def run(self):
'Take pictures from selected cameras'
while self.__control_data != -1:
#Run infinite loop as the main application is running
for i, cam in enumerate(self.__cameras):
#if there isn't a camera selected it creates a None value, otherwise create a RGB Matrix
try:
cam(fast = False)
self.__results[i] = cam.RGBimage
except:
self.__results[i] = None
if self.__control_data:
#Send list of RGB Matrix to main application only on request
self.__sending_pipe.send(self.__results)
self.__control_data = 0
self.__sending_data = self.__sending_pipe.recv() if self.__sending_pipe.poll() else self.__sending_data
for i, cam in enumerate(self.__cameras):
#Change or close camera devices as selected on the main application
if ((cam == None) and (self.__sending_data[i] != None)):
self.__cameras[i] = camera(self.__sending_data[i])
elif ((cam != None) and (self.__sending_data[i] == None)):
self.__cameras[i].close()
self.__cameras[i] = None
elif ((cam != None) and (cam.device != (self.__sending_data[i]))):
self.__cameras[i].close()
self.__cameras[i] = None
self.__cameras[i]= camera(self.__sending_data[i])
self.__control_data = self.__control_pipe.recv() if self.__control_pipe.poll() else self.__control_data
for cam in self.__cameras:
try:
cam.close()
except:
pass
return
def __init__(self, c_pipe, s_pipe, default_file, project_file):
Process.__init__(self)
self.__c_pipe = c_pipe
self.__s_pipe = s_pipe
self.__d_file = default_file
self.__p_file = project_file
cam_names = default_file.read('str', 'cameras', 'names')
resolution = project_file.read('list', 'cameras', 'resolution')
self.__config = [project_file.read('list', 'cameras', cam) for cam in cam_names]
self.__colors = [project_file.read('np_array', 'colors', cam) for cam in cam_names]
cam_numbers = [config[0] for config in self.__config]
self.__cameras = [camera(num, resolution) for num in cam_numbers]
self.__c_data = 1 # -1 stop process, 0 pause process, 1 start-resume process
self.__s_data = 0 # 0 don't send images, 1 send images
self.__init_time = None
self.__time = None
#Setting workers
self.__results = range(4)
self.__flag = 0
self.__c_pipes = []
self.__s_pipes = []
self.__workers = []
for index in xrange(3):
c_, c_1 = Pipe()
s_, s_1 = Pipe()
w_ = worker(self.__config[index], self.__colors[index], c_1, s_1)
w_.start()
self.__c_pipes.append(c_)
self.__s_pipes.append(s_)
self.__workers.append(w_)
return
