159 lines
4.3 KiB
Python
Executable File
159 lines
4.3 KiB
Python
Executable File
#!/usr/bin/env python3
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#----------------------------------------------------------------------------
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# Copyright (c) 2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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#----------------------------------------------------------------------------
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import json
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import time
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import sys
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from cscore import CameraServer, VideoSource
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from networktables import NetworkTablesInstance
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# JSON format:
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# {
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# "team": <team number>,
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# "ntmode": <"client" or "server", "client" if unspecified>
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# "cameras": [
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# {
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# "name": <camera name>
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# "path": <path, e.g. "/dev/video0">
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# "pixel format": <"MJPEG", "YUYV", etc> // optional
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# "width": <video mode width> // optional
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# "height": <video mode height> // optional
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# "fps": <video mode fps> // optional
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# "brightness": <percentage brightness> // optional
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# "white balance": <"auto", "hold", value> // optional
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# "exposure": <"auto", "hold", value> // optional
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# "properties": [ // optional
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# {
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# "name": <property name>
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# "value": <property value>
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# }
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# ]
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# }
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# ]
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# }
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configFile = "/boot/frc.json"
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class CameraConfig: pass
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team = None
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server = False
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cameraConfigs = []
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"""Report parse error."""
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def parseError(str):
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print("config error in '" + configFile + "': " + str, file=sys.stderr)
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"""Read single camera configuration."""
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def readCameraConfig(config):
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cam = CameraConfig()
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# name
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try:
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cam.name = config["name"]
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except KeyError:
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parseError("could not read camera name")
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return False
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# path
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try:
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cam.path = config["path"]
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except KeyError:
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parseError("camera '{}': could not read path".format(cam.name))
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return False
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cam.config = config
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cameraConfigs.append(cam)
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return True
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"""Read configuration file."""
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def readConfig():
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global team
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global server
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# parse file
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try:
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with open(configFile, "rt") as f:
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j = json.load(f)
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except OSError as err:
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print("could not open '{}': {}".format(configFile, err), file=sys.stderr)
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return False
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# top level must be an object
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if not isinstance(j, dict):
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parseError("must be JSON object")
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return False
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# team number
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try:
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team = j["team"]
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except KeyError:
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parseError("could not read team number")
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return False
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# ntmode (optional)
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if "ntmode" in j:
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str = j["ntmode"]
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if str.lower() == "client":
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server = False
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elif str.lower() == "server":
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server = True
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else:
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parseError("could not understand ntmode value '{}'".format(str))
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# cameras
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try:
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cameras = j["cameras"]
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except KeyError:
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parseError("could not read cameras")
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return False
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for camera in cameras:
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if not readCameraConfig(camera):
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return False
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return True
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"""Start running the camera."""
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def startCamera(config):
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print("Starting camera '{}' on {}".format(config.name, config.path))
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camera = CameraServer.getInstance() \
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.startAutomaticCapture(name=config.name, path=config.path)
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camera.setConfigJson(json.dumps(config.config))
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camera.setConnectionStrategy(VideoSource.ConnectionStrategy.kKeepOpen)
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return camera
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if __name__ == "__main__":
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if len(sys.argv) >= 2:
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configFile = sys.argv[1]
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# read configuration
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if not readConfig():
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sys.exit(1)
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# start NetworkTables
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ntinst = NetworkTablesInstance.getDefault()
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if server:
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print("Setting up NetworkTables server")
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ntinst.startServer()
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else:
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print("Setting up NetworkTables client for team {}".format(team))
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ntinst.startClientTeam(team)
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# start cameras
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cameras = []
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for cameraConfig in cameraConfigs:
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cameras.append(startCamera(cameraConfig))
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# loop forever
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while True:
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time.sleep(10)
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