def setup_server(i, conf):
# Set up server
sock, clis = networking.server.create_socket_and_client_list(
port=conf.controlport)
handler = networking.create_gst_handler(pipeline, None, 'valve' + i,
'udpsink' + i)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
return sock
import networking.messages as m
from processing.tapecontours import get_corners_from_image
# Gst = gs.Gst
if __name__ == '__main__':
conf = config.configfor('Vision')
cleft = cv2.VideoCapture(0)
cright = cv2.VideoCapture(1)
logging.config.dictConfig(conf.logging)
logger = logging.getLogger(__name__)
# Set up server
sock, clis = networking.server.create_socket_and_client_list(
port=conf.controlport)
handler = networking.create_gst_handler(None, None, None, None)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
while True:
_, ileft = cleft.read()
_, iright = cright.read()
ipleft = np.rot90(ileft, 3)
ipright = np.rot90(iright, 3)
corners_left = np.concatenate(get_corners_from_image(ipleft, 1))
corners_right = np.concatenate(get_corners_from_image(ipright, 2))
Gst.CLOCK_TIME_NONE)) # Wait for pipeline to play
caps = gs.get_sink_caps(pipeline.get_by_name(gs.SINK_NAME))
cap_string = gs.make_command_line_parsable(caps)
cap = cv2.VideoCapture(gs.SHMSrc(cap_string))
# Now that the capture filters have been (hopefully) successfully
# captured, GStreamer doesn't need to be debugged anymore and the thread
# can be stopped.
debuggingThread.stop()
# Set up server
sock, clis = networking.server.create_socket_and_client_list(
port=conf.controlport)
handler = networking.create_gst_handler(pipeline, gs.SRC_NAME, 'valve',
gs.UDP_NAME)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
while True:
_, img = cap.read()
cv2.imshow('original', img)
corners = get_corners_from_image(img, show_image=True)
# Send the coordinates to the roborio
corns = [[(int(a[0]), int(a[1])) for a in b] for b in corners]
message = m.create_message(m.TYPE_RESULTS, {m.FIELD_CORNERS: corns})
networking.server.broadcast(sock, clis, message)
pipeline = gs.pipeline(
gs.RaspiCam(awb=True, expmode=1) + gs.Valve('valve') +
gs.H264Stream(port=5002) # Default to port 5002
)
pipeline.set_state(Gst.State.PLAYING)
# Start debugging the gstreamer pipeline
debuggingThread = gs.MessagePrinter(pipeline)
debuggingThread.start()
# TODO: Find a better method to wait for playback to start
print(pipeline.get_state(Gst.CLOCK_TIME_NONE)) # Wait for pipeline to play
# Now that the pipeline has been (hopefully) successfully started,
# GStreamer doesn't need to be debugged anymore and the thread can be
# stopped.
debuggingThread.stop()
# Set up server
sock, clis = networking.server.create_socket_and_client_list()
handler = networking.create_gst_handler(pipeline, None, 'valve',
gs.SINK_NAME)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
input('Streaming... Press enter to quit.')
sock.close()
