python: better imaging management of the raspimjpeg process
This commit is contained in:
Romain Bazile
parent
d732c8d4ce
commit
cf2f15594d
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@ -12,10 +12,11 @@ import datetime
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import time
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# Libraries manipulate json format, execute bash commands
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import json, shutil
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import json
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# Library for path and filesystem manipulations
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import os
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import shutil
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# Library for starting processes
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import multiprocessing
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@ -166,6 +167,7 @@ class ImagerProcess(multiprocessing.Process):
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self.__pump_direction = "FORWARD"
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self.__img_goal = None
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self.imager_client = None
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self.__error = 0
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# Initialise the camera and the process
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# Also starts the streaming to the temporary file
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@ -196,7 +198,7 @@ class ImagerProcess(multiprocessing.Process):
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self.__white_balance_gain = (
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configuration.get("wb_red_gain", 2.00) * 100,
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configuration.get("wb_blue_gain", 1.40) * 100,
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) # Those values were tested on a HQ camera to give a whitish background
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)
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self.__base_path = "/home/pi/data/img"
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# Let's make sure the base path exists
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@ -491,7 +493,9 @@ class ImagerProcess(multiprocessing.Process):
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self.__imager.change(planktoscope.imager_state_machine.Capture)
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self.imager_client.client.unsubscribe("status/pump")
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else:
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logger.info(f"The pump is not done yet {payload}")
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logger.info(
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f"The pump is not done yet {self.imager_client.msg['payload']}"
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)
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else:
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logger.error(
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"There is an error, we received an unexpected pump message"
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@ -641,39 +645,25 @@ class ImagerProcess(multiprocessing.Process):
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# Sleep a duration before to start acquisition
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time.sleep(self.__sleep_before)
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# Capture an image with the proper filename
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# Capture an image to the temporary file
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try:
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self.__camera.capture(filename_path)
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self.__camera.capture("", timeout=5)
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except TimeoutError as e:
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logger.error("A timeout happened while waiting for a capture to happen")
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# Publish the name of the image to via MQTT to Node-RED
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self.imager_client.client.publish(
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"status/imager",
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f'{{"status":"Image {self.__img_done + 1}/{self.__img_goal} WAS NOT CAPTURED! STOPPING THE PROCESS!"}}',
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)
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# Reset the counter to 0
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self.__img_done = 0
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self.__img_goal = 0
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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planktoscope.light.error()
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self.__capture_error("timeout during capture")
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return
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logger.debug(f"Copying the image from the temp file to {filename_path}")
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shutil.copy("/dev/shm/mjpeg/image.jpg", filename_path)
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logger.debug("Syncing the disk")
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os.sync()
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# Add the checksum of the captured image to the integrity file
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try:
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planktoscope.integrity.append_to_integrity_file(filename_path)
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except FileNotFoundError as e:
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logger.error(
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f"{filename_path} was not found, the camera did not work properly! Trying again"
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)
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self.imager_client.client.publish(
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"status/imager",
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f'{{"status":"Image {self.__img_done + 1}/{self.__img_goal} was not found, retrying the capture now."}}',
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)
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# Let's try again after a tiny delay!
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time.sleep(1)
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self.__capture_error(f"{filename_path} was not found")
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return
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# Publish the name of the image to via MQTT to Node-RED
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self.imager_client.client.publish(
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"status/imager",
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f'{{"status":"Image {self.__img_done + 1}/{self.__img_goal} has been imaged to {filename}"}}',
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@ -681,6 +671,7 @@ class ImagerProcess(multiprocessing.Process):
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# Increment the counter
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self.__img_done += 1
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self.__error = 0
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# If counter reach the number of frame, break
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if self.__img_done >= self.__img_goal:
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@ -690,7 +681,6 @@ class ImagerProcess(multiprocessing.Process):
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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planktoscope.light.ready()
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return
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else:
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# We have not reached the final stage, let's keep imaging
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self.imager_client.client.subscribe("status/pump")
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@ -699,6 +689,27 @@ class ImagerProcess(multiprocessing.Process):
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self.__imager.change(planktoscope.imager_state_machine.Waiting)
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def __capture_error(self, message=""):
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logger.error(f"An error occurred during the capture: {message}")
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planktoscope.light.error()
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if self.__error:
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logger.error("This is a repeating problem, stopping the capture now")
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self.imager_client.client.publish(
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"status/imager",
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f'{{"status":"Image {self.__img_done + 1}/{self.__img_goal} WAS NOT CAPTURED! STOPPING THE PROCESS!"}}',
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)
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self.__img_done = 0
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self.__img_goal = 0
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self.__error = 0
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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else:
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self.__error += 1
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self.imager_client.client.publish(
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"status/imager",
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f'{{"status":"Image {self.__img_done + 1}/{self.__img_goal} was not captured due to this error:{message}! Retrying once!"}}',
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)
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time.sleep(1)
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@logger.catch
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def state_machine(self):
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if self.__imager.state.name == "imaging":
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@ -458,9 +458,10 @@ class raspimjpeg(object):
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self.__send_command(f"im")
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else:
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self.__send_command(f"im {path}")
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time.sleep(0.1)
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self.__wait_for_output("Capturing image", timeout / 2)
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self.__wait_for_status("ready", timeout / 2)
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self.__wait_for_output("Ready", timeout / 2)
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def stop(self):
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"""Halt and release the camera. """
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@ -354,7 +354,7 @@ class StepperProcess(multiprocessing.Process):
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command = self.actuator_client.msg["topic"].split("/", 1)[1]
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logger.debug(command)
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self.actuator_client.read_message()
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if command == "pump":
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self.__message_pump(last_message)
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elif command == "focus":
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Binary file not shown.
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@ -120,9 +120,9 @@ motion_file 0
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# image, video and lapse may be configured relative to media_path if first / left out
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base_path /home/pi/PlanktonScope/scripts/raspimjpeg/
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preview_path /dev/shm/mjpeg/cam.jpg
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image_path /home/pi/data/%Y%M%D/im_%i_%h%m%s.jpg
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lapse_path /home/pi/media/tl_%i_%t_%Y%M%D_%h%m%s.jpg
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video_path /home/pi/media/vi_%v_%Y%M%D_%h%m%s.mp4
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image_path /dev/shm/mjpeg/image.jpg
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lapse_path /dev/shm/mjpeg/tl_%i_%t_%Y%M%D_%h%m%s.jpg
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video_path /dev/shm/mjpeg/vi_%v_%Y%M%D_%h%m%s.mp4
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status_file /dev/shm/mjpeg/status_mjpeg.txt
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control_file /dev/shm/mjpeg/FIFO
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media_path /home/pi/data/
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@ -165,7 +165,7 @@ watchdog_errors 5
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# Set callback_timeout to 0 to disable it
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callback_timeout 30
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#optional user_config file to overwrite (persist) changes
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user_config /home/pi/PlanktonScope/scripts/raspimjpeg/uconfig
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user_config
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#logfile for raspimjpeg, default to merge with scheduler log
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log_file /home/pi/PlanktonScope/scripts/raspimjpeg/raspimjpeg.log
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