connect(login=True)
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31 await c.subscribe_states(on_state=self.on_state)
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32 await c.request_image_stream()
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33
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34 def on_state(self, s):
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35 if isinstance(s, CameraState):
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36 jpg = s.image
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37 if len(self.recent) > 10:
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38 self.recent = self.recent[-10:]
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39
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40 self.recent.append(jpg)
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41 print('recent lens: %s' % (','.join(str(len(x))
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42 for x in self.recent)))
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43 else:
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44 print('other on_state', s)
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45
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46 def analyze(self, jpg):
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47 img = cv2.imdecode(numpy.asarray(bytearray(jpg)),
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48 cv2.IMREAD_GRAYSCALE)
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49 result = detector.detect(img)
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50 msg = {}
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51 if result:
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52 center = result[0].center
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53 msg['center'] = [round(center[0], 2), round(center[1], 2)]
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54 return msg
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55
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56 async def frames(self):
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57 while True:
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58 if self.recent:
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59 if self.lastFrameTime and time.time() - self.lastFrameTime > 15:
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60 print('no recent frames')
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61 os.abort()
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62
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63 jpg = self.recent.pop(0)
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64 msg = self.analyze(jpg)
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65 yield jpg, msg
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66 self.lastFrame = jpg, msg
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67 self.lastFrameTime = time.time()
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68 else:
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69 await asyncio.sleep(.5)
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70
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71 loop = asyncio.get_event_loop()
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72
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73 recv = CameraReceiver(loop)
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74 detector = apriltag.Detector()
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75
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76 loop.create_task(recv.start())
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77
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78 def imageUri(jpg):
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79 return 'data:image/jpeg;base64,' + binascii.b2a_base64(jpg).decode('ascii')
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80
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81 async def stream(request):
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82 async with sse_response(request) as resp:
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83 await resp.send(imageUri(recv.lastFrame[0]))
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84 await resp.send(json.dumps(recv.lastFrame[1]))
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85 async for frame, msg in recv.frames():
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86 await resp.send(json.dumps(msg))
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87 await resp.send(imageUri(frame))
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88 return resp
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89
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90 async def index(request):
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91 d = r"""
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92 <html>
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93 <body>
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94 <style>
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95 #center {
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96 position: absolute;
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97 font-size: 35px;
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98 color: orange;
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99 text-shadow: black 0 1px 1px;
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100 margin-left: -14px;
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101 margin-top: -23px;
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102 }
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103 </style>
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104 <script>
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105 var evtSource = new EventSource("/stream");
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106 evtSource.onmessage = function(e) {
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107 if (e.data[0] == '{') {
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108 const msg = JSON.parse(e.data);
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109 const st = document.querySelector('#center').style;
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110 if (msg.center) {
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111 st.left = msg.center[0];
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112 st.top = msg.center[1];
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113 } else {
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114 st.left = -999;
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115 }
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116 } else {
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117 document.getElementById('response').src = e.data;
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118 }
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119 }
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120 </script>
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121 <h1>Response from server:</h1>
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122 <div style="position: relative">
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123 <img id="response"></img>
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124 <span id="center" style="position: absolute">◎</span>
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125 </div>
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126 </body>
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127 </html>
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128 """
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129 return Response(text=d, content_type='text/html')
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130
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131
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132 app = web.Application()
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133 app.router.add_route('GET', '/stream', stream)
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134 app.router.add_route('GET', '/', index)
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135 web.run_app(app, host='0.0.0.0', port=10020)
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