def configSwappableStream(listener):
"""
Returns a list of plugged in cameras
Cameras MUST be plugged in in the order they appear or the system may become confused
"""
global cliip
camnums = []
camnumstoremove = []
sockmessage = b""
started = False
print("here")
while not started or not camnums:
newcamnums = stdreader.scanForCameras()
#Checks for and appends new cameras
for camnum in newcamnums:
if camnum not in camnums:
camnums.append(camnum)
table.putBoolean("{}isactive".format(camnum), True)
#Removes any unplugged cameras
for camnum in camnums:
if camnum not in newcamnums:
camnumstoremove.append(camnum)
for camnum in camnumstoremove:
camnums.remove(camnum)
table.putBoolean("{}isactive".format(camnum), False)
camnumstoremove = []
#Listens for start signal
sockmessage = recvWithTimeout(listener)
cliip = sockmessage.decode()
started = cliip.startswith("10.44.15")
table.putBoolean("config", False)
flushSock(listener)
return camnums
def configWithSenderProcesses(sock):
sockmessage = b""
msgqdict = {}
messages = {}
indsused = 0
while sockmessage != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
for camnum in cams:
table.putBoolean("{}isactive".format(camnum), True)
if camnum not in msgqdict:
msgqueue = Queue()
thread = makeVideoSenderProcess(camnum, indsused, msgqueue)
thread.start()
msgqdict[camnum] = msgqueue
indsused += 1
sockmessage = recvWithTimeout(sock)
messages = getQueueMessages(msgqdict)
for camnum in messages:
message = messages[camnum]
if message == b"dead":
msgqdict.pop(camnum)
indsused -= 1
messages = {}
return msgqdict
def configWithProcesses(sock):
sockmessage = b""
camqdict = {}
msgqdict = {}
messages = {}
indsused = 0
while sockmessage != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
for camnum in cams:
table.putBoolean("{}isactive".format(camnum), True)
if camnum not in camqdict:
camqueue = LifoQueue()
msgqueue = LifoQueue()
process = makeVideoProcess(camnum, indsused, camqueue,
msgqueue)
process.start()
camqdict[camnum] = camqueue
msgqdict[camnum] = msgqueue
indsused += 1
sockmessage = recvWithTimeout(sock)
exportTestQueueStream(sock, camqdict)
messages = getQueueMessages(msgqdict)
for camnum in messages:
message = messages[camnum]
if message == b"dead":
camqdict.pop(camnum)
msgqdict.pop(camnum)
indsused -= 1
messages = {}
return camqdict, msgqdict
def config(listener):
message = b""
camdict = {}
qdict = {}
badcams = []
indsused = 0
while message != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
for camnum in cams:
if (not camnum in camdict):
camera = makeCamera(indsused)
camdict[camnum] = camera
queue = Queue()
qdict[camnum] = queue
makeVideoProcess(camera, camnum, queue).start()
indsused += 1
for num in qdict:
if not camdict[num].grab():
qdict[num].put(b"stop")
badcams.append(num)
for num in badcams:
camdict.pop(num)
qdict.pop(num)
return camdict, qdict
def main():
global camera
global width
global height
global active
global camnums
camnums = scanForCameras()
active = visiontable.getNumber("isactive", camnums[0])
camera = cv2.VideoCapture(active)
width = int(visiontable.getNumber("width", width))
height = int(visiontable.getNumber("height", height))
setCameraSettings()
try:
server = ThreadedHTTPServer(('localhost', 5800), CamHandler)
print("server started")
server.serve_forever()
except KeyboardInterrupt:
camera.release()
server.socket.close()
def configSingle(listener):
#Assumes only one camera is plugged in
camera = testCamnum(0)
sockmessage = b""
started = False
while not started or camera == None:
camnums = stdreader.scanForCameras()
if camera == None and camnums:
camera = testCamnum(len(camnums) - 1)
elif not camnums and type(camera) == cv2.VideoCapture:
#If the camera was unplugged but the object still registers
camera = None
elif type(camera) == cv2.VideoCapture:
#Otherwise, test if camera is alive
if not testCamera(camera):
camera = None
sockmessage = recvWithTimeout(listener)
started = sockmessage == b"start"
return camera
def configLegacy(sock):
message = b""
camdict = {}
indsused = 0
while message != b"start":
#Scans for active cameras and posts them to NetworkTables
cams = stdreader.scanForCameras()
badcams = exportTestStream(sock, camdict)
for camnum in cams:
if (not camnum in camdict):
camdict[camnum] = makeCamera(indsused)
indsused += 1
print(camdict, indsused)
for badcam in badcams:
cam = camdict.pop(badcam)
cam.release()
indsused -= 1
message = recvWithTimeout(sock)
return camdict