Remove separate camera stream thread
This commit is contained in:
Joel Collins
parent
94bc49cd5c
commit
021745da26
5 changed files with 137 additions and 232 deletions
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@ -1,7 +1,6 @@
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# -*- coding: utf-8 -*-
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import io
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import logging
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import threading
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import time
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from abc import ABCMeta, abstractmethod
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from collections import namedtuple
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@ -36,7 +35,8 @@ class FrameStream(io.BytesIO):
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self.tracking = False
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# Event to track if a new frame is available since the last getvalue() call
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self.new_frame = threading.Event()
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# We use a ClientEvent so that each thread can call getvalue() independantly
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self.new_frame = ClientEvent()
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def start_tracking(self):
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if not self.tracking:
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@ -90,18 +90,12 @@ class BaseCamera(metaclass=ABCMeta):
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"""
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def __init__(self):
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self.thread = None
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self.camera = None
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self.lock = StrictLock(name="Camera", timeout=None)
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self.stream = FrameStream()
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self.frame = None
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self.last_access = 0
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self.event = ClientEvent()
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self.stop = False # Used to indicate that the stream loop should break
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self.stream_active = False
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self.record_active = False
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self.preview_active = False
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@ -144,96 +138,4 @@ class BaseCamera(metaclass=ABCMeta):
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def close(self):
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"""Close the BaseCamera and all attached StreamObjects."""
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logging.info("Closing %s", (self))
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# Stop worker thread
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self.stop_worker()
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logging.info("Closed %s", (self))
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# START AND STOP WORKER THREAD
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def start_worker(self, timeout: int = 5) -> bool:
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"""Start the background camera thread if it isn't running yet."""
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timeout_time = time.time() + timeout
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self.last_access = time.time()
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self.stop = False
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if not self.stream_active:
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# Start background frame thread
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self.thread = threading.Thread(target=self._thread)
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self.thread.daemon = True
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self.thread.start()
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# wait until frames are available
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logging.info("Waiting for frames")
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while self.get_frame() is None:
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if time.time() > timeout_time:
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raise TimeoutError("Timeout waiting for frames.")
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else:
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time.sleep(0.1)
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return True
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def stop_worker(self, timeout: int = 5) -> bool:
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"""Flag worker thread for stop. Waits for thread close or timeout."""
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logging.debug("Stopping worker thread")
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timeout_time = time.time() + timeout
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if self.stream_active:
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self.stop = True
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self.thread.join() # Wait for stream thread to exit
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logging.debug("Waiting for stream thread to exit.")
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while self.stream_active:
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if time.time() > timeout_time:
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logging.debug("Timeout waiting for worker thread close.")
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raise TimeoutError("Timeout waiting for worker thread close.")
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else:
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time.sleep(0.1)
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return True
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# HANDLE STREAM FRAMES
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def get_frame(self):
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"""Return the current camera frame."""
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self.last_access = time.time()
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# wait for a signal from the camera thread
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self.event.wait()
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self.event.clear()
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return self.frame
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@abstractmethod
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def frames(self):
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"""Create generator that returns frames from the camera."""
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# WORKER THREAD
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def _thread(self):
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"""Camera background thread."""
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# Set the camera object's frame iterator
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frames_iterator = self.frames()
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logging.debug("Entering worker thread.")
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self.stream_active = True
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for frame in frames_iterator:
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# Store most recent frame
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self.frame = frame
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# Signal to clients that a new frame is available
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# We use this event because each client could be
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# reading frames slower than we're acquiring them.
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self.event.set() # send signal to clients
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try:
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if self.stop is True:
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logging.debug("Worker thread flagged for stop.")
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frames_iterator.close()
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break
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except AttributeError:
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pass
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logging.debug("BaseCamera worker thread exiting...")
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# Set stream_activate state
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self.stream_active = False
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@ -3,6 +3,7 @@
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from __future__ import division
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import logging
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import threading
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import time
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from datetime import datetime
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@ -35,7 +36,11 @@ class MissingCamera(BaseCamera):
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self.generate_new_dummy_image()
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# Start streaming
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self.stop = False # Used to indicate that the stream loop should break
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self.start_worker()
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# Wait until frames are available
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logging.info("Waiting for frames")
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self.stream.new_frame.wait()
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def generate_new_dummy_image(self):
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# Create a dummy image to serve in the stream
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@ -55,6 +60,60 @@ class MissingCamera(BaseCamera):
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image.save(self.stream, format="JPEG")
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def start_worker(self, **_) -> bool:
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"""Start the background camera thread if it isn't running yet."""
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self.stop = False
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if not self.stream_active:
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# Start background frame thread
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self.thread = threading.Thread(target=self._thread)
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self.thread.daemon = True
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self.thread.start()
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return True
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def stop_worker(self, timeout: int = 5) -> bool:
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"""Flag worker thread for stop. Waits for thread close or timeout."""
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logging.debug("Stopping worker thread")
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timeout_time = time.time() + timeout
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if self.stream_active:
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self.stop = True
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self.thread.join() # Wait for stream thread to exit
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logging.debug("Waiting for stream thread to exit.")
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while self.stream_active:
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if time.time() > timeout_time:
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logging.debug("Timeout waiting for worker thread close.")
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raise TimeoutError("Timeout waiting for worker thread close.")
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else:
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time.sleep(0.1)
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return True
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def _thread(self):
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"""Camera background thread."""
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# Set the camera object's frame iterator
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logging.debug("Entering worker thread.")
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self.stream_active = True
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while True:
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# Only serve frames at 1fps
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time.sleep(1)
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# Generate new dummy image
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self.generate_new_dummy_image()
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try:
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if self.stop is True:
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logging.debug("Worker thread flagged for stop.")
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break
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except AttributeError:
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pass
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logging.debug("BaseCamera worker thread exiting...")
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# Set stream_activate state
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self.stream_active = False
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@property
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def configuration(self):
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"""The current camera configuration."""
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@ -65,9 +124,6 @@ class MissingCamera(BaseCamera):
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"""The current read-only camera state."""
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return {}
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def initialisation(self):
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"""Run any initialisation code when the frame iterator starts."""
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def close(self):
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"""Close the Raspberry Pi PiCameraStreamer."""
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# Run BaseCamera close method
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@ -181,28 +237,3 @@ class MissingCamera(BaseCamera):
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output.close()
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else:
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output.flush()
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# HANDLE STREAM FRAMES
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def frames(self):
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"""
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Create generator that returns frames from the camera.
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"""
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# Run this initialisation method
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self.initialisation()
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# Update state
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logging.debug("STREAM ACTIVE")
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# While the iterator is not closed
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try:
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while True:
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time.sleep(1) # Only serve frames at 1fps
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# Generate new dummy image
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self.generate_new_dummy_image()
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# Wait for the next frame and then yield it
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yield self.stream.getframe()
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# When GeneratorExit or StopIteration raised, run cleanup code
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finally:
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logging.debug("FRAME ITERATOR END")
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@ -107,8 +107,14 @@ class PiCameraStreamer(BaseCamera):
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"picamera_lst.npy"
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) #: str: Path of .npy lens shading table file
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# Start the stream worker on init
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self.start_worker()
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# Run this initialisation method
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self._wait_for_camera()
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# Start stream recording (and set resolution)
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self.start_stream_recording()
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# Wait until frames are available
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logging.info("Waiting for frames")
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self.stream.new_frame.wait()
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logging.info("Frames incoming!")
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@property
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def configuration(self):
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@ -120,17 +126,25 @@ class PiCameraStreamer(BaseCamera):
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"""The current read-only camera state."""
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return {}
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def initialisation(self):
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"""Run any initialisation code when the frame iterator starts."""
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def close(self):
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"""Close the Raspberry Pi PiCameraStreamer."""
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# Stop stream recording
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self.stop_stream_recording()
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# Run BaseCamera close method
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BaseCamera.close(self)
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super().close()
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# Detach Pi camera
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if self.camera:
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self.camera.close()
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def _wait_for_camera(self, timeout=5):
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"""Wait for camera object, with 5 second timeout."""
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timeout_time = time.time() + timeout
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while not self.camera:
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if time.time() > timeout_time:
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raise TimeoutError("Timeout waiting for camera")
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else:
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pass
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# HANDLE SETTINGS
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def read_settings(self) -> dict:
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"""
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@ -392,36 +406,6 @@ class PiCameraStreamer(BaseCamera):
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# Update state
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self.record_active = False
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def stop_stream_recording(self, splitter_port: int = 1, **kwargs) -> None:
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"""
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Sets the camera resolution to the still-image resolution, and stops recording if the stream is active.
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Args:
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splitter_port (int): Splitter port to stop recording on
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"""
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for k in kwargs.keys():
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logging.warning(
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"Warning, kwarg %s is invalid for stop_stream_recording.", k
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)
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with self.lock:
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# Stop the camera video recording on port 1
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try:
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self.camera.stop_recording(splitter_port=splitter_port)
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except picamerax.exc.PiCameraNotRecording:
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logging.info("Not recording on splitter_port %s", (splitter_port))
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else:
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logging.info(
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"Stopped MJPEG stream on port %s. Switching to %s.",
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splitter_port,
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self.image_resolution,
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)
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# Increase the resolution for taking an image
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time.sleep(
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0.2
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) # Sprinkled a sleep to prevent camera getting confused by rapid commands
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self.camera.resolution = self.image_resolution
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def start_stream_recording(self, splitter_port: int = 1, **kwargs) -> None:
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"""
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Sets the camera resolution to the video/stream resolution, and starts recording if the stream should be active.
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@ -447,28 +431,57 @@ class PiCameraStreamer(BaseCamera):
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time.sleep(0.2)
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# If the stream should be active
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if self.stream_active:
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try:
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# Start recording on stream port
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self.camera.start_recording(
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self.stream,
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format="mjpeg",
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quality=self.mjpeg_quality,
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bitrate=-1, # RWB: disable bitrate control
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# (bitrate control makes JPEG size less good as a focus
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# metric)
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splitter_port=splitter_port,
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)
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except picamerax.exc.PiCameraAlreadyRecording:
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logging.info(
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"Error while starting preview: Recording already running."
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)
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else:
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logging.debug(
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"Started MJPEG stream at %s on port %s",
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self.stream_resolution,
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splitter_port,
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)
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try:
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# Start recording on stream port
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self.camera.start_recording(
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self.stream,
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format="mjpeg",
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quality=self.mjpeg_quality,
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bitrate=-1, # RWB: disable bitrate control
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# (bitrate control makes JPEG size less good as a focus
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# metric)
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splitter_port=splitter_port,
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)
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except picamerax.exc.PiCameraAlreadyRecording:
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logging.info("Error while starting preview: Recording already running.")
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else:
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self.stream_active = True
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logging.debug(
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"Started MJPEG stream at %s on port %s",
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self.stream_resolution,
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splitter_port,
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)
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def stop_stream_recording(self, splitter_port: int = 1, **kwargs) -> None:
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"""
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Sets the camera resolution to the still-image resolution, and stops recording if the stream is active.
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Args:
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splitter_port (int): Splitter port to stop recording on
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"""
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for k in kwargs.keys():
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logging.warning(
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"Warning, kwarg %s is invalid for stop_stream_recording.", k
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)
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with self.lock:
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# Stop the camera video recording on port 1
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try:
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self.camera.stop_recording(splitter_port=splitter_port)
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except picamerax.exc.PiCameraNotRecording:
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logging.info("Not recording on splitter_port %s", (splitter_port))
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else:
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self.stream_active = False
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logging.info(
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"Stopped MJPEG stream on port %s. Switching to %s.",
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splitter_port,
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self.image_resolution,
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)
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# Increase the resolution for taking an image
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time.sleep(
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0.2
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) # Sprinkled a sleep to prevent camera getting confused by rapid commands
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self.camera.resolution = self.image_resolution
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def capture(
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self,
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@ -534,42 +547,3 @@ class PiCameraStreamer(BaseCamera):
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logging.info("Capturing to %s", (output))
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self.camera.capture(output, format="rgb", use_video_port=use_video_port)
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return output.array
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# HANDLE STREAM FRAMES
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def wait_for_camera(self, timeout=5):
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"""Wait for camera object, with 5 second timeout."""
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timeout_time = time.time() + timeout
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while not self.camera:
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if time.time() > timeout_time:
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raise TimeoutError("Timeout waiting for camera")
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else:
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pass
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def frames(self):
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"""
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Create generator that returns frames from the camera.
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Records video from port 1 to a byte stream,
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and iterates sequential frames.
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"""
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# Run this initialisation method
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self.initialisation()
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self.wait_for_camera()
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# Start stream recording (and set resolution)
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self.start_stream_recording()
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logging.debug("STREAM ACTIVE")
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# While the iterator is not closed
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try:
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while True:
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# Wait for the next frame and then yield it
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yield self.stream.getframe()
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# When GeneratorExit or StopIteration raised, run cleanup code
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finally:
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# Stop stream recording (and set resolution)
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self.stop_stream_recording()
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logging.debug("FRAME ITERATOR END")
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