agrobot_base/Python/raspi/cam_3/multispectral_client.py

import time
import json

from cam_3.multispectral_service import MultiSpectralService
from cam_3.stream_receiver import StreamReceiver
from cam_3.pi.raw_processor_core import RawProcessorCore
from cam_3.pi.raw_processor_preview import RawProcessorPreview


class MultiSpectralClient:
    def __init__(
        self,
        pi_host="192.168.105.6",
        pc_host="192.168.105.5",
        server_port=5000,
        stream_port=6001,
        timeout=10,
        width=640,
        height=480,
        bayer="GBRG",
        fps=15,
        frame_type="RAW_BRUTO",
        output_dtype="uint8",
        capture_mode="AUTO",
        raw_policy="allow_single",
        module_calibration_json=None,
    ):
        self.pi_host = pi_host
        self.pc_host = pc_host
        self.server_port = server_port
        self.stream_port = stream_port

        self.width = width
        self.height = height
        self.bayer = bayer
        self.fps = fps
        self.frame_type = frame_type
        self.output_dtype = output_dtype
        self.capture_mode = capture_mode
        self.raw_policy = raw_policy
        self.module_calibration_json = module_calibration_json

        self.svc = MultiSpectralService(
            host=pi_host,
            port=server_port,
            timeout=timeout,
        )

        self.receiver = StreamReceiver(
            host="0.0.0.0",
            port=stream_port,
        )

        self.core = RawProcessorCore(
            sensor_width=width,
            sensor_height=height,
            bayer_pattern=bayer,
            calibration_json_path=module_calibration_json,
        )

        self.preview = RawProcessorPreview(
            sensor_width=width,
            sensor_height=height,
            bayer_pattern=bayer,
        )

        self.last_frame_id = None
        self.status = None
        self.begin_resp = None
        self.applied_params = None

    def __enter__(self):
        self.start()
        return self

    def __exit__(self, exc_type, exc, tb):
        self.stop()

    def start(self, print_debug=True):
        if print_debug:
            print(f"[INFO] Verificando módulo em {self.pi_host}:{self.server_port}...")

        if not self.svc.check_connection(2):
            raise RuntimeError("Módulo não encontrado ou não respondeu ao ping.")

        self.receiver.start()
        time.sleep(0.5)

        self.svc.connect()

        if print_debug:
            print("[OK] Módulo conectado.")

        self._configure_module(print_debug=print_debug)
        self._begin_module(print_debug=print_debug)
        self._apply_module_params(print_debug=print_debug)
        self._start_stream(print_debug=print_debug)

        return self

    def _configure_module(self, print_debug=True):
        r0 = self.svc.set_resolution(self.width, self.height)
        r1 = self.svc.set_bayer(self.bayer)
        r2 = self.svc.set_fps(self.fps)
        r3 = self.svc.set_capture_mode(self.capture_mode)
        r4 = self.svc.set_frame_type(self.frame_type)
        r5 = self.svc.set_output_dtype(self.output_dtype)
        if print_debug:
            print("SET RES:", r0)
            print("SET BAYER:", r1)
            print("SET FPS:", r2)
            print("SET CAPTURE MODE:", r3)
            print("SET FRAME TYPE:", r4)
            print("SET OUTPUT DTYPE:", r5)

    def _begin_module(self, print_debug=True):
        self.begin_resp = self.svc.begin(
            frame_type=self.frame_type,
            output_dtype=self.output_dtype,
            capture_mode=self.capture_mode,
        )

        self.status = self.svc.get_status()

        self.svc.validate_module_ready(
            self.status,
            self.frame_type,
            self.raw_policy,
            self.capture_mode,
        )

        if print_debug:
            print("BEGIN:", self.begin_resp)
            print("STATUS:", json.dumps({
                "status": self.status.get("status"),
                "detected_mode": self.status.get("detected_mode"),
                "camera_count_active": self.status.get("camera_count_active"),
                "active_camera_ids": self.status.get("active_camera_ids"),
            }, ensure_ascii=False))

    def _apply_module_params(self, print_debug=True):
        if not self.module_calibration_json:
            return None

        self.applied_params = self.svc.apply_camera_params_json(
            self.module_calibration_json
        )

        if print_debug:
            print("[OK] Parâmetros do módulo aplicados:")
            print(json.dumps(self.applied_params.get("applied"), ensure_ascii=False, indent=2))

        return self.applied_params

    def _start_stream(self, print_debug=True):
        resp = self.svc.start_stream(
            self.pc_host,
            self.stream_port,
            fps=self.fps,
        )

        if print_debug:
            print("START STREAM:", resp)

        return resp

    def get_latest(self):
        return self.receiver.last_frame, self.receiver.last_meta

    def get_next_frame(self, timeout=2.0):
        t0 = time.perf_counter()

        while time.perf_counter() - t0 < timeout:
            frame = self.receiver.last_frame
            meta = self.receiver.last_meta

            if frame is None or meta is None:
                time.sleep(0.001)
                continue

            frame_id = meta.get("frame_id")

            if frame_id != self.last_frame_id:
                self.last_frame_id = frame_id
                return frame, meta

            time.sleep(0.001)

        raise TimeoutError("Timeout aguardando novo frame do stream.")

    def build_infer_tensor(self, frame, meta, channels_expected, target_size=None):
        return self.core.build_infer_tensor_from_stream(
            frame,
            meta,
            channels_expected=channels_expected,
            target_size=target_size,
        )

    def stop(self):
        try:
            self.svc.stop_stream()
        except Exception:
            pass

        try:
            self.svc.stop()
        except Exception:
            pass

        try:
            self.svc.disconnect()
        except Exception:
            pass

        try:
            self.receiver.stop()
        except Exception:
            pass