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