121 lines
2.8 KiB
Go
121 lines
2.8 KiB
Go
package camera
|
|
|
|
import (
|
|
"fmt"
|
|
"github.com/cyrilix/robocar-protobuf/go/events"
|
|
mqtt "github.com/eclipse/paho.mqtt.golang"
|
|
"github.com/golang/protobuf/proto"
|
|
"github.com/golang/protobuf/ptypes/timestamp"
|
|
"go.uber.org/zap"
|
|
"gocv.io/x/gocv"
|
|
"io"
|
|
"sync"
|
|
"time"
|
|
)
|
|
|
|
type VideoSource interface {
|
|
Read(m *gocv.Mat) bool
|
|
io.Closer
|
|
}
|
|
|
|
type OpencvCameraPart struct {
|
|
client mqtt.Client
|
|
vc VideoSource
|
|
topic string
|
|
publishFrequency int
|
|
muImgBuffered sync.Mutex
|
|
imgBuffered *gocv.Mat
|
|
cancel chan interface{}
|
|
}
|
|
|
|
func New(client mqtt.Client, topic string, publishFrequency int, videoProperties map[gocv.VideoCaptureProperties]float64) *OpencvCameraPart {
|
|
zap.S().Info("run camera part")
|
|
|
|
vc, err := gocv.OpenVideoCapture(0)
|
|
if err != nil {
|
|
zap.S().Fatalf("unable to open video device: %v", err)
|
|
}
|
|
for k, v := range videoProperties {
|
|
vc.Set(k, v)
|
|
}
|
|
|
|
img := gocv.NewMat()
|
|
o := OpencvCameraPart{
|
|
client: client,
|
|
vc: vc,
|
|
topic: topic,
|
|
publishFrequency: publishFrequency,
|
|
imgBuffered: &img,
|
|
}
|
|
return &o
|
|
}
|
|
|
|
func (o *OpencvCameraPart) Start() error {
|
|
zap.S().Info("start camera")
|
|
o.cancel = make(chan interface{})
|
|
ticker := time.NewTicker(1 * time.Second / time.Duration(o.publishFrequency))
|
|
defer ticker.Stop()
|
|
|
|
for {
|
|
select {
|
|
|
|
case tickerTime := <-ticker.C:
|
|
o.publishFrame(tickerTime)
|
|
case <-o.cancel:
|
|
return nil
|
|
}
|
|
}
|
|
}
|
|
|
|
func (o *OpencvCameraPart) Stop() {
|
|
zap.S().Info("close video device")
|
|
close(o.cancel)
|
|
|
|
if err := o.vc.Close(); err != nil {
|
|
zap.S().Errorf("unexpected error while VideoCapture is closed: %v", err)
|
|
}
|
|
if err := o.imgBuffered.Close(); err != nil {
|
|
zap.S().Errorf("unexpected error while VideoCapture is closed: %v", err)
|
|
}
|
|
}
|
|
|
|
func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
|
|
o.muImgBuffered.Lock()
|
|
defer o.muImgBuffered.Unlock()
|
|
|
|
o.vc.Read(o.imgBuffered)
|
|
|
|
img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
|
|
if err != nil {
|
|
zap.S().Errorf("unable to convert image to jpeg: %v", err)
|
|
return
|
|
}
|
|
|
|
msg := &events.FrameMessage{
|
|
Id: &events.FrameRef{
|
|
Name: "camera",
|
|
Id: fmt.Sprintf("%d%03d", tickerTime.Unix(), tickerTime.Nanosecond()/1000/1000),
|
|
CreatedAt: ×tamp.Timestamp{
|
|
Seconds: tickerTime.Unix(),
|
|
Nanos: int32(tickerTime.Nanosecond()),
|
|
},
|
|
},
|
|
Frame: img,
|
|
}
|
|
|
|
payload, err := proto.Marshal(msg)
|
|
if err != nil {
|
|
zap.S().Errorf("unable to marshal protobuf message: %v", err)
|
|
}
|
|
|
|
publish(o.client, o.topic, &payload)
|
|
}
|
|
|
|
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
|
|
token := client.Publish(topic, 0, false, *payload)
|
|
token.WaitTimeout(10 * time.Millisecond)
|
|
if err := token.Error(); err != nil {
|
|
zap.S().Errorf("unable to publish frame: %v", err)
|
|
}
|
|
}
|