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#!camtest/bin/python3
import asyncio
import binascii
import io
import json
import logging
import os
import time

import apriltag
import cv2
import numpy
from aioesphomeapi.client import APIClient
from aioesphomeapi.model import CameraState
from aiohttp import web
from aiohttp.web import Response
from aiohttp_sse import sse_response
from docopt import docopt

logging.basicConfig(level=logging.INFO)
log = logging.getLogger(__name__)


class CameraReceiver:

    def __init__(self, host):
        self.lastFrameTime = None
        self.host = host
        self.lastFrame = b"", ''
        self.recent = []

    async def start(self):
        try:
            self.c = c = APIClient(self.host, 6053, 'MyPassword')
            await c.connect(login=True)
            await c.subscribe_states(on_state=self.on_state)
        except OSError:
            return
        self.t = asyncio.create_task(
            self.start_requesting_image_stream_forever())

    async def start_requesting_image_stream_forever(self):
        while True:
            try:
                await self.c.request_image_stream()
            except AttributeError:
                return
            # https://github.com/esphome/esphome/blob/dev/esphome/components/esp32_camera/esp32_camera.cpp#L265 says a 'stream' is 5 sec long
            await asyncio.sleep(4)

    def on_state(self, s):
        if isinstance(s, CameraState):
            jpg = s.data
            if len(self.recent) > 10:
                self.recent = self.recent[-10:]

            self.recent.append(jpg)
            #print('recent lens: %s' % (','.join(str(len(x))
            #                                    for x in self.recent)))
        else:
            print('other on_state', s)

    def analyze(self, jpg):
        img = cv2.imdecode(numpy.asarray(bytearray(jpg)), cv2.IMREAD_GRAYSCALE)
        result = detector.detect(img)
        msg = {}
        if result:
            center = result[0].center
            msg['center'] = [round(center[0], 2), round(center[1], 2)]
        return msg

    async def frames(self):
        while True:
            if self.recent:
                if self.lastFrameTime and time.time() - self.lastFrameTime > 15:
                    print('no recent frames')
                    os.abort()

                jpg = self.recent.pop(0)
                msg = self.analyze(jpg)
                yield jpg, msg
                self.lastFrame = jpg, msg
                self.lastFrameTime = time.time()
            else:
                await asyncio.sleep(.05)


def imageUri(jpg):
    return 'data:image/jpeg;base64,' + binascii.b2a_base64(jpg).decode('ascii')


async def stream(request):
    async with sse_response(request) as resp:
        await resp.send(imageUri(recv.lastFrame[0]))
        await resp.send(json.dumps(recv.lastFrame[1]))
        async for frame, msg in recv.frames():
            await resp.send(json.dumps(msg))
            await resp.send(imageUri(frame))
    return resp


async def index(request):
    d = r"""
        <html>
        <body>
    <style>
    #center {
    position: absolute;
    font-size: 35px;
    color: orange;
    text-shadow: black 0 1px 1px;
    margin-left: -14px;
    margin-top: -23px;
    }
    </style>
            <script>
                var evtSource = new EventSource("/stream");
                evtSource.onmessage = function(e) {
                    if (e.data[0] == '{') {
                      const msg = JSON.parse(e.data);
                      const st = document.querySelector('#center').style;
                      if (msg.center) {
                        st.left = msg.center[0];
                        st.top = msg.center[1];
                      } else {
                        st.left = -999;
                      }
                    } else {
                      document.getElementById('response').src = e.data;
                    }
                }
            </script>
            <h1>Response from server:</h1>
            <div style="position: relative">
              <img id="response"></img>
              <span id="center" style="position: absolute">&#x25ce;</span>
           </div>
        </body>
    </html>
    """
    return Response(text=d, content_type='text/html')

arguments = docopt('''
this

Usage:
this [-v] [--cam host] [--port to_serve]

Options:
--port n           http server [default: 10020]
--cam host         hostname of esphome server
''')

logging.getLogger('aioesphomeapi.connection').setLevel(logging.INFO)

recv = CameraReceiver(arguments['--cam'])

detector = apriltag.Detector()

f = recv.start()
async def starter(app):
    asyncio.create_task(f)

start_time = time.time()
app = web.Application()
app.on_startup.append(starter)
app.router.add_route('GET', '/stream', stream)
app.router.add_route('GET', '/', index)
web.run_app(app, port=int(arguments['--port']))
author	drewp@bigasterisk.com
date	Sun, 28 Apr 2024 16:01:38 -0700
parents	c77b5ab7b99d
children