import cv2
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import time
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from typing import List, Union
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import queue
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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 .DustCleaner import DustCleaner
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from .Microwave import micorwaveMannager
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from .MessageThreads import send_logs_tool, send_images_tool, send_pointcloud_tool
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######################################### CAMERAS ############################################
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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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init_taskuuid:str = "init"
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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.init_taskuuid = init_taskuuid
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self.taskuuid = init_taskuuid
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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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send_logs_tool(logs=logs,
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logs_queue=self.logs_queue,
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source=self.device_id,
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routing_key=self.routing_key+".logs.test0",
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taskuuid=self.taskuuid)
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send_images_tool(images=images,
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images_queue=self.images_queue,
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source=self.device_id,
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routing_key=self.routing_key+".images.test0",
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taskuuid=self.taskuuid)
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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, taskuuid:str):
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self.routing_key = routing_key
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self.taskuuid = taskuuid
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(logs,images) = self._capture_image()
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# generate the msg and put it to queues
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self._generate_msg(logs,images)
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self.routing_key = self.init_routing_key
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self.taskuuid = self.init_taskuuid
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######################################## MICROWAVE ###########################################
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class microwaveController(micorwaveMannager):
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def __init__(self,
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MicrowaveHost: str,
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MicrowavePort: int,
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init_packet_threshold: Union[int, None],
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init_timeusage_threshold: Union[int, float, None],
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device_id:str,
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logs_queue:queue.Queue,
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plys_queue:queue.Queue,
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init_routing_key:str,
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init_binding_key:str,
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init_taskuuid:str = "init"
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):
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super().__init__(MicrowaveHost, MicrowavePort)
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self.device_id = device_id
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self.plys_queue = plys_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.init_taskuuid = init_taskuuid
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self.taskuuid = init_taskuuid
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# testing the device when instance the class
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self._get_pointcloud(init_packet_threshold,init_timeusage_threshold)
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def _get_pointcloud(self,
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packet_threshold:Union[int, None],
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timeusage_threshold:Union[int, None]):
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self._udp_get_thread_launcher(packet_threshold,timeusage_threshold)
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self._udp2pointcloud_thread_launcher()
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self._generate_msg()
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def _generate_msg(self):
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send_pointcloud_tool(pointclouds=self.pointcloud_queue,
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plys_queue=self.plys_queue,
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source=self.device_id,
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routing_key=self.routing_key+".plys.test0",
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taskuuid=self.taskuuid)
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def scan(self,routing_key:str,taskuuid:str):
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# self.routing_key = routing_key
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# self.taskuuid = self.init_taskuuid
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# self._generate_msg()
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raise NotImplementedError
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####################################### DUST CLEANER #########################################
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class dustCleanerController(DustCleaner):
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def __init__(self, com, bps, timeout, logs_queue, device_id,
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init_routing_key:str,
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init_binding_key:str,
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init_taskuuid:str = "init"):
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super().__init__(com, bps, timeout)
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self.logs_queue = logs_queue
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self.device_id = device_id
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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.init_taskuuid = init_taskuuid
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self.taskuuid = init_taskuuid
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self._check_cleaner()
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def _check_cleaner(self):
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success = self.Open()
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log = "Unknown log."
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if success:
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log = f"The port [{self.port}] refered to the dust cleaner is open."
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else:
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log = f"The port [{self.port}] refered to the dust cleaner can not open."
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# display
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print(f"{time.asctime()} | {log}")
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send_logs_tool(logs=[log],
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logs_queue=self.logs_queue,
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source = self.device_id,
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routing_key=self.routing_key+".logs.test0")
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def clean(self,routing_key:str,taskuuid:str):
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raise NotImplementedError
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