def __init__(self):
#I am not shure this is correct. According to docs, you do not instantate a logger.
os.system('sudo ifconfig wlan0 down') # Can't have this up at comp
logging.basicConfig(filename="../logs/runLogs.log",
level=logging.DEBUG)
logging.debug("\n--------------------New run------------------")
logging.debug("Run started at: ")
logging.debug(datetime.datetime.now().strftime('%Y/%m/%d %H:%M:%S'))
logging.debug("---------------------------------------------\n")
self.windowName = "picamera"
self.target = comm.Target()
self.commChan = None
self.parseArgs()
print("testPCam pid: %d args:" % os.getpid())
print(self.args)
print("OpenCV version: {}".format(cv2.__version__))
if self.args.robot != "none":
if self.args.robot == "roborio":
logging.debug(
datetime.datetime.now().strftime('%Y/%m/%d %H:%M:%S'))
logging.debug("Connecting to robot at 10.49.15.2...")
ip = "10.49.15.2"
else:
ip = "localhost"
print("starting comm to " + ip)
self.commChan = comm.Comm(ip)
self.picam = picam.PiCam(resolution=(self.args.iwidth,
self.args.iheight),
framerate=(self.args.fps))
# Push something down the pipe.
self.commChan.SetTarget(self.target)
def __init__(self):
self.commChan = None
self.parseArgs()
# logger init:
# - we write logging info to file, for performance this should be
# minimized.
# - during debugging, set the loglevel to debug and see the 'spew'
# via: "tail -f /tmp/runPiCam.log"
if self.args.debug:
logLevel = logging.DEBUG
else:
logLevel = logging.INFO
logging.basicConfig(
level=logLevel,
format="%(asctime)s %(levelname)-6s: %(message)s",
datefmt="%m/%d %H:%M:%S",
# This file is avible to write to, even when the pi is in 'read-only' mode
filename="/tmp/runPiCam.log",
filemode="a")
logging.info("--------------------New run------------------")
logging.info("pid: %d" % os.getpid())
logging.info("args: " + str(self.args))
logging.info("opencv version: {}".format(cv2.__version__))
logging.debug("Parsed the following args:")
logging.debug(self.args)
if self.args.robot != "none":
if self.args.robot == "roborio":
fmt = "%Y/%m/%d %H:%M:%S"
logging.debug(datetime.datetime.now().strftime(fmt))
logging.debug("Connecting to robot at 10.49.15.2...")
ip = "10.49.15.2"
else:
ip = self.args.robot
logging.info("starting comm to " + ip)
self.commChan = comm.Comm(ip)
# parameter configuration -----
self.config = getattr(config, self.args.config) # reads named dict
self.picam = picam.PiCam(self.config["picam"])
self.algoConfig = self.config["algo"]
# Updating config with passed commands
# XXX: Need logic to check if these values exist in the chosen config
# Unsure if an error will be thrown
# Overriding config values with passed values
if (self.args.display):
self.algoConfig["display"] = True
if (self.args.algo is not None):
self.algoConfig["algo"] = self.args.algo
def do_GET(self):
# we respond with a stream if the url ends in either .mjpg or .mjpeg
# we select between direct or algorithm-filtered streams based
# on the filename. If the algostr (below) is "direct.mjpeg", we
# get fast/raw/direct streaming. Otherwise the algostr is passed
# to the algo entrypoint.
if self.path.endswith('.mjpg') or self.path.endswith('.mjpeg'):
algostr = os.path.basename(self.path).split(".")[0]
self.send_response(200)
self.send_header(
'Content-type',
'multipart/x-mixed-replace; boundary=--jpgboundary')
self.end_headers()
cam = None
try:
time.sleep(1) # wait for shutdown of alt stream
cam = picam.PiCam(s_config["picam"])
if not cam:
raise Exception("Hey no camera!")
if algostr == "direct":
self.streamDirect(cam)
else:
self.streamAlgo(cam, algostr)
except BrokenPipeError:
logging.warning("broken pipe error")
except KeyboardInterrupt:
logging.info("keyboard interrupt")
except Exception as e:
# Critical for anything that happens in algo or below
exc_info = sys.exc_info()
logging.error("algo exception: " + str(e))
traceback.print_exception(*exc_info)
finally:
logging.info("done streaming ----------------------")
if cam:
cam.stop() # triggers PiCamera.close()
else:
logging.info("(cam init problem)")
else:
self.send_response(200)
self.send_header('Content-type', 'text/html')
self.end_headers()
self.wfile.write(bytes(s_mainPage, 'utf-8'))
return
def run(self):
cam = picam.PiCam()
last_frame_time = time.time()
while not self.stop_event.is_set():
t0 = time.time()
a = cam.capture()
t1 = time.time()
if self.queue.full():
self.queue.get()
self.queue.put(a)
t2 = time.time()
if not self.cmds.empty():
cmd = self.cmds.get()
n = cmd[1]
r = None
if not hasattr(cam, n):
r = Exception("invalid property: %s" % n)
else:
if cmd[0] == 'get':
try:
r = getattr(cam, n)
if n in ('resolution', 'framerate'):
r = tuple(r)
except Exception as e:
r = e
else:
try:
setattr(cam, n, cmd[2])
except Exception as e:
r = e
self.results.put((n, r))
t3 = time.time()
if print_timing:
print("capture: %0.4f" % (t1 - t0))
print("queue : %0.4f" % (t2 - t1))
print("cmds : %0.4f" % (t3 - t2))
fps = 1. / (t2 - last_frame_time)
print("fps : %0.2f" % fps)
last_frame_time = t2
print("Releasing capture")
cam.close()
del cam
def __init__(self):
self.windowName = "picamera"
self.target = comm.Target()
self.commChan = None
self.parseArgs()
print("testPCam pid: %d args:" % os.getpid())
print(self.args)
print("OpenCV version: {}".format(cv2.__version__))
if self.args.robot != "none":
if self.args.robot == "roborio":
ip = "10.49.15.2"
else:
ip = "localhost"
print("starting comm on " + ip)
self.commChan = comm.Comm(ip)
self.picam = picam.PiCam(resolution=(self.args.iwidth,
self.args.iheight),
framerate=(self.args.fps))
def __init__(self):
self.commChan = None
self.parseArgs()
# logger init:
# - we write logging info to file, for performance this should be
# minimized.
# - during debugging, set the loglevel to debug and see the 'spew'
# via: "tail -f /tmp/runPiCam.log"
if self.args.debug:
logLevel = logging.DEBUG
else:
logLevel = logging.INFO
logging.basicConfig(level=logLevel,
format="%(asctime)s %(levelname)-6s: %(message)s",
datefmt="%m/%d %H:%M:%S",
filename="/tmp/runPiCam.log",
filemode="a")
logging.info("--------------------New run------------------")
logging.info("pid: %d" % os.getpid())
logging.info("args: " + str(self.args))
logging.info("opencv version: {}".format(cv2.__version__))
logging.debug("Parsed the following args:")
logging.debug(self.args)
if self.args.robot != "none":
if self.args.robot == "roborio":
fmt = "%Y/%m/%d %H:%M:%S"
logging.debug(datetime.datetime.now().strftime(fmt))
logging.debug("Connecting to robot at 10.49.15.2...")
ip = "10.49.15.2"
else:
ip = self.args.robot
logging.info("starting comm to " + ip)
self.commChan = comm.Comm(ip)
# parameter configuration -----
self.config = getattr(config, self.args.config) # reads named dict
self.picam = picam.PiCam(self.config["picam"])
from picamera import PiCamera
from picamera.array import PiRGBArray
import time
import picam
cfg = {
"resolution": (1920, 1080), # cv2.resize() later
"framerate": 30, # TODO: Come back to
"iso": 400,
"brightness": 40,
"contrast": 100,
"flip": False,
"rotation": 0,
"exposure_mode": "off", #"fixedfps",
"exposure_compensation": -25,
"sensormode": 7
}
framesCap = 0
camera = picam.PiCam(config=cfg)
camera.start()
times = []
initTime = time.monotonic()
while framesCap < 10:
frame = camera.next()
framesCap += 1
finalTime = time.monotonic()
print("Frames Capped: {}".format(framesCap))
print("Average Time : {}".format((finalTime - initTime) / framesCap))
