def runVideoProcess(camnum, camind, camqueue, msgqueue):
lasttimesent = time.perf_counter()
failures = 0
paused = False
camera = makeCamera(camind)
while True:
if failures >= failure_tolerance:
break
msg = readQueueWithTimeout(msgqueue)
if msg == b"stop":
break
elif msg == b"pause":
paused = True
elif msg == b"go":
paused = False
if paused:
continue
camvals = pollCamVars(camnum)
if True: #camvals["isactive"] and (time.perf_counter()-lasttimesent) >= 1/camvals["framerate"]:
ret, img = camera.read()
print(ret, img)
if ret:
if failures > 0:
failures = 0
img = processImage(img, camvals)
if not camqueue.full():
camqueue.put(img)
lasttimesent = time.perf_counter()
else:
failures += 1
camera.release()
msgqueue.put(b"dead")
def runVideoSender(camnum, camind, msgqueue):
lasttimesent = time.perf_counter()
failures = 0
paused = False
camera = makeCamera(camind)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
while True:
if failures >= failure_tolerance:
break
msg = readQueueWithTimeout(msgqueue)
if msg == b"stop":
break
elif msg == b"pause":
paused = True
elif msg == b"go":
paused = False
if paused:
continue
camvals = pollCamVars(camnum)
if True: #camvals["isactive"] and (time.perf_counter()-lasttimesent) >= 1/camvals["framerate"]:
ret, img = camera.read()
time.sleep(failures / 4)
print(ret, failures)
if ret:
print(ret, img)
if failures > 0:
failures = 0
img = processImage(img, camvals)
size = sock.sendto(img, (cliip, 5800 + camnum))
else:
failures += 1
finally:
camera.release()
msgqueue.put(b"dead")
def config(listener):
message = b""
camdict = {}
qdict = {}
badcams = []
indsused = 0
while message != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
for camnum in cams:
if (not camnum in camdict):
camera = makeCamera(indsused)
camdict[camnum] = camera
queue = Queue()
qdict[camnum] = queue
makeVideoProcess(camera, camnum, queue).start()
indsused += 1
for num in qdict:
if not camdict[num].grab():
qdict[num].put(b"stop")
badcams.append(num)
for num in badcams:
camdict.pop(num)
qdict.pop(num)
return camdict, qdict
def exportSwappableStream(sock,
camnums,
timeout=default_match_time,
socktype=UDP):
#Camnums are the potential camera numbers to be switched to
starttime = time.perf_counter()
lastimesent = 0
#The last time since diagnostic data was printed
lastimesincediag = 0
framesent = 0
totalsize = 0
activecam = table.getNumber("activecam", camnums[0])
if activecam in camnums:
camera = makeCamera(activecam)
else:
camera = makeCamera(0)
while time.perf_counter() - starttime <= time:
if activecam != table.getNumber("activecam", camnums[0]):
camera.release()
activecam = table.getNumber("activecam", camnums[0])
if activecam in camnums:
camera = makeCamera(activecam)
else:
camera = makeCamera(0)
camvals = pollCamVars(activecam)
if camvals["isactive"] and time.perf_counter(
) - lastimesent >= 1 / camvals[
"framerate"]: #If camera is active and framerate time has passed
size = exportImage(camera=camera,
camnum=activecam,
sock=sock,
camvals=camvals,
ip=cliip)
if size == -1:
continue
totalsize += size
framesent += 1
lastimesent = time.perf_counter()
if time.perf_counter() - lastimesincediag >= 10:
bytespersec = totalsize / 10
fps = framesent / 10
print("{0} frames sent at {1}fps. Average image size: {2}".format(
framesent, fps, bytespersec * 8 / 1000000))
framesent = 0
totalsize = 0
lastimesincediag = time.perf_counter()
cv2.waitKey(1)
def makeCam(camnum):
"""
Tries to make a camera, fails if it doesn't work
"""
camera = makeCamera(camnum)
ret, _ = camera.read()
if ret:
return camera
else:
return False
def configLegacy(sock):
message = b""
camdict = {}
indsused = 0
while message != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
badcams = exportTestStream(sock, camdict)
for camnum in cams:
if (not camnum in camdict):
camdict[camnum] = makeCamera(indsused)
indsused += 1
print(camdict, indsused)
for badcam in badcams:
cam = camdict.pop(badcam)
cam.release()
indsused -= 1
message = recvWithTimeout(sock)
return camdict
def testCamnum(camnum):
camera = makeCamera(camnum)
if camera.grab():
return camera
else:
return None