def start():
config = get_config()
# TODO: perhaps be more explicit and not rely on this convention of 'ws'
if config['hmd']['camera_mono_url'].lower().startswith('ws'):
cs = CameraServer()
cs.start()
main_loop()
def __init__(self, joystick_id=0, **args):
super(Joystick, self).__init__(**args)
self._value = (0, 0)
self.joystick_id = joystick_id
self.joystick = InputController(self.joystick_id)
self.joystick.add_listener(self.joystick_event)
self._x_axis_name = None
self._y_axis_name = None
config = get_config()
config_section = 'joystick_{}'.format(self.joystick_id)
self.ws_port = config.getint('www', 'ws_port', fallback=8001)
self.invert_x_axis = config.getboolean(config_section, 'invert_x_axis', fallback=False)
self.invert_y_axis = config.getboolean(config_section, 'invert_y_axis', fallback=False)
self.messages = MessageReceiver(self.ws_port) # a 'shared' (singleton) resource
self.messages.add_listener(self.message_recv)
if joystick_id == 1:
self._x_axis_name, self._y_axis_name = ('lx', 'ly')
else:
self._x_axis_name, self._y_axis_name = ('rx', 'ry')
logger.info(self)
def __init__(self, callee, ws_port = None, ws_class=DefaultWebSocketHandler, ):
self.ws_thread = None
self.ws_port = ws_port if ws_port else get_config().getboolean('www', 'ws_port', fallback=8001)
self.ws = None
self.ws_class = ws_class
self.ws_class.callee = callee
self._keep_running = True
def __init__(self, pan=None, tilt=None):
super(PanTilt, self).__init__(
pan_servo=PiCraftServo(pan),
tilt_servo=PiCraftServo(tilt),
_order=('pan_servo', 'tilt_servo'))
config = get_config()
config_section = 'pantilt_0'
self.invert_pan_axis = config.getboolean(config_section, 'invert_pan_axis', fallback=False)
self.invert_tilt_axis = config.getboolean(config_section, 'invert_tilt_axis', fallback=False)
def main():
logger.info('Initializing camera')
with picamera.PiCamera() as camera:
config = get_config()
w = config.getint('camera', 'width', fallback=640)
h = config.getint('camera', 'height', fallback=480)
camera.resolution = (w, h)
camera.framerate = config.getint('camera', 'framerate', fallback=24)
camera.rotation = config.getint('camera', 'rotation', fallback=0)
camera.hflip = config.getboolean('camera', 'hflip', fallback=False)
camera.vflip = config.getboolean('camera', 'vflip', fallback=False)
camera.led = config.getboolean('camera', 'led', fallback=False)
sleep(1) # camera warm-up tim
logger.info('Initializing websockets server on port %d' % WS_PORT)
websocket_server = make_server(
'',
WS_PORT,
server_class=WSGIServer,
handler_class=HTTP11WebSocketWSGIRequestHandler,
app=WebSocketWSGIApplication(handler_cls=StreamingWebSocket))
websocket_server.initialize_websockets_manager()
websocket_thread = Thread(target=websocket_server.serve_forever)
#logger.info('Initializing HTTP server on port %d' % HTTP_PORT)
#http_server = StreamingHttpServer()
#http_thread = Thread(target=http_server.serve_forever)
logger.debug('Initializing broadcast thread')
output = BroadcastOutput(camera)
broadcast_thread = BroadcastThread(output.converter, websocket_server)
logger.info('Starting recording')
camera.start_recording(output, 'yuv')
try:
logger.debug('Starting websockets thread')
websocket_thread.start()
#logger.info('Starting HTTP server thread')
#http_thread.start()
logger.debug('Starting broadcast thread')
broadcast_thread.start()
while True:
camera.wait_recording(1)
except KeyboardInterrupt:
pass
finally:
logger.info('Stopping recording')
camera.stop_recording()
logger.debug('Waiting for broadcast thread to finish')
broadcast_thread.join()
logger.debug('Shutting down HTTP server')
#http_server.shutdown()
logger.debug('Shutting down websockets server')
websocket_server.shutdown()
logger.debug('Waiting for HTTP server thread to finish')
#http_thread.join()
logger.debug('Waiting for websockets thread to finish')
websocket_thread.join()
import os
import threading
from picraftzero.utils import arduino_map
from picraftzero.log import logger
from picraftzero.zero import Button
from picraftzero.config import get_config
config = get_config()
USE_EVENT = True
USE_PYGAME = True
USE_BLUEDOT = config.getboolean('joystick', 'use_bluedot', fallback=False)
HAVE_EVENT = False
HAVE_PYGAME = False
HAVE_BLUEDOT = False
# ---------------------------------------------------------------------------------------------------------
# TODO: other joypads
# TODO: test the PyGame impl. on Windows
# TODO: shared common behaviour refactor
# ---------------------------------------------------------------------------------------------------------
# Look for Event support first (Linux) then PyGame (Linux, Windows, Mac, other)
try:
from evdev import InputDevice, categorize, AbsEvent, KeyEvent, list_devices
from evdev.ecodes import KEY, SYN, REL, ABS
HAVE_EVENT = True
except ImportError:
logger.info("Optional EventDev library not found")
def __init__(self, http_port = None):
self.http_thread = None
self.http_port = http_port if http_port else get_config().getint('www', 'http_port', fallback=8000)
TCPServer.allow_reuse_address = True
self.httpd = None