kopia lustrzana https://github.com/projecthorus/wenet
600 wiersze
24 KiB
Python
600 wiersze
24 KiB
Python
#!/usr/bin/env python2.7
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#
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# Wenet PiCamera2 Wrapper Class.
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# Supports the 'new' libcamera / picamera2 API
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#
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# Copyright (C) 2023 Mark Jessop <vk5qi@rfhead.net>
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# Released under GNU GPL v3 or later
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#
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# References:
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# https://github.com/raspberrypi/picamera2
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# https://datasheets.raspberrypi.com/camera/picamera2-manual.pdf
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import glob
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import os
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import datetime
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import subprocess
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import time
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import traceback
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from picamera2 import Picamera2
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from libcamera import controls, Transform
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from time import sleep
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from threading import Thread
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class WenetPiCamera2(object):
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""" PiCamera2 Wrapper Class
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Raspberry Pi Camera 2 Image source for Wenet.
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Uses the new libcamera-based PiCamera2 library.
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Captures multiple images, picks the best, then
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transmits it via a PacketTX object.
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"""
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# White balance text to enum lookup
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wb_lookup = {
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"auto": controls.AwbModeEnum.Auto,
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"incandescent": controls.AwbModeEnum.Incandescent,
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"fluorescent": controls.AwbModeEnum.Fluorescent,
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"tungsten": controls.AwbModeEnum.Tungsten,
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"indoor": controls.AwbModeEnum.Indoor,
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"daylight": controls.AwbModeEnum.Daylight,
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"cloudy": controls.AwbModeEnum.Cloudy
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}
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def __init__(self,
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callsign = "N0CALL",
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tx_resolution=0.5,
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num_images=1,
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image_delay=0.0,
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vertical_flip = False,
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horizontal_flip = False,
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whitebalance = 'auto',
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lens_position = -1,
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af_window = None,
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temp_filename_prefix = 'picam_temp',
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debug_ptr = None,
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init_retries = 10
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):
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""" Instantiate a WenetPiCam Object
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used to capture images from a PiCam using 'optimal' capture techniques.
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Keyword Arguments:
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callsign: The callsign to be used when converting images to SSDV. Must be <=6 characters in length.
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tx_resolution: Either a tuple (x,y) containing desired image *transmit* resolution, OR a scaling factor from full size.
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NOTE: both x and y need to be multiples of 16 to be used with SSDV.
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NOTE: If you manually specify a transmit resolution, this will resize with NO REGARD FOR ASPECT RATIO - it's up to you to get that right.
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num_images: Number of images to capture in sequence when the 'capture' function is called.
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The 'best' (largest filesize) image is selected and saved.
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image_delay: Delay time (seconds) between each captured image.
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vertical_flip: Flip captured images vertically.
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horizontal_flip: Flip captured images horizontally.
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Used to correct for picam orientation.
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whitebalance: White balance mode - allowed values: Auto, Incandescent, Tungesten, Fluorescent, Indoor, Daylight, Cloudy
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lens_position: Lens Position setting (float), 0.0 = Infinity, 10 = very close.
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Only usable on Pi Camera v3 modules.
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Set to -1 to use continuous autofocus mode.
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af_window: Area in the frame to use for autofocus. Defined as (x,y,w,h), all values between 0-1.0, where
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x: Starting X position of rectangle within frame, as fraction of frame width
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y: Starting Y position of rectangle within frame, as fraction of frame height
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w: Width of rectangle, as fraction of frame width
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h: Height of rectangle, as fraction of frame height
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If not provided, the default windowing (approx centre third of width/height) will be used.
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temp_filename_prefix: prefix used for temporary files.
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debug_ptr: 'pointer' to a function which can handle debug messages.
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This function needs to be able to accept a string.
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Used to get status messages into the downlink.
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"""
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self.debug_ptr = debug_ptr
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self.temp_filename_prefix = temp_filename_prefix
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self.num_images = num_images
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self.image_delay = image_delay
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self.callsign = callsign
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self.tx_resolution_init = tx_resolution
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self.horizontal_flip = horizontal_flip
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self.vertical_flip = vertical_flip
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self.lens_position = lens_position
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self.af_window = af_window
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self.af_window_rectangle = None # Calculated during init
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self.autofocus_mode = False
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# Camera metadata capture, so we can poll for camera stats regularly
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self.capture_in_progress = True
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self.cam_metadata = None
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if whitebalance.lower() in self.wb_lookup:
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self.whitebalance = self.wb_lookup[whitebalance.lower()]
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else:
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self.whitebalance = self.wb_lookup['auto']
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# If we startup too early, the camera is sometimes not available to us.
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# Try and initialise for a while with breaks in between until we can talk to it...
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while init_retries > 0:
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try:
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self.init_camera()
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break
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except Exception as e:
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self.debug_message(f"Error initialising camera, retrying in 10 seconds: - {str(e)}")
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time.sleep(10)
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init_retries -= 1
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def init_camera(self):
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# Attempt to start picam.
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# Shutdown any previous instances of the camera object.
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# If we don't do this, we can end up with all sorts of fun errors.
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try:
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self.cam.close()
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self.debug_message("Closed broken instance of Picamera2")
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except:
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pass
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self.cam = Picamera2()
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self.camera_properties = self.cam.camera_properties
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self.debug_message("Camera Native Resolution: " + str(self.camera_properties['PixelArraySize']))
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# Now we can calculate the AF Window information, if we have been ask to do so
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if self.af_window:
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_frame_x = self.camera_properties['PixelArraySize'][0]
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_frame_y = self.camera_properties['PixelArraySize'][1]
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try:
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_fields = self.af_window.split(",")
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if len(_fields) == 4:
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_x = int(float(_fields[0])*_frame_x)
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_y = int(float(_fields[1])*_frame_y)
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_w = int(float(_fields[2])*_frame_x)
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_h = int(float(_fields[3])*_frame_y)
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self.af_window_rectangle = (_x, _y, _w, _h)
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self.debug_message(f"Using AF Window: {str(self.af_window_rectangle)}")
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else:
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self.debug_message("Invalid AF Window definition! Needs 4 fields.")
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except:
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self.af_window_rectangle = None
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# If the user has explicitly specified the transmit image resolution, use it.
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if type(self.tx_resolution_init) == tuple:
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self.tx_resolution = self.tx_resolution_init
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self.debug_message(f"Transmit Resolution set to {str(self.tx_resolution)}")
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# Otherwise, has the user provided a floating point scaling factor?
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elif type(self.tx_resolution_init) == float:
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res_x = 16*int(self.camera_properties['PixelArraySize'][0]*self.tx_resolution_init/16)
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res_y = 16*int(self.camera_properties['PixelArraySize'][1]*self.tx_resolution_init/16)
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self.tx_resolution = (res_x, res_y)
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self.debug_message(f"Transmit Resolution set to {str(self.tx_resolution)}, scaled {self.tx_resolution_init} from native.")
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# Configure camera, including flip settings.
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capture_config = self.cam.create_still_configuration(
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transform=Transform(hflip=self.horizontal_flip, vflip=self.vertical_flip)
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)
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self.cam.configure(capture_config)
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# Set other settings, White Balance, exposure metering, etc.
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self.cam.set_controls(
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{'AwbMode': self.whitebalance,
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'AeMeteringMode': controls.AeMeteringModeEnum.Matrix
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#'NoiseReductionMode': controls.draft.NoiseReductionModeEnum.Off
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}
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)
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# Set Pi Camera 3 lens position
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if 'LensPosition' in self.cam.camera_controls:
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if self.lens_position>=0.0:
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self.debug_ptr("Configured lens position to " + str(self.lens_position))
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self.cam.set_controls({"AfMode": controls.AfModeEnum.Manual, "LensPosition": self.lens_position})
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else:
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self.cam.set_controls({"AfMode": controls.AfModeEnum.Continuous})
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# Set AF Window if defined
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if self.af_window_rectangle:
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self.cam.set_controls({"AfWindows": [self.af_window_rectangle]})
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# In autofocus mode, we need to start the camera now, so it can start figuring out its focus.
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if 'LensPosition' in self.cam.camera_controls and self.lens_position<0.0:
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self.debug_message("Enabling camera for image capture")
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self.cam.start()
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self.capture_in_progress = False
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# If we are not in autofocus mode, we start the camera only when we need it.
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# This may help deal with crashes after the camera is running for a long time, and also
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# may help decrease CPU usage a little.
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def debug_message(self, message):
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""" Write a debug message.
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If debug_ptr was set to a function during init, this will
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pass the message to that function, else it will just print it.
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This is used mainly to get updates on image capture into the Wenet downlink.
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"""
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message = "PiCam Debug: " + message
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if self.debug_ptr != None:
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self.debug_ptr(message)
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else:
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print(message)
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def close(self):
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try:
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self.cam.stop()
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except:
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self.debug_message("Stopping camera object failed.")
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try:
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self.cam.close()
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except:
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self.debug_message("Closing camera object failed.")
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def capture(self, filename='picam.jpg', quality=90):
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""" Capture an image using the PiCam
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Keyword Arguments:
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filename: destination filename.
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"""
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# Ensure JPG quality is set as required.
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self.cam.options['quality'] = quality
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# Set other settings, White Balance, exposure metering, etc.
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# TODO - Maybe expose some of these settings?
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self.cam.set_controls(
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{'AwbMode': self.whitebalance,
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'AeMeteringMode': controls.AeMeteringModeEnum.Matrix
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#'NoiseReductionMode': controls.draft.NoiseReductionModeEnum.Off
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}
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)
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# Set Pi Camera 3 lens position, or ensure we are in continuous autofocus mode.
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if 'LensPosition' in self.cam.camera_controls:
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if self.lens_position>=0.0:
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self.debug_ptr("Configured lens position to " + str(self.lens_position))
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self.cam.set_controls({"AfMode": controls.AfModeEnum.Manual, "LensPosition": self.lens_position})
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else:
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self.cam.set_controls({"AfMode": controls.AfModeEnum.Continuous})
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# Set AF Window if defined
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if self.af_window_rectangle:
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print("Set AfWindows")
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self.cam.set_controls({"AfWindows": [self.af_window_rectangle]})
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# If we're not using autofocus, then camera would not have been started yet.
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# Start it now.
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if 'LensPosition' not in self.cam.camera_controls or self.lens_position>=0.0:
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try:
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self.debug_message("Enabling camera for image capture")
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self.cam.start()
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self.capture_in_progress = False
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except Exception as e:
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self.debug_message("Could not enable camera! - " + str(e))
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sleep(1)
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return False
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sleep(3)
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# Attempt to capture a set of images.
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img_metadata = []
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for i in range(self.num_images):
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self.debug_message("Capturing Image %d of %d" % (i+1,self.num_images))
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# Wrap this in error handling in case we lose the camera for some reason.
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try:
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self.capture_in_progress = True
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# Capture image
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metadata = self.cam.capture_file("%s_%d.jpg" % (self.temp_filename_prefix,i))
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# Save metadata for this frame
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img_metadata.append(metadata.copy())
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self.capture_in_progress = False
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print(f"Image captured: {time.time()}")
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if self.image_delay > 0:
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sleep(self.image_delay)
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except Exception as e: # TODO: Narrow this down...
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self.debug_message("Capture Error: %s" % str(e))
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# Immediately return false. Not much point continuing to try and capture images.
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return False
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if 'LensPosition' not in self.cam.camera_controls or self.lens_position>=0.0:
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self.debug_message("Disabling camera.")
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self.capture_in_progress = True
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self.cam.stop()
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# Otherwise, continue to pick the 'best' image based on filesize.
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self.debug_message("Choosing Best Image.")
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pic_list = glob.glob("%s_*.jpg" % self.temp_filename_prefix)
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pic_sizes = []
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# Iterate through list of images and get the file sizes.
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for pic in pic_list:
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pic_sizes.append(os.path.getsize(pic))
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_largest_pic_idx = pic_sizes.index(max(pic_sizes))
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largest_pic = pic_list[_largest_pic_idx]
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# Report the image pick results.
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if 'LensPosition' in img_metadata[_largest_pic_idx]:
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self.debug_message(f"Best Image was #{_largest_pic_idx}, Lens Pos: {img_metadata[_largest_pic_idx]['LensPosition']:.4f}")
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else:
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self.debug_message(f"Best Image was #{_largest_pic_idx}")
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# Copy best image to target filename.
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self.debug_message("Copying image to storage with filename %s" % filename)
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os.system("cp %s %s" % (largest_pic, filename))
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# Clean up temporary images.
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os.system("rm %s_*.jpg" % self.temp_filename_prefix)
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return True
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def ssdvify(self, filename="output.jpg", image_id=0, quality=6):
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""" Convert a supplied JPEG image to SSDV.
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Returns the filename of the converted SSDV image.
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Keyword Arguments:
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filename: Source JPEG filename.
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Output SSDV image will be saved to to a temporary file (webcam_temp.jpg) which should be
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transmitted immediately.
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image_id: Image ID number. Must be incremented between images.
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quality: JPEG quality level: 4 - 7, where 7 is 'lossless' (not recommended).
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6 provides good quality at decent file-sizes.
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"""
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# Wrap image ID field if it's >255.
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image_id = image_id % 256
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# Resize image to the desired resolution.
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self.debug_message("Resizing image.")
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return_code = os.system("timeout -k 5 180 convert %s -scale %dx%d\! picam_temp.jpg" % (filename, self.tx_resolution[0], self.tx_resolution[1]))
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if return_code != 0:
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self.debug_message("Resize operation failed! (Possible kernel Oops? Maybe set arm_freq to 700 MHz)")
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return "FAIL"
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# Get non-extension part of filename.
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file_basename = filename[:-4]
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# Construct SSDV command-line.
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ssdv_command = "ssdv -e -n -q %d -c %s -i %d picam_temp.jpg picam_temp.ssdv" % (quality, self.callsign, image_id)
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print(ssdv_command)
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# Update debug message.
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self.debug_message("Converting image to SSDV.")
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# Run SSDV converter.
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return_code = os.system(ssdv_command)
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if return_code != 0:
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self.debug_message("ERROR: Could not perform SSDV Conversion.")
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return "FAIL"
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else:
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return "picam_temp.ssdv"
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auto_capture_running = False
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def auto_capture(self, destination_directory, tx, post_process_ptr=None, delay = 0, start_id = 0):
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""" Automatically capture and transmit images in a loop.
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Images are automatically saved to a supplied directory, with file-names
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defined using a timestamp.
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Use the run() and stop() functions to start/stop this running.
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Keyword Arguments:
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destination_directory: Folder to save images to. Both raw JPEG and SSDV images are saved here.
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tx: A reference to a PacketTX Object, which is used to transmit packets, and interrogate the TX queue.
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post_process_ptr: An optional function which is called after the image is captured. This function
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will be passed the path/filename of the captured image.
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This can be used to add overlays, etc to the image before it is SSDVified and transmitted.
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NOTE: This function need to modify the image in-place.
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delay: An optional delay in seconds between capturing images. Defaults to 0.
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This delay is added on top of any delays caused while waiting for the transmit queue to empty.
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start_id: Starting image ID. Defaults to 0.
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"""
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image_id = start_id
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while self.auto_capture_running:
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# Sleep before capturing next image.
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sleep(delay)
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# Grab current timestamp.
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capture_time = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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capture_filename = destination_directory + "/%s_picam.jpg" % capture_time
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# Attempt to capture.
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try:
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capture_successful = self.capture(capture_filename)
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except Exception as e:
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self.debug_message(f"Exception on capture - {str(e)}")
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capture_successful = False
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# If capture was unsuccessful, try again in a little bit
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if not capture_successful:
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sleep(5)
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self.debug_message("Capture failed! Attempting to reset camera...")
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# Try and stop, then close the camera object.
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try:
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self.cam.stop()
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except:
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self.debug_message("Stopping camera object failed.")
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try:
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self.cam.close()
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except:
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self.debug_message("Closing camera object failed.")
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try:
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self.init_camera()
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except:
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self.debug_message("Error initializing camera!")
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sleep(1)
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continue
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# Otherwise, proceed to post-processing step.
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if post_process_ptr != None:
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try:
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self.debug_message("Running Image Post-Processing")
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post_process_ptr(capture_filename)
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except:
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error_str = traceback.format_exc()
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self.debug_message("Image Post-Processing Failed: %s" % error_str)
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# SSDV'ify the image.
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ssdv_filename = self.ssdvify(capture_filename, image_id=image_id)
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# Check the SSDV Conversion has completed properly. If not, continue
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if ssdv_filename == "FAIL":
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sleep(1)
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continue
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# Otherwise, read in the file and push into the TX buffer.
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file_size = os.path.getsize(ssdv_filename)
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# Wait until the transmit queue is empty before pushing in packets.
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self.debug_message("Waiting for SSDV TX queue to empty.")
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while tx.image_queue_empty() == False:
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sleep(0.05) # Sleep for a short amount of time.
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if self.auto_capture_running == False:
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return
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# Inform ground station we are about to send an image.
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self.debug_message("Transmitting %d PiCam SSDV Packets." % (file_size//256))
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# Push SSDV file into transmit queue.
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tx.queue_image_file(ssdv_filename)
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# Increment image ID.
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image_id = (image_id + 1) % 256
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_cpu_temp = self.get_cpu_temperature()
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_cpu_freq = self.get_cpu_speed()
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self.debug_message(f"CPU State: Temperature: {_cpu_temp:.1f} degC, Frequency: {_cpu_freq} MHz")
|
|
|
|
# Loop!
|
|
|
|
self.debug_message("Uh oh, we broke out of the main thread. This is not good!")
|
|
|
|
|
|
def run(self, destination_directory, tx, post_process_ptr=None, delay = 0, start_id = 0):
|
|
""" Start auto-capturing images in a thread.
|
|
|
|
Refer auto_capture function above.
|
|
|
|
Keyword Arguments:
|
|
destination_directory: Folder to save images to. Both raw JPEG and SSDV images are saved here.
|
|
tx: A reference to a PacketTX Object, which is used to transmit packets, and interrogate the TX queue.
|
|
post_process_ptr: An optional function which is called after the image is captured. This function
|
|
will be passed the path/filename of the captured image.
|
|
This can be used to add overlays, etc to the image before it is SSDVified and transmitted.
|
|
NOTE: This function need to modify the image in-place.
|
|
delay: An optional delay in seconds between capturing images. Defaults to 0.
|
|
This delay is added on top of any delays caused while waiting for the transmit queue to empty.
|
|
start_id: Starting image ID. Defaults to 0.
|
|
"""
|
|
|
|
self.auto_capture_running = True
|
|
|
|
capture_thread = Thread(target=self.auto_capture, kwargs=dict(
|
|
destination_directory=destination_directory,
|
|
tx = tx,
|
|
post_process_ptr=post_process_ptr,
|
|
delay=delay,
|
|
start_id=start_id))
|
|
|
|
capture_thread.start()
|
|
|
|
def stop(self):
|
|
self.auto_capture_running = False
|
|
|
|
# TODO: Non-blocking image capture.
|
|
capture_finished = False
|
|
def trigger_capture():
|
|
pass
|
|
|
|
def get_cpu_temperature(self):
|
|
""" Grab the temperature of the RPi CPU """
|
|
try:
|
|
data = subprocess.check_output("/usr/bin/vcgencmd measure_temp", shell=True)
|
|
temp = data.decode().split('=')[1].split('\'')[0]
|
|
return float(temp)
|
|
except Exception as e:
|
|
self.debug_message("Error reading temperature - %s" % str(e))
|
|
return -999
|
|
|
|
def get_cpu_speed(self):
|
|
""" Get the current CPU Frequency """
|
|
try:
|
|
data = subprocess.check_output("cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_cur_freq", shell=True)
|
|
freq = int(data.decode().strip())/1000
|
|
return freq
|
|
except Exception as e:
|
|
self.debug_message("Error reading CPU Freq - %s" % str(e))
|
|
return -1
|
|
|
|
def get_camera_metadata(self):
|
|
"""
|
|
Query the camera for metadata, but only if a capture is currently not running
|
|
(otherwise this can block for a while)
|
|
If a capture is in progress, return the previous data.
|
|
"""
|
|
try:
|
|
if self.capture_in_progress == False:
|
|
if self.cam:
|
|
self.cam_metadata = self.cam.capture_metadata()
|
|
|
|
return self.cam_metadata
|
|
except:
|
|
return None
|
|
|
|
|
|
# Basic transmission test script. TODO - Fix this, this is all incorrect..
|
|
if __name__ == "__main__":
|
|
import PacketTX
|
|
import argparse
|
|
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument("callsign", default="N0CALL", help="Payload Callsign")
|
|
parser.add_argument("--txport", default="/dev/ttyAMA0", type=str, help="Transmitter serial port. Defaults to /dev/ttyAMA0")
|
|
parser.add_argument("--baudrate", default=115200, type=int, help="Transmitter baud rate. Defaults to 115200 baud.")
|
|
args = parser.parse_args()
|
|
|
|
callsign = args.callsign
|
|
print("Using Callsign: %s" % callsign)
|
|
|
|
def post_process(filename):
|
|
print("Doing nothing with %s" % filename)
|
|
|
|
tx = PacketTX.PacketTX(serial_port=args.txport, serial_baud=args.baudrate, callsign=callsign)
|
|
tx.start_tx()
|
|
|
|
|
|
picam = WenetPiCamera2(src_resolution=(1920,1088),
|
|
tx_resolution=(1920,1088),
|
|
callsign=callsign,
|
|
num_images=5,
|
|
debug_ptr=tx.transmit_text_message,
|
|
vertical_flip=False,
|
|
horizontal_flip=False)
|
|
|
|
picam.run(destination_directory="./tx_images/",
|
|
tx = tx,
|
|
post_process_ptr = post_process
|
|
)
|
|
try:
|
|
while True:
|
|
tx.transmit_text_message("Waiting...")
|
|
sleep(5)
|
|
except KeyboardInterrupt:
|
|
print("Closing")
|
|
picam.stop()
|
|
tx.close()
|
|
|