Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-07-02 02:51:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

finished multiprocessing

Browse Source
This commit is contained in:
ori
2019-06-09 11:00:08 -07:00
parent ab46bee5a8
commit 5b68083a56
3 changed files with 46 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
backend/Main.py
View File

@@ -20,13 +20,9 @@ def run_server():
tornado.ioloop.IOLoop.current().start()
if __name__ == "__main__":
logging.basicConfig(level=logging.DEBUG)
SettingsManager()
VisionHandler().run()
while True:
pass

26
backend/app/classes/SettingsManager.py
View File

@@ -69,12 +69,12 @@ class SettingsManager(metaclass=Singleton):
if os.path.exists(os.path.join(self.cams_path, cam.name + '.json')):
with open(os.path.join(self.cams_path, cam.name + '.json'), 'r') as camera:
self.cams[cam.name] = json.load(camera)
self.cams[cam_name] = json.load(camera)
if len(self.cams[cam.name]["pipelines"]) == 0:
self.create_new_pipeline(cam_name=cam.name)
self.create_new_pipeline(cam_name=cam_name)
else:
self.create_new_cam(cam.name)
self.create_new_cam(cam_name)
# Initiate true usb cameras(filters microphones and double cameras)
def _init_cameras_info(self):
@@ -87,20 +87,20 @@ class SettingsManager(metaclass=Singleton):
true_cameras.append(index)
cap.release()
for i in true_cameras:
self.usb_cameras_info[usb_devices[i].name] = usb_devices[i]
device_name = usb_devices[i].name
suffix = 0
while device_name in self.usb_cameras_info:
suffix += 1
device_name = f"{device.name}({str(suffix)})"
self.usb_cameras_info[device_name] = usb_devices[i]
# Initiate cscore usb devices
def _init_usb_cameras(self):
for i in self.usb_cameras_info:
device = self.usb_cameras_info[i]
device_name = device.name
suffix = 1
while device_name in self.usb_cameras:
suffix += 1
device_name = f"{device.name}({str(suffix)})"
for device_name in self.usb_cameras_info:
device = self.usb_cameras_info[device_name]
camera = cscore.UsbCamera(name=device_name, dev=device.dev)

60
backend/app/handlers/VisionHandler.py
View File

@@ -7,9 +7,10 @@ from cscore import CameraServer
from app.classes.SettingsManager import SettingsManager
from ..classes.Singleton import Singleton
import time
from multiprocessing import Process, Pipe
from multiprocessing import Process
import multiprocessing
import threading
import zmq
class VisionHandler(metaclass=Singleton):
@@ -72,43 +73,42 @@ class VisionHandler(metaclass=Singleton):
return input_image
def run(self):
procs = []
# NetworkTables.startClientTeam(team=SettingsManager.general_settings.get("team_number", 1577))
NetworkTables.initialize("localhost")
# NetworkTables.initialize()
cs = CameraServer.getInstance()
pipes = []
port = 5550
for cam_name in SettingsManager().usb_cameras:
threading.Thread(target=self.thred_proc, args=(cs, cam_name)).start()
def thred_proc(self, cs, cam_name):
async def pipe_send(pipe, data):
pipe.send(data)
async def pipe_recive(pipe):
return pipe.recv()
threading.Thread(target=self.thread_proc, args=(cs, cam_name, str(port))).start()
port += 1
def thread_proc(self, cs, cam_name, port="5557"):
cv_sink = cs.getVideo(camera=SettingsManager.usb_cameras[cam_name])
image = numpy.zeros(shape=(SettingsManager().cams[cam_name]["video_mode"]["width"],
SettingsManager().cams[cam_name]["video_mode"]["height"], 3), dtype=numpy.uint8)
cv_publish = cs.putVideo(name=cam_name, width=SettingsManager().cams[cam_name]["video_mode"]["width"],
height=SettingsManager().cams[cam_name]["video_mode"]["height"])
parent, child = Pipe()
Process(target=self.camera_process, args=(SettingsManager.usb_cameras[cam_name], cam_name, child)).start()
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
height = SettingsManager().cams[cam_name]["video_mode"]["height"]
image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
cv_publish = cs.putVideo(name=cam_name, width=width, height=height)
context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.bind("tcp://*:%s" % port)
p = Process(target=self.camera_process, args=(SettingsManager.usb_cameras[cam_name], cam_name, port))
p.start()
while True:
start = time.time()
_, image = cv_sink.grabFrame(image)
parent.send(image)
# pipe_send(parent,image)
if parent.poll():
image = parent.recv()
socket.send_pyobj(image)
image = socket.recv_pyobj()
cv_publish.putFrame(image)
end = time.time()
print(cam_name + " " + str(1 / (end - start)))
def camera_process(self, camera, cam_name, child_pipe):
def camera_process(self, camera, cam_name, port):
curr_pipeline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
@@ -131,11 +131,17 @@ class VisionHandler(metaclass=Singleton):
# table.addEntryListenerEx(mode_listener, key="Driver_Mode",
# flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
# change_camera_values()
cam_area = SettingsManager().cams[cam_name]["video_mode"]["width"] * \
SettingsManager().cams[cam_name]["video_mode"]["height"]
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
height = SettingsManager().cams[cam_name]["video_mode"]["height"]
cam_area = width * height
context = zmq.Context()
socket = context.socket(zmq.REP)
socket.connect("tcp://localhost:%s" % port)
while True:
image = child_pipe.recv()
image = socket.recv_pyobj()
hsv_image = self._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])
@@ -143,5 +149,5 @@ class VisionHandler(metaclass=Singleton):
contours = self.find_contours(hsv_image)
filtered_contours = self.filter_contours(contours, cam_area, curr_pipeline["area"], curr_pipeline["ratio"],
curr_pipeline["extent"])
image = self.draw_image(input_image=image, is_binary=False, rectangles=filtered_contours)
child_pipe.send(image)
res = self.draw_image(input_image=image, is_binary=False, rectangles=filtered_contours)
socket.send_pyobj(res)