from lib2to3.pytree import convert
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import cv2
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import time
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import threading
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import numpy as np
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import os, sys
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from typing import List
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import queue
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from datetime import datetime
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# # add python path of src to sys.path
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# src_path = os.path.join(__file__, *(['..'] * 2))
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# src_path = os.path.abspath(src_path)
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# sys.path.insert(0, src_path)
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from ..protos import aerial_pb2 as pb
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class cameraController(object):
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def __init__(self,
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IMAGE_WIDTH:int,
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IMAGE_HEIGHT:int,
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CAMERA_COUNT:int,
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device_id:str,
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logs_queue:queue.Queue,
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images_queue:queue.Queue,
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init_routing_key:str,
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init_binding_key:str
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):
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self.IMAGE_WIDTH = IMAGE_WIDTH
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self.IMAGE_HEIGHT = IMAGE_HEIGHT
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self.CAMERA_COUNT = CAMERA_COUNT
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self.device_id = device_id
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self.logs_queue = logs_queue
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self.images_queue = images_queue
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self.routing_key = init_routing_key
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self.init_routing_key = init_routing_key
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self.binding_key = init_binding_key
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self._check_cameras()
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def _check_cameras(self):
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self.cameras = []
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self.camera_work = []
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self.working_ports = []
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test_logs = []
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test_images = []
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# init the cameras
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for dev_port in range(self.CAMERA_COUNT):
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# set the props of the camera by cv2 lib
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camera = cv2.VideoCapture(dev_port, cv2.CAP_DSHOW)
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camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.IMAGE_WIDTH)
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camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.IMAGE_HEIGHT)
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camera.set(cv2.CAP_PROP_FPS, 1)
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self.cameras.append(camera)
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self.camera_work.append(False)
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# test the cameras
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(test_logs, test_images) = self._capture_image(mode = "test")
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# generate the msg and put it to queues
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self._generate_msg(test_logs,test_images)
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def _generate_msg(self,logs:List[str],images:List):
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# constract a images message
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imagesMsg = pb.ImagesMessage()
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imagesMsg.source = self.device_id
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curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
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imagesMsg.timestamp = curr_time
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log_rk = self.routing_key+".logs.test0"
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image_rk = self.routing_key+".images.test0"
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for log, img in zip(logs,images):
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# encoding the images to the bytes
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# encode_params = [int(cv2.IMWRITE_JPEG_QUALITY), self.image_quality]
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# image_encoded = cv2.imencode(".jpg",single_img,encode_params)
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if img is not None:
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success,image_encoded = cv2.imencode(".jpg",img)
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if success:
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image_bytes = image_encoded.tobytes()
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image_length = len(image_bytes)
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# add the encoded image to msg
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image_item = imagesMsg.Image.add()
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image_item.length = image_length
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image_item.data = image_bytes
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if log is not None:
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# constract a logs message
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logsMsg = pb.LogsMessage()
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logsMsg.source = self.device_id
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logsMsg.timestamp = f"{time.asctime()}"
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logsMsg.context = log
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# convert the proto object to string
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logsMsg_bytes = logsMsg.SerializeToString()
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# add logsmsg to queue
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self.logs_queue.put([log_rk,logsMsg_bytes])
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# converting the pb image msg to bytes
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imageMsg_bytes = imagesMsg.SerializeToString()
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# add the imageMsg to the queue
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self.images_queue.put([image_rk,imageMsg_bytes])
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def _capture_image(self,mode:str = "capture"):
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"""
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mode -> "test" or "capture"
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"""
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TEST = False
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if mode == "test":
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TEST = True
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else:
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pass
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log_list = []
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image_list = []
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# iterate the cameras
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for dev_port, camera in enumerate(self.cameras):
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# init the flags
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is_reading = False
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log = None
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img = None
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if not TEST and self.camera_work[dev_port] is not True:
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pass
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else:
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# capture the image
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if camera.isOpened():
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is_reading, img = camera.read()
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w = camera.get(3)
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h = camera.get(4)
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if is_reading:
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log = f"camera port {dev_port} is working and reads images ({h} x {w})"
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else:
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log = f"camera port {dev_port} can not work"
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else:
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log = f"camera port {dev_port} can not found"
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# display
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print(f"{time.asctime()} | {log}")
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# add some tags for camera when test
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if TEST:
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self.working_ports.append(dev_port)
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if is_reading:
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self.camera_work[dev_port] == True
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log_list.append(log)
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image_list.append(img)
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return log_list, image_list
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def capture(self,routing_key:str):
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self.routing_key = routing_key
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(logs,images) = self._capture_image()
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self._generate_msg = (logs,images)
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self.routing_key = self.init_routing_key
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class microwaveController(object):
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pass
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class dustCleanerController(object):
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pass
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class CaptureThread(threading.Thread):
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"""
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camera capture thread
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"""
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def __init__(self, cameras, msg_queue, interval, device_id,image_quality = 95):
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"""init the thread"""
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threading.Thread.__init__(self)
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self.cameras = cameras
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self.msg_queue = msg_queue
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self.interval = interval
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self.image_quality = image_quality
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self.is_stop = False
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self.device_id = device_id
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def stop(self):
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"""stop the thread"""
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self.is_stop = True
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# TODO根据新的数据结构修改队消息队列。
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def run(self):
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print("CaptureThread started")
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encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), self.image_quality]
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self.next_time = time.time() + self.interval
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while not self.is_stop:
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this_time = time.time()
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if this_time > self.next_time:
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for i in range(len(self.cameras)):
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_, frame = self.cameras[i].read()
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capture_time = time.time()
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_, encimg = cv2.imencode('.jpg', frame, encode_param)
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if frame is not None:
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np_array = np.asarray(encimg) # frame 转换为numpy数组
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byte_array = np_array.tobytes() # numpy数组转换为byte数组
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# convert the image to pb.DataField
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imagedata = pb.DataField()
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imagedata.data = byte_array
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imagedata.length = len(byte_array)
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data_str = imagedata.SerializeToString()
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# create protobuf message
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data_msg = pb.CapturedData()
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data_msg.generate_time = capture_time
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data_msg.generate_device = self.device_id
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data_msg.camera_port = i
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data_msg.image_data = data_str
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# add message to queue
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self.msg_queue.put(data_msg)
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self.next_time += self.interval
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time.sleep(0.1)
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for camera in self.cameras:
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camera.release()
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print("CaptureThread stopped")
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