i,dZddlmZddlZddlZddlZddlZddlZddlZddl Z ddl Z ddl m Z ejeZdZdZdZdZd ZGd d Zy) aFrame capture utility for the Edge Proxy. Grabs a single JPEG frame from the robot's camera. The primary method is an HTTP snapshot endpoint exposed by MediaMTX. If that endpoint is unavailable, a **persistent** ffmpeg subprocess maintains an RTSP connection and continuously decodes frames into JPEG. Each ``capture()`` call returns the most recently decoded frame without re-negotiating the RTSP session. ) annotationsN)Optionalz$http://192.168.168.105:8889/cam/jpegzrtsp://192.168.168.105:8554/camssc`eZdZdZeef d dZd dZd dZddZ d dZ ddZ ddZ dd Z y ) FrameCaptureaCapture a single JPEG frame from the robot camera. Attempts an HTTP snapshot first (fast, ~100 ms). Falls back to a **persistent** ffmpeg subprocess that holds the RTSP connection open and continuously pipes JPEG frames via stdout. The latest frame is always available in ``capture()`` with near-zero latency. Args: snapshot_url: HTTP URL that returns a raw JPEG. MediaMTX exposes this at ``/cam/jpeg`` when the API is enabled. rtsp_url: RTSP URL used for the persistent ffmpeg stream. c||_||_d|_d|_t j |_d|_d|_d|_ d|_ d|_ d|_ d|_ |jdu|_ |jrtj!dytj!d|j#y)NgFnoneu9FrameCapture: HTTP snapshot available — using fast pathuKFrameCapture: HTTP snapshot unavailable — starting persistent RTSP stream) _snapshot_url _rtsp_url_proc_reader_thread threadingLock_lock _latest_frame _frame_time_frame_wall_time_running_http_ok_last_capture_ms_last_capture_source _capture_httploggerinfo_ensure_rtsp_stream)self snapshot_urlrtsp_urls F/home/nelsen/Projects/kognitive/edge-proxy/edge_proxy/frame_capture.py__init__zFrameCapture.__init__1s *!26 :>^^% .2"%'* (, '*)/!**,D8 == KKS T KK]   $ $ &ctj}|jr^|j}|L|j dtj|z dzt j dt||S|j|j5|j}|jdkDr$tj|jz dznd}ddd|j dtj|z dzE"t j dt|||St j d t||St j d |S#1swYxYw) zqGrab a single JPEG frame. Returns: Raw JPEG bytes, or ``None`` if all methods fail. Nhttp@@)source capture_msz0FrameCapture: HTTP snapshot succeeded (%d bytes)rrtspz6FrameCapture: RTSP frame ready (%d bytes, age=%.1f ms)z)FrameCapture: RTSP frame ready (%d bytes)z2FrameCapture: RTSP stream not yet producing frames) time monotonicrr_update_capture_statsrdebuglenrrrr)rt0frame frame_age_mss rcapturezFrameCapture.captureSsg ^^  ==&&(E **! $ 02 5?+ OQTUZQ[\    " ZZ &&E##a'!D$4$44>   ""(2-7 #   ' LJ   H#e*U  LLM N -  s AE..E7c|j5|jdkDr$tj|jz dznd}|j}|j }|j }dddt|jxr,|jduxr|jjdu|jdS#1swY]xYw)z9Return current frame/capture stats for latency debugging.rr$N)r/latest_frame_timestamplast_capture_mslast_capture_source rtsp_runninghttp_snapshot_ok) rrr(r)rrrboolrr pollr)rr/latest_frame_tsr3r4s r get_statszFrameCapture.get_statss ZZ <##a'!D$4$44>  #33O"33O"&";";  <)&5.#6  V$**D"8VTZZ__=NRV=V!%    < |jj|jjdd|_|j #|j jdd|_tjdy#t$r|jj YqwxYw)z+Shut down the persistent ffmpeg subprocess.FNtimeoutz+FrameCapture: persistent RTSP stream closed) rr terminatewait Exceptionkillr joinrrrs rclosezFrameCapture.closes :: ! " $$& *DJ    *    $ $Q $ /"&D  AB  " ! "s6B#B=<B=c tjj|jt5}|j dk7r*t jd|j  dddy|j}|st jd dddy|cdddS#1swYyxYw#tjj$r }t jd|Yd}~yd}~wt$r }t jd|Yd}~yd}~wt$r }t jd|Yd}~yd}~wwxYw) z7Try HTTP snapshot endpoint. Returns raw bytes or None.r=z.FrameCapture: HTTP snapshot returned status %dNz/FrameCapture: HTTP snapshot returned empty bodyz)FrameCapture: HTTP snapshot URL error: %sz(FrameCapture: HTTP snapshot OS error: %sz0FrameCapture: HTTP snapshot unexpected error: %s) urllibrequesturlopenr _HTTP_TIMEOUT_SECstatusrr+readerrorURLErrorOSErrorrA)rrespdataexcs rrzFrameCapture._capture_https ''(:(:DU'V Z^;;#%LLH$++   yy{LL!RS     ||$$  LLDc J  LLCS I  LLKS Q sd/B31B'"B3+(B'B3B' B3'B0,B30B33D>C++ D>7D D>D99D>c|jr'|j|jjy|j" |jjd|_t j d|j tjddddddd d d d d ddd|jdddddddddgtjtjd|_d|_tj|j dd|_|j"j%y#t$rYwxYw#t$rt jdYywxYw) z;Start the persistent ffmpeg process if not already running.Nz5FrameCapture: starting persistent RTSP stream from %sffmpegz-fflagsnobufferz-flags low_delayz -avioflagsdirectz -probesize32z-analyzeduration0z-rtsp_transporttcpz-iz-vfzfps=10z-f image2pipez-vcodecmjpegz-q:v3-r)stdoutstderrbufsizez&FrameCapture: ffmpeg not found in PATHTzframe-capture-reader)targetdaemonname)rr r8rBrArrr subprocessPopenPIPEDEVNULLFileNotFoundErrorwarningrThread _read_framesr startrDs rrz FrameCapture._ensure_rtsp_streamsE ==TZZ3 8I8Q  :: !  !DJ KT^^\ #))zk ( $&%u$..8,wC"!))%DJ0 '..$$T8N  !!#E  4!  NNC D  s%D(AD7( D43D47EEcp |j|jjJt}|jj}d}|jr |j d}|sn|j| |jt}|dk(r|jn|dkDr|d|=|jtd}|dk(rn|dz}t|d|} |d|=|dz }|j5| |_t!j"|_t!j |_ddd|dk(rt j)d t+| |jrd |_t j)d dt/vrydy#t $r }t jd|Yd}~Ud}~wwxYw#1swYxYw#t $r"}t j-d |d Yd}~d}~wwxYw#d |_t j)d dt/vrwdwxYw)zBackground thread: read continuous JPEG stream from ffmpeg stdout. ffmpeg with ``-f image2pipe -vcodec mjpeg`` outputs concatenated JPEG images. We split on SOI/EOI markers to extract individual frames. NrizFrameCapture: read error: %sTz2FrameCapture: first RTSP frame received (%d bytes)z'FrameCapture: reader thread crashed: %s)exc_infoFz9FrameCapture: RTSP reader thread exited (frames read: %d) frame_count)r r` bytearrayrrMrArrkextendfind_SOIclear_EOIbytesrrr(r)rrrr,rNdir) rbufstreamrtchunkrSsoieoi frame_endr.s rrmzFrameCapture._read_framess 5 F::)djj.?.?.K KK+CZZ&&FK--"KK.E 5!((4.Cby QwI((4+Cby!$aI!#jy/2EJYJ1$K<-2*+/>>+;(04 -< #a' PRUV[R\5--Z"DM KKS'4'=  FCD FW!NN#A3G:<< X LLBCRVL W W X"DM KKS'4'=  FCD FsmAGF'BG7:G 19G G&G<GGG GG HG;6H;HH2H5cb|j5||_||_dddy#1swYyxYw)N)rrr)rr%r&s rr*z"FrameCapture._update_capture_stats0s. ZZ /(.D %$.D ! / / /s%.N)rstrrrreturnNone)rzOptional[bytes])rdict)rr)r%rr&floatrr)__name__ __module__ __qualname____doc___DEFAULT_SNAPSHOT_URL_DEFAULT_RTSP_URLr r0r:rErrrmr*r!rrr#sY 2)'''  'D,\ , C&8+$Z;Fz/r!r)r __future__riologgingosrfrr( urllib.errorrHurllib.requesttypingr getLoggerrrrrrKrxrzrrr!rrsh#      8 $?5P/P/r!