def _destroy_pdraw(self):
ret = True
if self.pdraw_demuxer:
if not self.pdraw:
self.logger.error(
"Cannot destroy pdraw demuxer: a NULL pdraw session")
return False
self.logger.info("destroying pdraw demuxer...")
res = od.pdraw_demuxer_destroy(self.pdraw, self.pdraw_demuxer)
if res != 0:
self.logger.error(f"cannot destroy pdraw demuxer {res}")
ret = False
else:
self.logger.info("pdraw demuxer destroyed")
self.pdraw_demuxer = od.POINTER_T(od.struct_pdraw_demuxer)()
if self.pdraw:
self.logger.info("destroying pdraw...")
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logger.error(f"cannot destroy pdraw {res}")
ret = False
else:
self.logger.info("pdraw destroyed")
self.pdraw = od.POINTER_T(od.struct_pdraw)()
return ret
def listen(self):
if self._listening:
self.logger.info("Already listening")
return True
res = od.arsdk_publisher_net_new(
self._backend._backend_net,
self._thread_loop.pomp_loop,
ctypes.c_char_p(),
ctypes.byref(self._publisher_net),
)
if res < 0:
self.logger.error(f"arsdk_publisher_net_new: {res}")
return False
res = od.arsdk_backend_net_start_listen(self._backend._backend_net,
ctypes.byref(self._listen_cbs),
self._dcport)
if res < 0:
od.arsdk_publisher_net_destroy(self._publisher_net)
self._publisher_net = od.POINTER_T(od.struct_arsdk_publisher_net)()
self.logger.error(f"arsdk_backend_net_start_listen: {res}")
return False
# start net publisher
res = od.arsdk_publisher_net_start(
self._publisher_net, ctypes.byref(self._publisher_net_cfg))
if res < 0:
od.arsdk_backend_net_stop_listen(self._backend._backend_net)
od.arsdk_publisher_net_destroy(self._publisher_net)
self._publisher_net = od.POINTER_T(od.struct_arsdk_publisher_net)()
self.logger.error(f"arsdk_publisher_net_start: {res}")
return False
self._listening = True
return True
def info(self):
"""
Returns a dictionary of video frame info
"""
if self._frame_info is not None:
return self._frame_info
frame = self._get_video_frame()
if not frame:
return self._frame_info
ancillary_data = od.POINTER_T(od.struct_mbuf_ancillary_data)()
self._mbuf.get_ancillary_data(frame,
od.PDRAW_ANCILLARY_DATA_KEY_VIDEOFRAME,
ctypes.byref(ancillary_data))
pdraw_video_frame_size = ctypes.c_size_t()
pdraw_video_frame = ctypes.cast(
od.mbuf_ancillary_data_get_buffer(
ancillary_data, ctypes.byref(pdraw_video_frame_size)),
od.POINTER_T(od.struct_pdraw_video_frame),
)
assert pdraw_video_frame_size.value == ctypes.sizeof(
od.struct_pdraw_video_frame)
# FIXME: workaround bug in pdraw ancillary data API
frame_type = self._stream["frame_type"]
pdraw_video_frame_copy = ctypes.pointer(
self._pdraw_video_frame_storage)
pdraw_video_frame_copy.contents = pdraw_video_frame.contents
pdraw_video_frame = pdraw_video_frame_copy
pdraw_video_frame.contents.format = frame_type
if frame_type == od.VDEF_FRAME_TYPE_CODED:
res = self._mbuf_vt[frame_type].get_frame_info(
self._get_video_frame(),
pdraw_video_frame.contents.pdraw_video_frame_0.coded,
)
else:
res = self._mbuf_vt[frame_type].get_frame_info(
self._get_video_frame(),
pdraw_video_frame.contents.pdraw_video_frame_0.raw,
)
if res < 0:
self.logger.error(
f"mbuf_raw/coded_video_frame_get_frame_info returned error {res}"
)
return self._frame_info
# convert the binary metadata into json
self._frame_info = {}
jsonbuf = ctypes.create_string_buffer(4096)
res = od.pdraw_video_frame_to_json_str(pdraw_video_frame,
self._vmeta_frame, jsonbuf,
ctypes.sizeof(jsonbuf))
if res < 0:
self.logger.error(
f"pdraw_frame_metadata_to_json returned error {res}")
else:
self._frame_info = json.loads(str(jsonbuf.value, encoding="utf-8"))
return self._frame_info
def _pop_stream_buffer(self, id_):
buf = od.POINTER_T(od.struct_vbuf_buffer)()
ret = od.vbuf_queue_pop(self.streams[id_]['video_queue'], 0,
ctypes.byref(buf))
if ret < 0:
if ret != -errno.EAGAIN:
self.logging.error('vbuf_queue_pop returned error %d' % ret)
buf = od.POINTER_T(od.struct_vbuf_buffer)()
elif not buf:
self.logging.error('vbuf_queue_pop returned NULL')
return buf
def _do_create(self):
# default userdata callback argument
self.userdata = ctypes.c_void_p()
# Create the arsdk_ctrl
arsdk_ctrl = od.POINTER_T(od.struct_arsdk_ctrl)()
res = od.arsdk_ctrl_new(self._thread_loop.pomp_loop,
ctypes.byref(arsdk_ctrl))
backend_net = od.POINTER_T(od.struct_arsdkctrl_backend_net)()
arsdk_ctrl_device_cbs = od.struct_arsdk_ctrl_device_cbs.bind({
"added":
self._device_added_cb,
"removed":
self._device_removed_cb
})
# Send a command to add callbacks to the arsdk_ctrl
res = od.arsdk_ctrl_set_device_cbs(arsdk_ctrl, arsdk_ctrl_device_cbs)
if res != 0:
raise RuntimeError("arsdk_ctrl_set_device_cbs: {}".format(res))
self.logger.info("device callbacks have been added to arsdk_ctrl")
# Create the net backend
cfg = od.struct_arsdkctrl_backend_net_cfg(
ctypes.create_string_buffer(b"net_config"))
cfg.stream_supported = 1
res = od.arsdkctrl_backend_net_new(arsdk_ctrl, ctypes.pointer(cfg),
ctypes.byref(backend_net))
if res != 0:
raise RuntimeError("arsdkctrl_backend_net_new: {}".format(res))
self.logger.debug("New net backend has been created")
backend_net_socket_callback = od.arsdkctrl_backend_net_socket_cb_t(
lambda *args: self._socket_cb(*args))
res_set_socket = od.arsdkctrl_backend_net_set_socket_cb(
backend_net, backend_net_socket_callback, self.userdata)
if res_set_socket != 0:
raise RuntimeError(
"arsdkctrl_backend_net_set_socket_cb: {}".format(res))
self.logger.debug("Set backend socket callback OK")
return (
arsdk_ctrl,
arsdk_ctrl_device_cbs,
backend_net,
backend_net_socket_callback,
)
def _destroy(self):
res = od.vbuf_pool_destroy(self.yuv_packed_buffer_pool)
if res != 0:
self.logging.logE("Cannot destroy yuv packed buffer pool")
self.yuv_packed_buffer_pool = od.POINTER_T(od.struct_vbuf_pool)()
if self.pdraw:
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logging.logE("Cannot destroy pdraw object")
self.pdraw = od.POINTER_T(od.struct_pdraw)()
self.logging.logI("pdraw destroyed")
return True
def _pop_stream_buffer(self, id_):
frame_type = self.streams[id_]['frame_type']
mbuf_video_frame = od.POINTER_T(
self.video_sink_vt[frame_type].mbuf_video_frame_type)()
res = self.video_sink_vt[frame_type].queue_pop(
self.streams[id_]['video_queue'], ctypes.byref(mbuf_video_frame))
if res < 0:
if res not in (-errno.EAGAIN, -errno.ENOENT):
self.logger.error(
f"mbuf_coded_video_frame_queue_pop returned error {res}")
mbuf_video_frame = od.POINTER_T(
self.video_sink_vt[frame_type].mbuf_video_frame_type)()
elif not mbuf_video_frame:
self.logger.error('mbuf_coded_video_frame_queue_pop returned NULL')
return mbuf_video_frame
def _media_removed(self, pdraw, media_info, userdata):
id_ = media_info.contents.id
if id_ not in self.streams:
self.logging.error(
'Received removed event from unknown ID {}'.format(id_))
return
self.logging.info("_media_removed called id : {}".format(id_))
# FIXME: Workaround media_removed called with destroyed media
if not self.pdraw:
self.logging.error(
"_media_removed called with a destroyed pdraw id : {}".format(
id_))
return
with self.streams[id_]['video_sink_lock']:
if self.streams[id_]['video_queue_event']:
self.callbacks_thread_loop.remove_event_from_loop(
self.streams[id_]['video_queue_event'])
self.streams[id_]['video_queue_event'] = None
if not self.streams[id_]['video_sink']:
self.logging.error(
'pdraw_video_sink for media_id {} has already been stopped'
.format(id_))
return
res = od.pdraw_stop_video_sink(pdraw,
self.streams[id_]['video_sink'])
if res < 0:
self.logging.error('pdraw_stop_video_sink() returned %s' % res)
self.streams[id_]['video_queue'] = None
self.streams[id_]['video_sink'] = od.POINTER_T(
od.struct_pdraw_video_sink)()
def _get_pdraw_video_frame(self):
if self._yuv_packed_video_frame:
return self._yuv_packed_video_frame
if self._pdraw_video_frame:
return self._pdraw_video_frame
res = od.vbuf_metadata_get(
self._buf,
self._stream['video_sink'],
od.POINTER_T(ctypes.c_uint32)(),
od.POINTER_T(ctypes.c_uint64)(),
ctypes.byref(self._pdraw_video_frame))
if res < 0:
self.logging.logE(
'vbuf_metadata_get returned error {}'.format(res))
self._pdraw_video_frame = od.POINTER_T(ctypes.c_ubyte)()
return self._pdraw_video_frame
self._pdraw_video_frame = ctypes.cast(
self._pdraw_video_frame, od.POINTER_T(od.struct_pdraw_video_frame))
if self._stream['type'] == od.PDRAW_VIDEO_MEDIA_FORMAT_H264:
return self._pdraw_video_frame
if not self._yuv_packed_buffer:
res = od.vbuf_pool_get(
self._yuv_packed_buffer_pool,
0,
ctypes.byref(self._yuv_packed_buffer)
)
if res < 0:
self.logging.logE(
'vbuf_pool_get returned error {}'.format(res))
return self._yuv_packed_video_frame
self._yuv_packed_video_frame = ctypes.pointer(
self._yuv_packed_video_frame_storage)
res = od.pdraw_pack_yuv_frame(
self._pdraw_video_frame,
self._yuv_packed_video_frame,
self._yuv_packed_buffer)
if res < 0:
self._yuv_packed_video_frame = od.POINTER_T(
od.struct_pdraw_video_frame)()
self.logging.logE(
'pdraw_pack_yuv_frame returned error {}'.format(res))
return self._yuv_packed_video_frame
def __init__(self, logging, buf, media_id, stream, yuv_packed_buffer_pool,
session_metadata):
self.logging = logging
self._buf = buf
self._media_id = media_id
self._stream = stream
self._yuv_packed_buffer_pool = yuv_packed_buffer_pool
self._session_metadata = session_metadata
self._pdraw_video_frame = od.POINTER_T(ctypes.c_ubyte)()
self._frame_pointer = ctypes.POINTER(ctypes.c_ubyte)()
self._frame_size = 0
self._frame_array = None
self._yuv_packed_buffer = od.POINTER_T(od.struct_vbuf_buffer)()
self._yuv_packed_video_frame_storage = od.struct_pdraw_video_frame()
self._yuv_packed_video_frame = od.POINTER_T(
od.struct_pdraw_video_frame)()
self._frame_info = None
self._metadata_pointers = []
def _on_close_resp_done(self, close_resp_future):
if close_resp_future.cancelled():
# FIXME: workaround pdraw closing timeout
# This random issue is quiet hard to reproduce
self.logging.error("Closing Pdraw timedout")
if self.pdraw:
self.pdraw_thread_loop.run_later(od.pdraw_destroy, self.pdraw)
self.pdraw = od.POINTER_T(od.struct_pdraw)()
self.state = PdrawState.Error
self.logging.error("Pdraw has been closed")
def __init__(self, logger, mbuf_video_frame, media_id, stream,
session_metadata):
self.logger = logger
self._mbuf_video_frame = mbuf_video_frame
self._media_id = media_id
self._stream = stream
self._session_metadata = session_metadata
self._mbuf = self._mbuf_vt[self._stream["frame_type"]]
self._frame_pointer = ctypes.c_void_p()
self._frame_size = ctypes.c_size_t()
self._frame_array = None
self._packed_buffer = od.POINTER_T(od.struct_mbuf_mem)()
self._packed_video_frame = od.POINTER_T(self._mbuf.frame_type)()
self._frame_info = None
self._vmeta_frame = od.POINTER_T(od.struct_vmeta_frame)()
self._metadata_pointers = []
self._pdraw_video_frame_storage = od.struct_pdraw_video_frame()
def __init__(self, backend, ip_addr, device_types=None):
super().__init__(backend=backend)
if device_types is None:
device_types = DEVICE_TYPE_LIST
self._device_types = device_types
ctypes_device_type_list = (ctypes.c_int * len(device_types))(*device_types)
self.discovery_cfg = od.struct_arsdk_discovery_cfg(
ctypes.cast(ctypes_device_type_list, od.POINTER_T(od.arsdk_device_type)),
len(ctypes_device_type_list),
)
self.ip_addr = ip_addr
def _create_discovery(self):
discovery = od.POINTER_T(od.struct_arsdk_discovery)()
backendparent = od.arsdkctrl_backend_net_get_parent(self._backend._backend_net)
res = od.arsdk_discovery_new(
b"netraw", backendparent, self._backend._arsdk_ctrl, ctypes.byref(discovery)
)
if res != 0:
raise RuntimeError(f"Unable to create raw discovery:{res}")
return discovery
def StreamFactory():
return {
'id': None,
'id_userdata': ctypes.c_void_p(),
'type': od.PDRAW_VIDEO_MEDIA_FORMAT_UNKNOWN,
'h264_header': None,
'video_sink': od.POINTER_T(od.struct_pdraw_video_sink)(),
'video_sink_lock': threading.RLock(),
'video_queue': None,
'video_queue_event': None,
}
def _destroy(self):
if self.pdraw:
self.logging.info("destroying pdraw...")
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logging.error("cannot destroy pdraw {}".format(res))
else:
self.logging.info("pdraw destroyed")
if self.yuv_packed_buffer_pool:
self.logging.info("destroying yuv buffer pool...")
res = od.vbuf_pool_destroy(self.yuv_packed_buffer_pool)
if res != 0:
self.logging.error(
"cannot destroy yuv packed buffer pool: {}".format(res))
else:
self.logging.info("yuv buffer pool destroyed")
self.yuv_packed_buffer_pool = od.POINTER_T(od.struct_vbuf_pool)()
self.pdraw = od.POINTER_T(od.struct_pdraw)()
if self.pdraw_thread_loop.stop():
self.logging.info("pdraw thread loop stopped")
return True
def _pdraw_new(self):
res = od.pdraw_new(
self.pomp_loop, self.pdraw_cbs,
ctypes.cast(ctypes.pointer(ctypes.py_object(self)),
ctypes.c_void_p), ctypes.byref(self.pdraw))
if res != 0:
self.logger.error(f"Error while creating pdraw interface: {res}")
self.pdraw = od.POINTER_T(od.struct_pdraw)()
return False
else:
self.logger.info("Pdraw interface has been created")
return True
def _on_close_resp_done(self, close_resp_future):
if close_resp_future.cancelled():
# FIXME: workaround pdraw closing timeout
# This random issue is quiet hard to reproduce
self.logging.logE("Closing Pdraw timedout")
if self.pdraw:
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logging.logE("Cannot destroy pdraw object")
self.pdraw = od.POINTER_T(od.struct_pdraw)()
self._state = State.Closed
self.logging.logE("Pdraw has been closed")
def init(self, *, pdraw, media_id=0):
self._pdraw = pdraw
self._media_id = media_id
self._pdraw_renderer = od.POINTER_T(od.struct_pdraw_video_renderer)()
self._render_zone = od.struct_pdraw_rect(0, 0, self.width, self.height)
self._renderer_params = od.struct_pdraw_video_renderer_params.bind({
"fill_mode":
od.PDRAW_VIDEO_RENDERER_FILL_MODE_FIT_PAD_BLUR_EXTEND,
"enable_transition_flags":
od.PDRAW_VIDEO_RENDERER_TRANSITION_FLAG_ALL,
"enable_hmd_distortion_correction":
0,
"video_scale_factor":
1.0,
"enable_overexposure_zebras":
0,
"overexposure_zebras_threshold":
1.0,
"enable_histograms":
0,
"video_texture_width":
self.width,
"video_texture_dar_width":
self.width,
"video_texture_dar_height":
self.height,
})
self._media_infos = dict()
self._renderer_cbs = od.struct_pdraw_video_renderer_cbs.bind({
"media_added":
self._media_added_cb,
"media_removed":
self._media_removed_cb,
"render_ready":
self._render_ready_cb,
# explicitly set to NULL is important here
# to disable external texture loading
"load_texture":
None,
"render_overlay":
None,
})
od.pdraw_video_renderer_new(
self._pdraw.pdraw,
self._media_id,
self._render_zone,
self._renderer_params,
self._renderer_cbs,
None,
ctypes.byref(self._pdraw_renderer),
)
def _destroy_pdraw(self):
ret = True
if self.pdraw:
self.logger.info("destroying pdraw...")
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logger.error("cannot destroy pdraw {}".format(res))
ret = False
else:
self.logger.info("pdraw destroyed")
if self.yuv_packed_buffer_pool:
self.logger.info("destroying yuv buffer pool...")
res = od.vbuf_pool_destroy(self.yuv_packed_buffer_pool)
if res != 0:
ret = False
self.logger.error(
"cannot destroy yuv packed buffer pool: {}".format(res))
else:
self.logger.info("yuv buffer pool destroyed")
self.yuv_packed_buffer_pool = od.POINTER_T(od.struct_vbuf_pool)()
self.pdraw = od.POINTER_T(od.struct_pdraw)()
return ret
def StreamFactory():
return {
'id': None,
'id_userdata': ctypes.c_void_p(),
'frame_type': od.VDEF_FRAME_TYPE_UNKNOWN,
'h264_header': None,
'track_id': None,
'metadata_track_id': None,
'video_sink': None,
'video_sink_cbs': None,
'video_sink_lock': threading.RLock(),
'video_queue': None,
'video_queue_event': od.POINTER_T(od.struct_pomp_evt)(),
}
def from_arsdk_peer(cls, arsdk_peer):
peer_info = od.POINTER_T(od.struct_arsdk_peer_info)()
res = od.arsdk_peer_get_info(arsdk_peer, ctypes.byref(peer_info))
if res < 0 or not peer_info:
raise RuntimeError(f"Failed to get peer info: {res}")
peer_info = peer_info.contents
return cls(
ctrl_name=od.string_cast(peer_info.ctrl_name),
ctrl_type=od.string_cast(peer_info.ctrl_type),
ctrl_addr=od.string_cast(peer_info.ctrl_addr),
device_id=od.string_cast(peer_info.device_id),
proto_v=int(peer_info.proto_v),
json=od.string_cast(peer_info.json),
arsdk_peer=arsdk_peer,
)
def __init__(self,
name=None,
dcport=44444,
drone_type=0,
proto_v_min=1,
proto_v_max=3):
self._logger_scope = "device"
self._dcport = dcport
self._peer = None
self._publisher_net = od.POINTER_T(od.struct_arsdk_publisher_net)()
self._listening = False
super().__init__(name=name,
drone_type=drone_type,
proto_v_min=1,
proto_v_max=3)
def _pdraw_new(self):
res = od.pdraw_new(
self.pomp_loop,
self.cbs,
ctypes.cast(ctypes.pointer(ctypes.py_object(self)), ctypes.c_void_p),
ctypes.byref(self.pdraw)
)
if res != 0:
msg = "Error while creating pdraw interface: {}".format(res)
self.logging.logE(msg)
self.pdraw = od.POINTER_T(od.struct_pdraw)()
return False
else:
self.logging.logI("Pdraw interface has been created")
return True
def _unrecoverable_error(self, pdraw, demuxer, userdata):
self.logger.error("_unrecoverable_error() -> pdraw teardown...")
# remove every video sinks
for id_ in self.streams:
self._video_sink_flush_impl(id_)
self._media_removed_impl(id_)
# demuxer.close -> demuxer.destroy
if self.pdraw and self.pdraw_demuxer:
od.pdraw_demuxer_close(self.pdraw, self.pdraw_demuxer)
# the demuxer will be destroyed in close_resp
self.pdraw_demuxer = od.POINTER_T(od.struct_pdraw_demuxer)()
self.logger.error("_unrecoverable_error() -> pdraw teardown done")
# we should be good to go again with a Pdraw.play()
self._state = PdrawState.Created
def _open(self, filepath):
mux = od.POINTER_T(od.struct_mp4_mux)()
now = ctypes.c_uint64(int(time.time()))
res = od.mp4_mux_open(
od.char_pointer_cast(filepath), PDRAW_TIMESCALE, now, now, ctypes.byref(mux)
)
if res != 0:
raise RuntimeError(f"mp4_mux_open returned {res}")
res = od.mp4_mux_add_file_metadata(
mux,
od.char_pointer_cast("com.parrot.olympe.version"),
od.char_pointer_cast(__version__),
)
if res != 0:
self.logger.error(f"mp4_mux_add_file_metadata returned {res}")
return mux
def _create_discovery(self):
"""
Start net discovery in order to detect devices
"""
discovery = od.POINTER_T(od.struct_arsdk_discovery_net)()
res = od.arsdk_discovery_net_new(
self._backend._arsdk_ctrl,
self._backend._backend_net,
ctypes.pointer(self.discovery_cfg),
od.char_pointer_cast(self.ip_addr),
ctypes.byref(discovery),
)
if res != 0:
self._logging.error("arsdk_discovery_net_new: {}".format(res))
return None
return discovery
def _close_resp(self, pdraw, status, userdata):
self._close_output_files()
if status != 0:
self.logging.error("_close_resp called {}".format(status))
self._close_resp_future.set_result(False)
self.state = PdrawState.Error
else:
self.logging.info("_close_resp called {}".format(status))
self.state = PdrawState.Closed
self._close_resp_future.set_result(True)
if self.pdraw:
res = od.pdraw_destroy(self.pdraw)
if res != 0:
self.logging.error("Cannot destroy pdraw object")
self.pdraw = od.POINTER_T(od.struct_pdraw)()
self._close_resp_future.set_result(True)
def _create_command_interface(self, peer):
"""
Create a command interface to send command to the device
"""
cmd_itf = od.POINTER_T(od.struct_arsdk_cmd_itf)()
res = od.arsdk_peer_create_cmd_itf(peer, self._cmd_itf_cbs,
ctypes.pointer(cmd_itf))
if res != 0:
self.logger.error(f"Error while creating command interface: {res}")
cmd_itf = None
else:
self.logger.info("Command interface has been created")
return cmd_itf
def _close_resp(self, pdraw, demuxer, status, userdata):
self._close_output_files()
if status != 0:
self.logger.error(f"_close_resp called {status}")
self._close_resp_future.set_result(False)
self.state = PdrawState.Error
else:
self.logger.debug(f"_close_resp called {status}")
self.state = PdrawState.Closed
self._close_resp_future.set_result(True)
if not self._open_resp_future.done():
self._open_resp_future.set_result(False)
if demuxer == self.pdraw_demuxer:
self.pdraw_demuxer = od.POINTER_T(od.struct_pdraw_demuxer)()
res = od.pdraw_demuxer_destroy(pdraw, demuxer)
if res != 0:
self.logger.error(f"pdraw_demuxer_destroy: {res}")
else:
self.logger.debug(f"pdraw_demuxer_destroy: {res}")