Static type analysis
This commit is contained in:
Joel Collins
parent
3aebb8bead
commit
7866ec0f47
63 changed files with 1825 additions and 2722 deletions
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@ -4,6 +4,8 @@ import logging
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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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from types import TracebackType
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from typing import BinaryIO, List, Optional, Tuple, Type, Union
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from labthings import ClientEvent, StrictLock
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@ -27,16 +29,29 @@ class FrameStream(io.BytesIO):
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# Array of TrackerFrame objects
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io.BytesIO.__init__(self, *args, **kwargs)
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# Array of TrackerFramer objects
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self.frames = []
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self.frames: List[TrackerFrame] = []
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# Last acquired TrackerFramer object
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self.last = None
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self.last: Optional[TrackerFrame] = None
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# Are we currently tracking frame sizes?
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self.tracking = False
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self.tracking: bool = False
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# Event to track if a new frame is available since the last getvalue() call
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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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self.new_frame: ClientEvent = ClientEvent()
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def __enter__(self):
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self.start_tracking()
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return super().__enter__()
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def __exit__(
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self,
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t: Optional[Type[BaseException]],
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value: Optional[BaseException],
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traceback: Optional[TracebackType],
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) -> Optional[bool]:
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self.stop_tracking()
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return super().__exit__(t, value, traceback)
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def start_tracking(self):
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"""Start tracking frame sizes"""
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@ -92,13 +107,16 @@ class BaseCamera(metaclass=ABCMeta):
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def __init__(self):
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#: :py:class:`labthings.StrictLock`: Access lock for the camera
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self.lock = StrictLock(name="Camera", timeout=None)
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self.lock: StrictLock = StrictLock(name="Camera", timeout=None)
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#: :py:class:`FrameStream`: Streaming and analysis frame buffer
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self.stream = FrameStream()
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self.stream: FrameStream = FrameStream()
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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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self.stream_active: bool = False
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self.record_active: bool = False
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self.preview_active: bool = False
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self.image_resolution: Tuple[int, int] = (1312, 976)
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self.stream_resolution: Tuple[int, int] = (640, 480)
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@property
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@abstractmethod
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@ -114,6 +132,14 @@ class BaseCamera(metaclass=ABCMeta):
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def settings(self):
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return self.read_settings()
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@abstractmethod
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def start_stream(self):
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"""Ensure the frame stream is actively running"""
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@abstractmethod
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def stop_stream(self):
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"""Stop the active stream, if possible"""
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@abstractmethod
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def update_settings(self, config: dict):
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"""Update settings from a config dictionary"""
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@ -122,6 +148,28 @@ class BaseCamera(metaclass=ABCMeta):
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def read_settings(self) -> dict:
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"""Return the current settings as a dictionary"""
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@abstractmethod
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def capture(
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self,
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output: Union[str, BinaryIO],
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fmt: str = "jpeg",
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use_video_port: bool = False,
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resize: Optional[Tuple[int, int]] = None,
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bayer: bool = True,
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thumbnail: Optional[Tuple[int, int, int]] = None,
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):
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"""
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Perform a basic capture to output
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Args:
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output: String or file-like object to write capture data to
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fmt: Format of the capture.
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use_video_port: Capture from the video port used for streaming. Lower resolution, faster.
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resize: Resize the captured image.
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bayer: Store raw bayer data in capture
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thumbnail: Dimensions and quality (x, y, quality) of a thumbnail to generate, if supported
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"""
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def __enter__(self):
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"""Create camera on context enter."""
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return self
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@ -8,6 +8,8 @@ import time
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from datetime import datetime
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# Type hinting
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from typing import BinaryIO, Optional, Tuple, Union
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from PIL import Image, ImageDraw
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from openflexure_microscope.camera.base import BaseCamera
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@ -26,17 +28,17 @@ class MissingCamera(BaseCamera):
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BaseCamera.__init__(self)
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# Update config properties
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self.image_resolution = (1312, 976)
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self.stream_resolution = (640, 480)
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self.numpy_resolution = (1312, 976)
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self.jpeg_quality = 75
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self.framerate = 10
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self.image_resolution: Tuple[int, int] = (1312, 976)
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self.stream_resolution: Tuple[int, int] = (640, 480)
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self.numpy_resolution: Tuple[int, int] = (1312, 976)
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self.jpeg_quality: int = 75
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self.framerate: int = 10
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# Generate an initial dummy image
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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.stop: bool = 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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@ -178,7 +180,11 @@ class MissingCamera(BaseCamera):
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"""
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logging.warning("Zoom not implemented in mock camera")
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# LAUNCH ACTIONS
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def start_stream(self):
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pass
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def stop_stream(self):
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pass
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def start_preview(self, *_, **__):
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"""Start the on board GPU camera preview."""
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@ -211,7 +217,15 @@ class MissingCamera(BaseCamera):
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with self.lock:
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logging.warning("Recording not implemented in mock camera")
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def capture(self, output, *_, **__):
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def capture(
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self,
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output: Union[str, BinaryIO],
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fmt: str = "jpeg",
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use_video_port: bool = False,
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resize: Optional[Tuple[int, int]] = None,
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bayer: bool = True,
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thumbnail: Optional[Tuple[int, int, int]] = None,
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):
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"""
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Capture a still image to a StreamObject.
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@ -30,7 +30,7 @@ import logging
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import time
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# Type hinting
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from typing import Tuple
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from typing import BinaryIO, Tuple, Union
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import numpy as np
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@ -77,57 +77,64 @@ class PiCameraStreamer(BaseCamera):
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BaseCamera.__init__(self)
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#: :py:class:`picamerax.PiCamera`: Attached Picamera object
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self.camera = picamerax.PiCamera()
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self.picamera: picamerax.PiCamera = picamerax.PiCamera()
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# Store state of PiCameraStreamer
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self.preview_active = False
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self.preview_active: bool = False
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# Reset variable states
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self.set_zoom(1.0)
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#: tuple: Resolution for image captures
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self.image_resolution = tuple(self.camera.MAX_RESOLUTION)
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self.image_resolution: Tuple[int, int] = tuple(self.picamera.MAX_RESOLUTION)
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#: tuple: Resolution for stream and video captures
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self.stream_resolution = (832, 624)
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self.stream_resolution: Tuple[int, int] = (832, 624)
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#: tuple: Resolution for numpy array captures
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self.numpy_resolution = (1312, 976)
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self.numpy_resolution: Tuple[int, int] = (1312, 976)
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self.jpeg_quality = 100 #: int: JPEG quality
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self.mjpeg_quality = 75 #: int: MJPEG quality
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self.jpeg_quality: int = 100 #: int: JPEG quality
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self.mjpeg_quality: int = 75 #: int: MJPEG quality
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# Start stream recording (and set resolution)
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self.start_stream_recording()
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self.start_stream()
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# Wait until frames are available
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logging.debug("Waiting for frames...")
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self.stream.new_frame.wait()
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logging.debug("Camera initialised")
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@property
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def configuration(self):
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"""The current camera configuration."""
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return {"board": self.camera.revision}
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def camera(self):
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logging.warning(
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"PiCameraStreamer.camera is deprecated. Replace with PiCameraStreamer.picamera"
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)
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return self.picamera
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@property
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def state(self):
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def configuration(self) -> dict:
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"""The current camera configuration."""
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return {"board": self.picamera.revision}
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@property
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def state(self) -> dict:
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"""The current read-only camera state."""
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return {}
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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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self.stop_stream()
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# Run BaseCamera close method
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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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if self.picamera:
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self.picamera.close()
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# HANDLE SETTINGS
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def read_settings(self) -> dict:
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"""
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Return config dictionary of the PiCameraStreamer.
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"""
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conf_dict = {
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conf_dict: dict = {
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"stream_resolution": self.stream_resolution,
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"image_resolution": self.image_resolution,
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"numpy_resolution": self.numpy_resolution,
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@ -139,7 +146,7 @@ class PiCameraStreamer(BaseCamera):
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# Include a subset of picamera properties. Excludes lens shading table
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for key in PiCameraStreamer.picamera_settings_keys:
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try:
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value = getattr(self.camera, key)
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value = getattr(self.picamera, key)
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logging.debug("Reading PiCamera().%s: %s", key, value)
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conf_dict["picamera"][key] = value
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except AttributeError:
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@ -147,11 +154,11 @@ class PiCameraStreamer(BaseCamera):
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# Include a serialised lens shading table
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if (
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hasattr(self.camera, "lens_shading_table")
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and getattr(self.camera, "lens_shading_table") is not None
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hasattr(self.picamera, "lens_shading_table")
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and getattr(self.picamera, "lens_shading_table") is not None
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):
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conf_dict["picamera"]["lens_shading_table"] = ndarray_to_json(
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getattr(self.camera, "lens_shading_table")
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getattr(self.picamera, "lens_shading_table")
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)
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return conf_dict
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@ -179,7 +186,7 @@ class PiCameraStreamer(BaseCamera):
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# Pause stream while changing settings
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if self.stream_active: # If stream is active
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logging.info("Pausing stream to update config.")
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self.stop_stream_recording() # Pause stream
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self.stop_stream() # Pause stream
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paused_stream = True # Remember to unpause stream when done
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# PiCamera parameters
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@ -190,11 +197,11 @@ class PiCameraStreamer(BaseCamera):
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# Handle lens shading if camera supports it
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if (
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hasattr(self.camera, "lens_shading_table")
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hasattr(self.picamera, "lens_shading_table")
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and "lens_shading_table" in config["picamera"]
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):
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try:
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self.camera.lens_shading_table = json_to_ndarray(
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self.picamera.lens_shading_table = json_to_ndarray(
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config["picamera"].get("lens_shading_table")
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)
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except KeyError as e:
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@ -208,7 +215,7 @@ class PiCameraStreamer(BaseCamera):
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# If stream was paused to update config, unpause
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if paused_stream:
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logging.info("Resuming stream.")
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self.start_stream_recording()
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self.start_stream()
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else:
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raise Exception(
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@ -229,47 +236,47 @@ class PiCameraStreamer(BaseCamera):
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logging.debug(
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"Applying exposure_mode: %s", (settings_dict["exposure_mode"])
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)
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self.camera.exposure_mode = settings_dict["exposure_mode"]
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self.picamera.exposure_mode = settings_dict["exposure_mode"]
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# Apply gains and let them settle
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if "analog_gain" in settings_dict:
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logging.debug("Applying analog_gain: %s", (settings_dict["analog_gain"]))
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set_analog_gain(self.camera, float(settings_dict["analog_gain"]))
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set_analog_gain(self.picamera, float(settings_dict["analog_gain"]))
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if "digital_gain" in settings_dict:
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logging.debug("Applying digital_gain: %s", (settings_dict["digital_gain"]))
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set_digital_gain(self.camera, float(settings_dict["digital_gain"]))
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set_digital_gain(self.picamera, float(settings_dict["digital_gain"]))
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# Apply shutter speed
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if "shutter_speed" in settings_dict:
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logging.debug(
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"Applying shutter_speed: %s", (settings_dict["shutter_speed"])
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)
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self.camera.shutter_speed = int(settings_dict["shutter_speed"])
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self.picamera.shutter_speed = int(settings_dict["shutter_speed"])
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time.sleep(0.2) # Let gains settle
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# Handle AWB in a half-smart way
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if "awb_gains" in settings_dict:
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logging.debug("Applying awb_mode: off")
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self.camera.awb_mode = "off"
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self.picamera.awb_mode = "off"
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logging.debug("Applying awb_gains: %s", (settings_dict["awb_gains"]))
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self.camera.awb_gains = settings_dict["awb_gains"]
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self.picamera.awb_gains = settings_dict["awb_gains"]
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elif "awb_mode" in settings_dict:
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logging.debug("Applying awb_mode: %s", (settings_dict["awb_mode"]))
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self.camera.awb_mode = settings_dict["awb_mode"]
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self.picamera.awb_mode = settings_dict["awb_mode"]
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# Handle some properties that can be quickly applied
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batched_keys = ["framerate", "saturation"]
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for key in batched_keys:
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if (key in settings_dict) and hasattr(self.camera, key):
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if (key in settings_dict) and hasattr(self.picamera, key):
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logging.debug("Applying %s: %s", key, settings_dict[key])
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setattr(self.camera, key, settings_dict[key])
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setattr(self.picamera, key, settings_dict[key])
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# Final optional pause to settle
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if pause_for_effect:
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time.sleep(0.2)
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def set_zoom(self, zoom_value: float = 1.0) -> None:
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def set_zoom(self, zoom_value: Union[float, int] = 1.0) -> None:
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"""
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Change the camera zoom, handling re-centering and scaling.
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"""
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@ -278,7 +285,7 @@ class PiCameraStreamer(BaseCamera):
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if self.zoom_value < 1:
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self.zoom_value = 1
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# Richard's code for zooming !
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fov = self.camera.zoom
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fov = self.picamera.zoom
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centre = np.array([fov[0] + fov[2] / 2.0, fov[1] + fov[3] / 2.0])
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size = 1.0 / self.zoom_value
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# If the new zoom value would be invalid, move the centre to
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@ -289,23 +296,23 @@ class PiCameraStreamer(BaseCamera):
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centre[i] = 0.5 + (1.0 - size) / 2 * np.sign(centre[i] - 0.5)
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logging.info("setting zoom, centre %s, size %s", centre, size)
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new_fov = (centre[0] - size / 2, centre[1] - size / 2, size, size)
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self.camera.zoom = new_fov
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self.picamera.zoom = new_fov
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# LAUNCH ACTIONS
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def start_preview(self, fullscreen=True, window=None):
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def start_preview(
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self, fullscreen: bool = True, window: Tuple[int, int, int, int] = None
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):
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"""Start the on board GPU camera preview."""
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with self.lock(timeout=1):
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try:
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if not self.camera.preview:
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if not self.picamera.preview:
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logging.debug("Starting preview")
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self.camera.start_preview(fullscreen=fullscreen, window=window)
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self.picamera.start_preview(fullscreen=fullscreen, window=window)
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else:
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logging.debug("Resizing preview")
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if window:
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self.camera.preview.window = window
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self.picamera.preview.window = window
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if fullscreen:
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self.camera.preview.fullscreen = fullscreen
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self.picamera.preview.fullscreen = fullscreen
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self.preview_active = True
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except picamerax.exc.PiCameraMMALError as e:
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logging.error(
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@ -320,11 +327,13 @@ class PiCameraStreamer(BaseCamera):
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def stop_preview(self):
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"""Stop the on board GPU camera preview."""
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with self.lock(timeout=1):
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if self.camera.preview:
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self.camera.stop_preview()
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if self.picamera.preview:
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self.picamera.stop_preview()
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self.preview_active = False
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def start_recording(self, output, fmt: str = "h264", quality: int = 15):
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def start_recording(
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self, output: Union[str, BinaryIO], fmt: str = "h264", quality: int = 15
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):
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"""Start recording.
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Start a new video recording, writing to a output object.
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@ -345,7 +354,7 @@ class PiCameraStreamer(BaseCamera):
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# Start the camera video recording on port 2
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logging.info("Recording to %s", (output))
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self.camera.start_recording(
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self.picamera.start_recording(
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output,
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format=fmt,
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splitter_port=2,
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@ -370,80 +379,67 @@ class PiCameraStreamer(BaseCamera):
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with self.lock(timeout=5):
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# Stop the camera video recording on port 2
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logging.info("Stopping recording")
|
||||
self.camera.stop_recording(splitter_port=2)
|
||||
self.picamera.stop_recording(splitter_port=2)
|
||||
logging.info("Recording stopped")
|
||||
|
||||
# Update state
|
||||
self.record_active = False
|
||||
|
||||
def start_stream_recording(self, splitter_port: int = 1, **kwargs) -> None:
|
||||
def start_stream(self) -> None:
|
||||
"""
|
||||
Sets the camera resolution to the video/stream resolution, and starts recording if the stream should be active.
|
||||
|
||||
Args:
|
||||
splitter_port (int): Splitter port to start recording on
|
||||
"""
|
||||
for k in kwargs.keys():
|
||||
logging.warning(
|
||||
"Warning, kwarg %s is invalid for stop_stream_recording.", k
|
||||
)
|
||||
with self.lock(timeout=None):
|
||||
# Reduce the resolution for video streaming
|
||||
try:
|
||||
self.camera._check_recording_stopped() # pylint: disable=W0212
|
||||
self.picamera._check_recording_stopped() # pylint: disable=W0212
|
||||
except picamerax.exc.PiCameraRuntimeError:
|
||||
logging.info(
|
||||
"Error while changing resolution: Recording already running."
|
||||
)
|
||||
else:
|
||||
self.camera.resolution = self.stream_resolution
|
||||
self.picamera.resolution = self.stream_resolution
|
||||
# Sprinkled a sleep to prevent camera getting confused by rapid commands
|
||||
time.sleep(0.2)
|
||||
|
||||
# If the stream should be active
|
||||
try:
|
||||
# Start recording on stream port
|
||||
self.camera.start_recording(
|
||||
self.picamera.start_recording(
|
||||
self.stream,
|
||||
format="mjpeg",
|
||||
quality=self.mjpeg_quality,
|
||||
bitrate=-1, # RWB: disable bitrate control
|
||||
# (bitrate control makes JPEG size less good as a focus
|
||||
# metric)
|
||||
splitter_port=splitter_port,
|
||||
splitter_port=1,
|
||||
)
|
||||
except picamerax.exc.PiCameraAlreadyRecording:
|
||||
logging.info("Error while starting preview: Recording already running.")
|
||||
else:
|
||||
self.stream_active = True
|
||||
logging.debug(
|
||||
"Started MJPEG stream at %s on port %s",
|
||||
self.stream_resolution,
|
||||
splitter_port,
|
||||
"Started MJPEG stream at %s on port %s", self.stream_resolution, 1
|
||||
)
|
||||
|
||||
def stop_stream_recording(self, splitter_port: int = 1, **kwargs) -> None:
|
||||
def stop_stream(self) -> None:
|
||||
"""
|
||||
Sets the camera resolution to the still-image resolution, and stops recording if the stream is active.
|
||||
|
||||
Args:
|
||||
splitter_port (int): Splitter port to stop recording on
|
||||
"""
|
||||
for k in kwargs.keys():
|
||||
logging.warning(
|
||||
"Warning, kwarg %s is invalid for stop_stream_recording.", k
|
||||
)
|
||||
with self.lock:
|
||||
# Stop the camera video recording on port 1
|
||||
try:
|
||||
self.camera.stop_recording(splitter_port=splitter_port)
|
||||
self.picamera.stop_recording(splitter_port=1)
|
||||
except picamerax.exc.PiCameraNotRecording:
|
||||
logging.info("Not recording on splitter_port %s", (splitter_port))
|
||||
logging.info("Not recording on splitter_port %s", (1))
|
||||
else:
|
||||
self.stream_active = False
|
||||
logging.info(
|
||||
"Stopped MJPEG stream on port %s. Switching to %s.",
|
||||
splitter_port,
|
||||
1,
|
||||
self.image_resolution,
|
||||
)
|
||||
|
||||
|
|
@ -451,16 +447,16 @@ class PiCameraStreamer(BaseCamera):
|
|||
time.sleep(
|
||||
0.2
|
||||
) # Sprinkled a sleep to prevent camera getting confused by rapid commands
|
||||
self.camera.resolution = self.image_resolution
|
||||
self.picamera.resolution = self.image_resolution
|
||||
|
||||
def capture(
|
||||
self,
|
||||
output,
|
||||
output: Union[str, BinaryIO],
|
||||
fmt: str = "jpeg",
|
||||
use_video_port: bool = False,
|
||||
resize: Tuple[int, int] = None,
|
||||
bayer: bool = True,
|
||||
thumbnail: tuple = None,
|
||||
thumbnail: Tuple[int, int, int] = None,
|
||||
):
|
||||
"""
|
||||
Capture a still image to a StreamObject.
|
||||
|
|
@ -470,10 +466,11 @@ class PiCameraStreamer(BaseCamera):
|
|||
|
||||
Args:
|
||||
output: String or file-like object to write capture data to
|
||||
fmt (str): Format of the capture.
|
||||
use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
|
||||
resize ((int, int)): Resize the captured image.
|
||||
bayer (bool): Store raw bayer data in capture
|
||||
fmt: Format of the capture.
|
||||
use_video_port: Capture from the video port used for streaming. Lower resolution, faster.
|
||||
resize: Resize the captured image.
|
||||
bayer: Store raw bayer data in capture
|
||||
thumbnail: Dimensions and quality (x, y, quality) of a thumbnail to generate, if supported
|
||||
|
||||
Returns:
|
||||
output_object (str/BytesIO): Target object.
|
||||
|
|
@ -483,9 +480,9 @@ class PiCameraStreamer(BaseCamera):
|
|||
|
||||
# Set resolution and stop stream recording if necessary
|
||||
if not use_video_port:
|
||||
self.stop_stream_recording()
|
||||
self.stop_stream()
|
||||
|
||||
self.camera.capture(
|
||||
self.picamera.capture(
|
||||
output,
|
||||
format=fmt,
|
||||
quality=self.jpeg_quality,
|
||||
|
|
@ -497,11 +494,11 @@ class PiCameraStreamer(BaseCamera):
|
|||
|
||||
# Set resolution and start stream recording if necessary
|
||||
if not use_video_port:
|
||||
self.start_stream_recording()
|
||||
self.start_stream()
|
||||
|
||||
return output
|
||||
|
||||
def array(self, use_video_port=True) -> np.ndarray:
|
||||
def array(self, use_video_port: bool = True) -> np.ndarray:
|
||||
"""Capture an uncompressed still RGB image to a Numpy array.
|
||||
|
||||
Args:
|
||||
|
|
@ -513,7 +510,9 @@ class PiCameraStreamer(BaseCamera):
|
|||
"""
|
||||
with self.lock:
|
||||
logging.debug("Creating PiRGBArray")
|
||||
with picamerax.array.PiRGBArray(self.camera) as output:
|
||||
with picamerax.array.PiRGBArray(self.picamera) as output:
|
||||
logging.info("Capturing to %s", (output))
|
||||
self.camera.capture(output, format="rgb", use_video_port=use_video_port)
|
||||
self.picamera.capture(
|
||||
output, format="rgb", use_video_port=use_video_port
|
||||
)
|
||||
return output.array
|
||||
|
|
|
|||
|
|
@ -2,16 +2,17 @@ from __future__ import print_function
|
|||
|
||||
import logging
|
||||
import time
|
||||
from typing import Union
|
||||
|
||||
import picamerax
|
||||
from picamerax import exc, mmal
|
||||
from picamerax.mmalobj import to_rational
|
||||
|
||||
MMAL_PARAMETER_ANALOG_GAIN = mmal.MMAL_PARAMETER_GROUP_CAMERA + 0x59
|
||||
MMAL_PARAMETER_DIGITAL_GAIN = mmal.MMAL_PARAMETER_GROUP_CAMERA + 0x5A
|
||||
MMAL_PARAMETER_ANALOG_GAIN: int = mmal.MMAL_PARAMETER_GROUP_CAMERA + 0x59
|
||||
MMAL_PARAMETER_DIGITAL_GAIN: int = mmal.MMAL_PARAMETER_GROUP_CAMERA + 0x5A
|
||||
|
||||
|
||||
def set_gain(camera, gain, value):
|
||||
def set_gain(camera: picamerax.PiCamera, gain: int, value: Union[int, float]):
|
||||
"""Set the analog gain of a PiCamera.
|
||||
|
||||
camera: the picamerax.PiCamera() instance you are configuring
|
||||
|
|
@ -32,12 +33,12 @@ def set_gain(camera, gain, value):
|
|||
raise exc.PiCameraMMALError(ret)
|
||||
|
||||
|
||||
def set_analog_gain(camera, value):
|
||||
def set_analog_gain(camera: picamerax.PiCamera, value: Union[int, float]):
|
||||
"""Set the gain of a PiCamera object to a given value."""
|
||||
set_gain(camera, MMAL_PARAMETER_ANALOG_GAIN, value)
|
||||
|
||||
|
||||
def set_digital_gain(camera, value):
|
||||
def set_digital_gain(camera: picamerax.PiCamera, value: Union[int, float]):
|
||||
"""Set the digital gain of a PiCamera object to a given value."""
|
||||
set_gain(camera, MMAL_PARAMETER_DIGITAL_GAIN, value)
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue