added camera server publish thread

backend/app/classes/Exceptions.py

@@ -1,4 +1,3 @@
-
 class PipelineAlreadyExistsException(Exception):
 
     def __init__(self, pipe_name):

backend/app/handlers/SocketHandler.py

@@ -18,6 +18,7 @@ def send_all_async(message):
 
 
 class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
+
     actions = {}
 
     set_this_camera_settings = ["exposure", "brightness"]

backend/app/handlers/VisionHandler.py

@@ -257,6 +257,10 @@ class VisionHandler(metaclass=Singleton):
             port += 1
 
     def thread_proc(self, cam_name, port=5557):
+        global p_image
+        global nt_data
+        global table
+        nt_data = {'valid': False}
         asyncio.set_event_loop(asyncio.new_event_loop())
         self.settings_manager.cams_curr_pipeline[cam_name] = "pipeline0"
         pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
@@ -311,13 +315,25 @@ class VisionHandler(metaclass=Singleton):
 
         change_camera_values(pipeline)
 
-        def _thread():
+        def _image_thread():
             global image
+            global p_image
             image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
+            p_image = image
             while True:
                 _, image = cv_sink.grabFrame(image)
 
-        threading.Thread(target=_thread).start()
+        def _publish_thread():
+            while True:
+                try:
+                    cv_publish.putFrame(p_image)
+
+                except:
+                    pass
+
+        threading.Thread(target=_image_thread).start()
+        threading.Thread(target=_publish_thread).start()
+
         while True:
             pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
             socket.send_json(dict(
@@ -329,9 +345,6 @@ class VisionHandler(metaclass=Singleton):
             nt_data = socket.recv_json()
             table.putBoolean('valid', nt_data['valid'])
             # check if point is valid
-
-            # print(nt_data['fps'])
-
             if nt_data['valid']:
                 #send the point using network tables
                 table.putNumber('pitch', nt_data['pitch'])
@@ -352,8 +365,6 @@ class VisionHandler(metaclass=Singleton):
                     except Exception as e:
                         print(e)
             #send the image to the camera server
-            # print(nt_data['fps'])
-            cv_publish.putFrame(p_image)
 
     def camera_process(self, cam_name, port, FOV):
         from fractions import Fraction

backend/settings/cams/USB Camera-B4.09.24.1.json

@@ -1 +1 @@
-{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 15, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline1": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline2": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline3": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline4": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline5": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline6": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline7": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline8": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline9": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 60.8}
+{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 15, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": true, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline1": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline2": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline3": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline4": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline5": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline6": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline7": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline8": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline9": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 60.8}