iniciado raspi
This commit is contained in:
Diego Freitas
parent
5e5c9ea34c
commit
00142d2215
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@ -0,0 +1,146 @@
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import socket
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import json
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import numpy as np
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import base64
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import time
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class MultiSpectralService:
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def __init__(self, host="192.168.105.6", port=5000, timeout=5):
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self.host = host
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self.port = port
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self.timeout = timeout
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self.sock = None
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self.file = None
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def __enter__(self):
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self.connect()
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return self
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def __exit__(self, exc_type, exc, tb):
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self.disconnect()
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def connect(self):
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if self.sock is not None:
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return
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self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
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self.sock.settimeout(self.timeout)
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self.file = self.sock.makefile("r", encoding="utf-8")
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def disconnect(self):
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try:
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if self.file:
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self.file.close()
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except:
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pass
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try:
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if self.sock:
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self.sock.close()
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except:
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pass
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self.file = None
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self.sock = None
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def _send_command(self, payload: dict) -> dict:
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if self.sock is None:
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self.connect()
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data = (json.dumps(payload) + "\n").encode("utf-8")
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self.sock.sendall(data)
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line = self.file.readline()
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if not line:
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self.disconnect()
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raise RuntimeError("Conexão encerrada pelo servidor")
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return json.loads(line.strip())
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def ping(self):
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return self._send_command({"cmd": "ping"})
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def get_status(self):
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return self._send_command({"cmd": "get_status"})
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def get_config(self):
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return self._send_command({"cmd": "get_config"})
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def begin(self):
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return self._send_command({"cmd": "begin"})
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def stop(self):
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return self._send_command({"cmd": "stop"})
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def set_fps(self, fps: int):
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return self._send_command({"cmd": "set_fps", "value": fps})
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def set_jpeg_quality(self, quality: int):
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return self._send_command({"cmd": "set_jpeg_quality", "value": quality})
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def set_resolution(self, width: int, height: int):
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return self._send_command({
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"cmd": "set_resolution",
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"width": width,
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"height": height
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})
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def capture_jpg_disk(self):
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return self._send_command({"cmd": "capture_jpg_disk"})
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def capture_jpg_bytes(self):
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return self._send_command({"cmd": "capture_jpg_bytes"})
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def capture_jpg_base64(self):
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resp = self._send_command({"cmd": "capture_jpg_base64"})
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if not resp.get("ok"):
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raise RuntimeError(resp.get("error", "Falha ao capturar JPG"))
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return base64.b64decode(resp["data"])
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def capture_frame_array(self):
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t0 = time.perf_counter()
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resp = self._send_command({"cmd": "capture_frame"})
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if not resp.get("ok"):
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raise RuntimeError(resp.get("error", "Falha ao capturar frame"))
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raw = base64.b64decode(resp["data"])
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width = resp["width"]
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height = resp["height"]
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channels = resp["channels"]
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arr = np.frombuffer(raw, dtype=np.uint8).reshape(height, width, channels)
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t1 = time.perf_counter()
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meta = {
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"frame_type": resp.get("frame_type"),
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"width": width,
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"height": height,
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"channels": channels,
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"dtype": resp.get("dtype"),
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"size": resp.get("size"),
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# 👇 TELEMETRIA PI
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"ts_pi": resp.get("ts_pi"),
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"dt_trigger": resp.get("dt_trigger"),
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"dt_settle": resp.get("dt_settle"),
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"dt_capture": resp.get("dt_capture"),
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"dt_total_pi": resp.get("dt_total_pi"),
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# 👇 TELEMETRIA PC
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"dt_total_pc": t1 - t0,
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}
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return arr, meta
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def start_stream(self, host: str, port: int, fps: float):
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return self._send_command({
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"cmd": "start_stream",
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"host": host,
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"port": port,
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"fps": fps
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})
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def stop_stream(self):
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return self._send_command({"cmd": "stop_stream"})
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@ -0,0 +1,139 @@
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import json
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import socket
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import threading
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import time
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import lz4.frame
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import zstandard as zstd
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from numcodecs import Blosc
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import numpy as np
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class StreamReceiver:
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def __init__(self, host="0.0.0.0", port=6001):
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self.host = host
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self.port = port
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self._server_sock = None
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self._client_sock = None
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self._thread = None
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self._running = False
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self.last_frame = None
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self.last_meta = None
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self.last_receive_ts = None
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self._zstd_d = zstd.ZstdDecompressor()
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self._codec = Blosc(cname="lz4", clevel=1, shuffle=Blosc.SHUFFLE)
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@property
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def is_running(self):
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return self._running
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def start(self):
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if self._running:
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return
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self._running = True
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self._thread = threading.Thread(target=self._worker, daemon=True)
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self._thread.start()
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def stop(self):
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self._running = False
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try:
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if self._client_sock:
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self._client_sock.close()
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except:
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pass
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try:
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if self._server_sock:
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self._server_sock.close()
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except:
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pass
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self._client_sock = None
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self._server_sock = None
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def _recv_exact(self, sock: socket.socket, n: int) -> bytes:
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chunks = []
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remaining = n
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while remaining > 0:
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chunk = sock.recv(remaining)
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if not chunk:
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raise ConnectionError("Conexão encerrada durante recv")
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chunks.append(chunk)
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remaining -= len(chunk)
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return b"".join(chunks)
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def _worker(self):
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try:
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as server:
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server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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server.bind((self.host, self.port))
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server.listen(1)
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server.settimeout(1.0)
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self._server_sock = server
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print(f"[INFO] StreamReceiver ouvindo em {self.host}:{self.port}")
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while self._running:
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try:
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client, addr = server.accept()
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except socket.timeout:
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continue
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print(f"[INFO] StreamReceiver conectado por {addr}")
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self._client_sock = client
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with client:
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while self._running:
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header_len = int.from_bytes(self._recv_exact(client, 4), "big")
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header_bytes = self._recv_exact(client, header_len)
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header = json.loads(header_bytes.decode("utf-8"))
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payload_len = int.from_bytes(self._recv_exact(client, 4), "big")
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payload_comp = self._recv_exact(client, payload_len)
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codec = header["codec"]
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if codec == "lz4":
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payload = lz4.frame.decompress(payload_comp)
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elif codec == "zstd":
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payload = self._zstd_d.decompress(payload_comp)
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elif codec == "numcodecs":
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payload = self._codec.decode(payload_comp)
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else:
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raise ValueError(f"Codec não suportado: {codec}")
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expected = header["payload_size_raw"]
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if len(payload) != expected:
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raise ValueError(
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f"Tamanho descomprimido inválido: {len(payload)} != {expected}"
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)
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height = header["height"]
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width = header["width"]
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channels = header["channels"]
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dtype = np.uint8 if header["dtype"] == "uint8" else None
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if dtype is None:
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raise RuntimeError(f"dtype não suportado: {header['dtype']}")
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frame = np.frombuffer(payload, dtype=dtype).reshape(height, width, channels)
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self.last_frame = frame
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self.last_meta = header
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self.last_receive_ts = time.perf_counter()
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print("[INFO] StreamReceiver cliente desconectado")
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self._client_sock = None
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except Exception as e:
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print(f"[WARN] StreamReceiver encerrado com erro: {e}")
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finally:
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self._running = False
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self._client_sock = None
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self._server_sock = None
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@ -0,0 +1,19 @@
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import time
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from multispectral_service import MultiSpectralService
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svc = MultiSpectralService(host="192.168.105.6", port=5000)
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svc.connect()
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print("BEGIN:", svc.begin())
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tempos_pi = []
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tempos_pc = []
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for i in range(10):
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frame, meta = svc.capture_frame_array()
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tempos_pi.append(meta["dt_total_pi"])
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tempos_pc.append(meta["dt_total_pc"])
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print(i, meta["dt_total_pi"], meta["dt_total_pc"])
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print("STOP:", svc.stop())
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svc.disconnect()
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@ -0,0 +1,29 @@
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import time
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from multispectral_service import MultiSpectralService
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svc = MultiSpectralService(host="192.168.105.6", port=5000)
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svc.connect()
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print("PING:", svc.ping())
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print("STATUS:", svc.get_status())
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print("SET FPS:", svc.set_fps(15))
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print("SET JPG:", svc.set_jpeg_quality(85))
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print("SET RES:", svc.set_resolution(1280, 720))
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print("BEGIN:", svc.begin())
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jpg = None
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for i in range(1, 6): # Começa em 1 e vai até 5
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t0 = time.time()
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jpg = svc.capture_jpg_base64()
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status = "OK" if jpg is not None else "Falha"
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tempo = time.time() - t0
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print(f"CAPTURE {i} JPG: {status}, Tempo: {tempo:.4f}")
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print("STOP:", svc.stop())
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print("CONFIG:", svc.get_config())
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print("STATUS FINAL:", svc.get_status())
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svc.disconnect()
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if jpg is not None:
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with open("capture.jpg", "wb") as f:
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f.write(jpg)
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@ -0,0 +1,55 @@
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import time
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from multispectral_service import MultiSpectralService
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from stream_receiver import StreamReceiver
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STREAM_PORT = 6001
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PI_HOST = "192.168.105.6"
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PC_HOST = "192.168.105.5"
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def main():
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receiver = StreamReceiver(host="0.0.0.0", port=STREAM_PORT)
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receiver.start()
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time.sleep(0.5)
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svc = MultiSpectralService(host=PI_HOST, port=5000, timeout=10)
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svc.connect()
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try:
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_fps = 15
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print("SET RES:", svc.set_resolution(640, 480))
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print("SET FPS:", svc.set_fps(_fps))
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print("BEGIN:", svc.begin())
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print("START STREAM:", svc.start_stream(PC_HOST, STREAM_PORT, fps=_fps))
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t0 = time.perf_counter()
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last_frame_id = -1
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while time.perf_counter() - t0 < 5:
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meta = receiver.last_meta
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frame = receiver.last_frame
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if meta is not None and meta["frame_id"] != last_frame_id:
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last_frame_id = meta["frame_id"]
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print(meta)
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#print(
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# f"frame_id={meta['frame_id']} "
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# f"shape={frame.shape if frame is not None else None} "
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# f"dt_total_pi={meta.get('dt_total_pi'):.4f}"
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#)
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time.sleep(0.02)
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print("STOP STREAM:", svc.stop_stream())
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print("STOP:", svc.stop())
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finally:
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svc.disconnect()
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receiver.stop()
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if __name__ == "__main__":
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main()
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