diff --git a/scripts/planktoscope/imager.py b/scripts/planktoscope/imager/__init__.py
similarity index 88%
rename from scripts/planktoscope/imager.py
rename to scripts/planktoscope/imager/__init__.py
index a8608f0..ca02410 100644
--- a/scripts/planktoscope/imager.py
+++ b/scripts/planktoscope/imager/__init__.py
@@ -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 = """\
-
-
- PlanktonScope v2 | PiCamera Streaming
-
-
- 
-
-
- """
-
- 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
)
diff --git a/scripts/planktoscope/raspimjpeg.py b/scripts/planktoscope/imager/raspimjpeg.py
similarity index 98%
rename from scripts/planktoscope/raspimjpeg.py
rename to scripts/planktoscope/imager/raspimjpeg.py
index 22e3a12..2e0903f 100644
--- a/scripts/planktoscope/raspimjpeg.py
+++ b/scripts/planktoscope/imager/raspimjpeg.py
@@ -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
diff --git a/scripts/planktoscope/imager_state_machine.py b/scripts/planktoscope/imager/state_machine.py
similarity index 100%
rename from scripts/planktoscope/imager_state_machine.py
rename to scripts/planktoscope/imager/state_machine.py
diff --git a/scripts/planktoscope/imager/streamer.py b/scripts/planktoscope/imager/streamer.py
new file mode 100644
index 0000000..06185e3
--- /dev/null
+++ b/scripts/planktoscope/imager/streamer.py
@@ -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