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comparison service/espNode/readcam.py @ 1486:f7f2def6658b

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hall cam Ignore-this: 5207340dd631394149022a10cef3fbae darcs-hash:1952f7f3ba367c66c053bb049be7f8b148ffab11
author drewp <drewp@bigasterisk.com>
date Thu, 16 Jan 2020 13:23:47 -0800
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1485:62be73d368df 1486:f7f2def6658b
1 #!camtest/bin/python3
2 import binascii
3 import logging
4 import time
5 import io
6 import os
7 import json
8 logging.basicConfig(level=logging.INFO)
9 from aiohttp import web
10 from aiohttp.web import Response
11 from aiohttp_sse import sse_response
12
13 import asyncio
14
15 from aioesphomeapi import APIClient
16 from aioesphomeapi.model import CameraState
17 import apriltag
18 import cv2
19 import numpy
20
21 class CameraReceiver:
22 def __init__(self, loop):
23 self.lastFrameTime = None
24 self.loop = loop
25 self.lastFrame = b"", ''
26 self.recent = []
27
28 async def start(self):
29 self.c = c = APIClient(self.loop, '10.2.0.21', 6053, 'MyPassword')
30 await c.connect(login=True)
31 await c.subscribe_states(on_state=self.on_state)
32 await c.request_image_stream()
33
34 def on_state(self, s):
35 if isinstance(s, CameraState):
36 jpg = s.image
37 if len(self.recent) > 10:
38 self.recent = self.recent[-10:]
39
40 self.recent.append(jpg)
41 print('recent lens: %s' % (','.join(str(len(x))
42 for x in self.recent)))
43 else:
44 print('other on_state', s)
45
46 def analyze(self, jpg):
47 img = cv2.imdecode(numpy.asarray(bytearray(jpg)),
48 cv2.IMREAD_GRAYSCALE)
49 result = detector.detect(img)
50 msg = {}
51 if result:
52 center = result[0].center
53 msg['center'] = [round(center[0], 2), round(center[1], 2)]
54 return msg
55
56 async def frames(self):
57 while True:
58 if self.recent:
59 if self.lastFrameTime and time.time() - self.lastFrameTime > 15:
60 print('no recent frames')
61 os.abort()
62
63 jpg = self.recent.pop(0)
64 msg = self.analyze(jpg)
65 yield jpg, msg
66 self.lastFrame = jpg, msg
67 self.lastFrameTime = time.time()
68 else:
69 await asyncio.sleep(.5)
70
71 loop = asyncio.get_event_loop()
72
73 recv = CameraReceiver(loop)
74 detector = apriltag.Detector()
75
76 loop.create_task(recv.start())
77
78 def imageUri(jpg):
79 return 'data:image/jpeg;base64,' + binascii.b2a_base64(jpg).decode('ascii')
80
81 async def stream(request):
82 async with sse_response(request) as resp:
83 await resp.send(imageUri(recv.lastFrame[0]))
84 await resp.send(json.dumps(recv.lastFrame[1]))
85 async for frame, msg in recv.frames():
86 await resp.send(json.dumps(msg))
87 await resp.send(imageUri(frame))
88 return resp
89
90 async def index(request):
91 d = r"""
92 <html>
93 <body>
94 <style>
95 #center {
96 position: absolute;
97 font-size: 35px;
98 color: orange;
99 text-shadow: black 0 1px 1px;
100 margin-left: -14px;
101 margin-top: -23px;
102 }
103 </style>
104 <script>
105 var evtSource = new EventSource("/stream");
106 evtSource.onmessage = function(e) {
107 if (e.data[0] == '{') {
108 const msg = JSON.parse(e.data);
109 const st = document.querySelector('#center').style;
110 if (msg.center) {
111 st.left = msg.center[0];
112 st.top = msg.center[1];
113 } else {
114 st.left = -999;
115 }
116 } else {
117 document.getElementById('response').src = e.data;
118 }
119 }
120 </script>
121 <h1>Response from server:</h1>
122 <div style="position: relative">
123 <img id="response"></img>
124 <span id="center" style="position: absolute">&#x25ce;</span>
125 </div>
126 </body>
127 </html>
128 """
129 return Response(text=d, content_type='text/html')
130
131
132 app = web.Application()
133 app.router.add_route('GET', '/stream', stream)
134 app.router.add_route('GET', '/', index)
135 web.run_app(app, host='0.0.0.0', port=10020)