def main():
# CMD args parser
parser = argparse.ArgumentParser(description='openmv stress test')
parser.add_argument("-j", "--disable_fb", action = "store_true", help = "Disable FB JPEG compression")
parser.add_argument("-p", "--port", action = "store", help = "OpenMV serial port")
parser.add_argument("-t", "--time", action = "store", default = 100, help = "Max time before stopping the script")
parser.add_argument("-s", "--script", action = "store",\
default="../scripts/examples/01-Basics/helloworld.py", help = "OpenMV script file")
# Parse CMD args
args = parser.parse_args()
# init openmv
if (args.port):
portname = args.port
elif 'darwin' in sys.platform:
portname = "/dev/cu.usbmodem14221"
else:
portname = "/dev/openmvcam"
print("\n>>>Reading script: %s\n" %(args.script))
with open(args.script, "r") as f:
script = f.read()
print("%s\n" %(script))
connected = False
for i in range(10):
try:
# Open serial port.
# Set small timeout when connecting
pyopenmv.init(portname, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting.
pyopenmv.set_timeout(0.500)
# Enable/Disable framebuffer compression.
print(">>>Enable FB JPEG compression %s" %(str(not args.disable_fb)))
pyopenmv.enable_fb(not args.disable_fb)
# Interrupt running script.
pyopenmv.stop_script()
max_timeout = int(args.time)
for i in xrange(1000):
pyopenmv.exec_script(script)
sleep(randint(0, max_timeout)/1000)
pyopenmv.stop_script()
def __init__(self, port="/dev/openmvcam"):
self.port = port
self.connected = False
pyopenmv.disconnect()
rospy.loginfo("Connecting...")
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(self.port, baudrate=921600, timeout=0.050)
self.connected = True
break
except Exception as e:
self.connected = False
sleep(0.100)
if not self.connected:
rospy.logerr("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
return
rospy.loginfo("Connected!")
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init pub
self.pub_image = rospy.Publisher("/image", Image, queue_size=10)
# init thread
self.running = False
self.thread = Thread(target=self.run)
self.thread.start()
rospy.on_shutdown(self.shutdown)
def camera_connect():
"""
Camera connection loop.
"""
connected = False
pyopenmv.disconnect()
# try and connect
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(port_name, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1 * 2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(blob_script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
return running, Clock, font
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]), 'RGB')
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]), 'RGB')