snowmix/camera1/cam.py

#!/usr/bin/python3
import time
import threading
import os
import stat
import sys
import gi
import paho.mqtt.client as mqtt
gi.require_version('Gst', '1.0')
gi.require_version('GstNet', '1.0')
from gi.repository import Gst, GstNet

WIDTH = 1280
HEIGHT = 720

SCREEN_WIDTH = 800
SCREEN_HEIGHT = 600
zoom = 1
not_exited = True


# def bus_call(bus, msg, *args):
#     if msg.type == Gst.MessageType.EOS:
#         print("End-of-stream")
#         loop.quit()
#         return
#     elif msg.type == Gst.MessageType.ERROR:
#         print("GST ERROR", msg.parse_error())
#         loop.quit()
#         return
#     return True


def set_preview(val):
    if val == 0:
        videosrc.set_property("preview-x", SCREEN_WIDTH)
        videosrc.set_property("preview-y", SCREEN_HEIGHT)
    else:
        videosrc.set_property("preview-x", 0)
        videosrc.set_property("preview-y", 0)


def set_zoom(target):
    global zoom
    if target < zoom:
        direction = -1
    else:
        direction = 1

    target = min(target, 1)
    target = max(target, 0.40)

    while abs(target-zoom) > 0.01:  # fuck IEEE floats
        zoom = zoom + direction*0.015
        zoom = min(zoom, 1)
        zoom = max(zoom, 0.4)
        videosrc.set_property("roi-x", (1-zoom)/2)
        videosrc.set_property("roi-y", (1-zoom)/2)
        videosrc.set_property("roi-w", zoom)
        videosrc.set_property("roi-h", zoom)
        time.sleep(0.03)

# The callback for when the client receives a CONNACK response from the server.
def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))

    # Subscribing in on_connect() means that if we lose the connection and
    # reconnect then subscriptions will be renewed.
    client.subscribe("video/cam1/#")


# The callback for when a PUBLISH message is received from the server.
def on_message(client, userdata, msg):
    global not_exited
    print(msg.topic+" "+str(msg.payload))

    if msg.topic == "video/cam1/preview":
        set_preview(int(msg.payload))
    elif msg.topic == "video/cam1/zoom":
        set_zoom(float(msg.payload))
    elif msg.topic == "video/cam1/restart":
        print("Restarting!")
        not_exited = False


client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message

client.connect("192.168.2.123", 1883, 60)


if __name__ == "__main__":
    if 'LD_LIBRARY_PATH' not in os.environ:
        os.environ['LD_LIBRARY_PATH'] = '/usr/local/lib'
        os.execv(sys.argv[0], sys.argv)
    # initialization
    Gst.init(None)

    videocodec = "video/x-h264, width=%d, height=%d, framerate=25/1, profile=high ! h264parse" % (WIDTH, HEIGHT)
    p = "rpicamsrc sensor-mode=4 bitrate=0 quantisation-parameter=12 do-timestamp=true keyframe-interval=5 name=src ! "+videocodec+" ! matroskamux streamable=true ! tcpserversink host=0.0.0.0 port=5000 sync-method=next-keyframe blocksize=16384"
    print(p)
    pipeline = Gst.parse_launch(p)
    if pipeline is None:
        print("Failed to create pipeline")
        sys.exit(0)

    clock = GstNet.NetClientClock.new('CamVoctoClock', '192.168.2.123', 9998, 0)
    # FIXME: add clock support
    # print("Waiting for clock sync")
    # clock.wait_for_sync(Gst.CLOCK_TIME_NONE)
    # clock.do_wait(Gst.CLOCK_TIME_NONE)
    # print("Clock synced")
    pipeline.set_start_time(Gst.CLOCK_TIME_NONE)
    if clock is not None:
        pass
        # pipeline.use_clock(clock)

    videosrc = pipeline.get_by_name("src")
    videosrc.set_property("preview", 1)
    videosrc.set_property("preview-w", SCREEN_WIDTH)
    videosrc.set_property("preview-h", SCREEN_HEIGHT)
    videosrc.set_property("fullscreen", False)
    # videosrc.set_property("bitrate", 25000000)
    videosrc.set_property("rotation", 180)
    set_preview(0)

    pipeline.set_state(Gst.State.PLAYING)
    t = threading.Thread(target=client.loop_forever, daemon=True)
    t.start()
    counter = 0
    while not_exited:
        time.sleep(1)
        counter += 1
        if counter >= 10:
            client.publish("video/heartbeat", "cam1")

    pipeline.set_state(Gst.State.NULL)
    print("Pipeline dead. Bye")