def capture_image():
stream_url = "http://" + fetch_ros_master_ip() + ":8080/stream?topic=/cv_camera/image_raw"
#lserror, lsoutput = run_shell("ls -1q img* | wc -l")
# p1 = subprocess.Popen(split("ls -1q img*"), stdout=subprocess.PIPE)
# p2 = subprocess.Popen(split("wc -l"), stdin=p1.stdout)
# output, error = p2.communicate()
output, error = run_shell('ls')
output = output.decode()
print('output:', output)
i = 0
if 'img' in output:
i = output.rfind('img')
i = int(output[i + 3]) + 1 # shift by 'img'
print('i', i)
error, output = run_shell("ffmpeg -i " + stream_url + " -ss 00:00:01.500 -f image2 -vframes 1 img" + str(i) + ".jpg")
msg = "success"
if error:
msg = "F"
print('msg', msg)
return jsonify(msg=msg)
def feed_connection_check(stream, formatted_date, recording_log_msg):
"""
Check if video feed is up before starting start ffmpeg
"""
stream_url = "http://" + fetch_ros_master_ip(
) + ":8080/stream?topic=/cv_camera/image_raw"
error_state = 0
connection_check = os.system('ffprobe -select_streams v -i ' + stream_url)
if connection_check == 0:
threading.Thread(target=start_ffmpeg_record,
args=(stream, stream_url, formatted_date)).start()
print(recording_log_msg)
return jsonify(recording_log_msg=recording_log_msg,
error_state=error_state)
else:
recording_log_msg = 'failed to connect to video feed of ' + stream
error_state = 1
print(recording_log_msg)
return jsonify(recording_log_msg=recording_log_msg,
error_state=error_state)
def ping_rover():
"""Pings ROS_MASTER_URI and return response object with resulting outputs.
Pings rover first directly with Unix ping command,
then using ros ping_acknowledgment service.
Returns JSON object with the following fields:
success -- whether requests was successful
ping_msg -- output of Unix ping command
ros_msg -- output of the ROS ping_acknowledgment service
"""
ping_output, error = run_shell("ping -c 1 " + fetch_ros_master_ip())
ping_output = ping_output.decode()
print("Output: " + ping_output)
if "Destination Net Unreachable" in ping_output:
error_msg = "Basestation has no connection to network, aborting ROS ping."
return jsonify(success=False, ping_msg=ping_output, ros_msg=error_msg)
if "Destination Host Unreachable" in ping_output:
error_msg = "Rover has no connection to network, aborting ROS ping."
return jsonify(success=False, ping_msg=ping_output, ros_msg=error_msg)
if error:
print("Error: " + error.decode())
ros_output, error = run_shell(
"rosrun ping_acknowledgment ping_response_client.py hello")
ros_output = ros_output.decode()
print("Pinging rover")
print("Output: " + ros_output)
if error:
print("Error: " + error.decode())
return jsonify(success=True, ping_msg=ping_output, ros_msg=ros_output)
def stream():
"""Stream page."""
return flask.render_template("pages/Stream.html", roverIP=fetch_ros_master_ip())
def pds():
"""PDS page."""
return flask.render_template("pages/PDS.html", roverIP=fetch_ros_master_ip())
def science():
"""Science page."""
return flask.render_template("pages/Science.html", roverIP=fetch_ros_master_ip())
def rover():
"""Rover control panel."""
return flask.render_template("pages/Rover.html", roverIP=fetch_ros_master_ip())
def index():
"""Current landing page, the arm panel."""
return flask.render_template("pages/Arm.html", roverIP=fetch_ros_master_ip())
def navigation():
"""Navigation page."""
return flask.render_template("pages/Navigation.html", roverIP=fetch_ros_master_ip())
def camerapopup():
"""Camera Pop-up."""
return flask.render_template("pages/CameraPopUp.html", roverIP=fetch_ros_master_ip())
