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imager: move and split into submodules

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(cherry picked from commit 0716f25fb7b78140ed1960445810557ad9e6840c)
This commit is contained in:
Romain Bazile 2021-06-18 11:21:35 +02:00
parent 24aeee4c46
commit 7ad48da054
4 changed files with 85 additions and 98 deletions
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111
scripts/planktoscope/imager.py → scripts/planktoscope/imager/__init__.py
View file

@ -26,10 +26,13 @@ import planktoscope.mqtt
import planktoscope.light
# import planktoscope.streamer
import planktoscope.imager_state_machine
import planktoscope.imager.state_machine
# import raspimjpeg module
import planktoscope.raspimjpeg
import planktoscope.imager.raspimjpeg
# import streamer module
import planktoscope.imager.streamer
# Integrity verification module
import planktoscope.integrity
@ -38,89 +41,11 @@ import planktoscope.integrity
import planktoscope.uuidName
################################################################################
# Streaming PiCamera over server
################################################################################
import socketserver
import http.server
# Libraries for the streaming server
import threading
import functools
################################################################################
# Classes for the PiCamera Streaming
################################################################################
class StreamingHandler(http.server.BaseHTTPRequestHandler):
# Webpage content containing the PiCamera Streaming
PAGE = """\
<html>
<head>
<title>PlanktonScope v2 | PiCamera Streaming</title>
</head>
<body>
<img src="stream.mjpg" width="100%" height="100%" />
</body>
</html>
"""
def __init__(self, delay, *args, **kwargs):
self.delay = delay
super(StreamingHandler, self).__init__(*args, **kwargs)
@logger.catch
def do_GET(self):
if self.path == "/":
self.send_response(301)
self.send_header("Location", "/index.html")
self.end_headers()
elif self.path == "/index.html":
content = self.PAGE.encode("utf-8")
self.send_response(200)
self.send_header("Content-Type", "text/html")
self.send_header("Content-Length", len(content))
self.end_headers()
self.wfile.write(content)
elif self.path == "/stream.mjpg":
self.send_response(200)
self.send_header("Age", 0)
self.send_header("Cache-Control", "no-cache, private")
self.send_header("Pragma", "no-cache")
self.send_header(
"Content-Type", "multipart/x-mixed-replace; boundary=FRAME"
)
self.end_headers()
try:
while True:
try:
with open("/dev/shm/mjpeg/cam.jpg", "rb") as jpeg: # nosec
frame = jpeg.read()
except FileNotFoundError as e:
logger.error(f"Camera has not been started yet")
time.sleep(5)
except Exception as e:
logger.exception(f"An exception occured {e}")
else:
self.wfile.write(b"--FRAME\r\n")
self.send_header("Content-Type", "image/jpeg")
self.send_header("Content-Length", len(frame))
self.end_headers()
self.wfile.write(frame)
self.wfile.write(b"\r\n")
time.sleep(self.delay)
except BrokenPipeError as e:
logger.info(f"Removed streaming client {self.client_address}")
else:
self.send_error(404)
self.end_headers()
class StreamingServer(socketserver.ThreadingMixIn, http.server.HTTPServer):
allow_reuse_address = True
daemon_threads = True
logger.info("planktoscope.imager is loaded")
################################################################################
@ -158,7 +83,7 @@ class ImagerProcess(multiprocessing.Process):
self.__camera_type = configuration.get("camera_type", self.__camera_type)
self.stop_event = stop_event
self.__imager = planktoscope.imager_state_machine.Imager()
self.__imager = planktoscope.imager.state_machine.Imager()
self.__img_goal = 0
self.__img_done = 0
self.__sleep_before = None
@ -170,7 +95,7 @@ class ImagerProcess(multiprocessing.Process):
# Initialise the camera and the process
# Also starts the streaming to the temporary file
self.__camera = planktoscope.raspimjpeg.raspimjpeg()
self.__camera = planktoscope.imager.raspimjpeg.raspimjpeg()
try:
self.__camera.start()
@ -179,7 +104,7 @@ class ImagerProcess(multiprocessing.Process):
f"An exception has occured when starting up raspimjpeg: {e}"
)
try:
self.__camera.start(true)
self.__camera.start(True)
except Exception as e:
logger.exception(
f"A second exception has occured when starting up raspimjpeg: {e}"
@ -281,7 +206,7 @@ class ImagerProcess(multiprocessing.Process):
logger.error(f"The received message has the wrong argument {last_message}")
self.imager_client.client.publish("status/imager", '{"status":"Error"}')
return
self.__imager.change(planktoscope.imager_state_machine.Imaging)
self.__imager.change(planktoscope.imager.state_machine.Imaging)
# Get duration to wait before an image from the different received arguments
self.__sleep_before = float(last_message["sleep"])
@ -496,7 +421,7 @@ class ImagerProcess(multiprocessing.Process):
)
if self.__imager.state.name == "waiting":
if self.imager_client.msg["payload"]["status"] == "Done":
self.__imager.change(planktoscope.imager_state_machine.Capture)
self.__imager.change(planktoscope.imager.state_machine.Capture)
self.imager_client.client.unsubscribe("status/pump")
else:
logger.info(
@ -634,7 +559,7 @@ class ImagerProcess(multiprocessing.Process):
self.__pump_message()
self.__imager.change(planktoscope.imager_state_machine.Waiting)
self.__imager.change(planktoscope.imager.state_machine.Waiting)
def __state_capture(self):
planktoscope.light.imaging()
@ -695,7 +620,7 @@ class ImagerProcess(multiprocessing.Process):
self.__pump_message()
self.__imager.change(planktoscope.imager_state_machine.Waiting)
self.__imager.change(planktoscope.imager.state_machine.Waiting)
def __capture_error(self, message=""):
logger.error(f"An error occurred during the capture: {message}")
@ -709,7 +634,7 @@ class ImagerProcess(multiprocessing.Process):
self.__img_done = 0
self.__img_goal = 0
self.__error = 0
self.__imager.change(planktoscope.imager_state_machine.Stop)
self.__imager.change(planktoscope.imager.state_machine.Stop)
else:
self.__error += 1
self.imager_client.client.publish(
@ -762,10 +687,12 @@ class ImagerProcess(multiprocessing.Process):
logger.info("Starting the streaming server thread")
address = ("", 8000)
fps = 16
fps = 15
refresh_delay = 1 / fps
handler = functools.partial(StreamingHandler, refresh_delay)
server = StreamingServer(address, handler)
handler = functools.partial(
planktoscope.imager.streamer.StreamingHandler, refresh_delay
)
server = planktoscope.imager.streamer.StreamingServer(address, handler)
self.streaming_thread = threading.Thread(
target=server.serve_forever, daemon=True
)

12
scripts/planktoscope/raspimjpeg.py → scripts/planktoscope/imager/raspimjpeg.py
View file

@ -53,12 +53,7 @@ class raspimjpeg(object):
if force:
# let's kill all rogue Raspimjpeg first
try:
subprocess.run( # nosec
"sudo killall -9 raspimjpeg".split(),
shell=True,
timeout=1,
check=True,
)
self.killall()
except Exception as e:
logger.exception(f"Killing Raspimjpeg failed because of {e}")
# The input to this call are perfectly controlled
@ -494,3 +489,8 @@ class raspimjpeg(object):
"""Kill the process."""
logger.debug("Killing raspimjpeg in a very dirty way")
self.__process.terminate()
def killall(self):
"""Literally erases the raspimjpeg process(es)"""
logger.debug("Killing raspimjpeg in a very ugly dirty way")
subprocess.run("sudo killall -q -9 raspimjpeg".split(), timeout=1) # nosec

0
scripts/planktoscope/imager_state_machine.py → scripts/planktoscope/imager/state_machine.py
View file

60
scripts/planktoscope/imager/streamer.py Normal file
View file

@ -0,0 +1,60 @@
from loguru import logger
import time
import socketserver
import http.server
################################################################################
# Classes for the PiCamera Streaming
################################################################################
class StreamingHandler(http.server.BaseHTTPRequestHandler):
def __init__(self, delay, *args, **kwargs):
self.delay = delay
super(StreamingHandler, self).__init__(*args, **kwargs)
@logger.catch
def do_GET(self):
if self.path == "/":
self.send_response(301)
self.send_header("Location", "/stream.mjpg")
self.end_headers()
elif self.path == "/stream.mjpg":
self.send_response(200)
self.send_header("Age", 0)
self.send_header("Cache-Control", "no-cache, private")
self.send_header("Pragma", "no-cache")
self.send_header(
"Content-Type", "multipart/x-mixed-replace; boundary=FRAME"
)
self.end_headers()
try:
while True:
try:
with open("/dev/shm/mjpeg/cam.jpg", "rb") as jpeg: # nosec
frame = jpeg.read()
except FileNotFoundError as e:
logger.error(f"Camera has not been started yet")
time.sleep(5)
except Exception as e:
logger.exception(f"An exception occured {e}")
else:
self.wfile.write(b"--FRAME\r\n")
self.send_header("Content-Type", "image/jpeg")
self.send_header("Content-Length", len(frame))
self.end_headers()
self.wfile.write(frame)
self.wfile.write(b"\r\n")
time.sleep(self.delay)
except BrokenPipeError as e:
logger.info(f"Removed streaming client {self.client_address}")
else:
self.send_error(404)
self.end_headers()
class StreamingServer(socketserver.ThreadingMixIn, http.server.HTTPServer):
allow_reuse_address = True
daemon_threads = True