121 lines
2.7 KiB
Go
121 lines
2.7 KiB
Go
package camera
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import (
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"fmt"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"github.com/golang/protobuf/ptypes/timestamp"
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log "github.com/sirupsen/logrus"
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"gocv.io/x/gocv"
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"io"
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"sync"
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"time"
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)
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type VideoSource interface {
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Read(m *gocv.Mat) bool
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io.Closer
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}
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type OpencvCameraPart struct {
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client mqtt.Client
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vc VideoSource
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topic string
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publishFrequency int
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muImgBuffered sync.Mutex
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imgBuffered *gocv.Mat
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cancel chan interface{}
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}
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func New(client mqtt.Client, topic string, publishFrequency int, videoProperties map[gocv.VideoCaptureProperties]float64) *OpencvCameraPart {
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log.Infof("run camera part")
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vc, err := gocv.OpenVideoCapture(0)
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if err != nil {
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log.Fatalf("unable to open video device: %v", err)
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}
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for k, v := range videoProperties {
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vc.Set(k, v)
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}
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img := gocv.NewMat()
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o := OpencvCameraPart{
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client: client,
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vc: vc,
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topic: topic,
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publishFrequency: publishFrequency,
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imgBuffered: &img,
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}
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return &o
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}
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func (o *OpencvCameraPart) Start() error {
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log.Printf("start camera")
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o.cancel = make(chan interface{})
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ticker := time.NewTicker(1 * time.Second / time.Duration(o.publishFrequency))
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defer ticker.Stop()
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for {
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select {
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case tickerTime := <-ticker.C:
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o.publishFrame(tickerTime)
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case <-o.cancel:
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return nil
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}
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}
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}
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func (o *OpencvCameraPart) Stop() {
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log.Print("close video device")
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close(o.cancel)
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if err := o.vc.Close(); err != nil {
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log.Printf("unexpected error while VideoCapture is closed: %v", err)
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}
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if err := o.imgBuffered.Close(); err != nil {
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log.Printf("unexpected error while VideoCapture is closed: %v", err)
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}
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}
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func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
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o.muImgBuffered.Lock()
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defer o.muImgBuffered.Unlock()
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o.vc.Read(o.imgBuffered)
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img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
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if err != nil {
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log.Printf("unable to convert image to jpeg: %v", err)
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return
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}
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msg := &events.FrameMessage{
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Id: &events.FrameRef{
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Name: "camera",
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Id: fmt.Sprintf("%d%000d", tickerTime.Unix(), tickerTime.Nanosecond()/1000/1000),
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CreatedAt: ×tamp.Timestamp{
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Seconds: tickerTime.Unix(),
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Nanos: int32(tickerTime.Nanosecond()),
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},
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},
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Frame: img,
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}
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payload, err := proto.Marshal(msg)
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if err != nil {
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log.Errorf("unable to marshal protobuf message: %v", err)
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}
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publish(o.client, o.topic, &payload)
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}
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var publish = func(client mqtt.Client, topic string, payload *[]byte) {
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token := client.Publish(topic, 0, false, *payload)
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token.WaitTimeout(10 * time.Millisecond)
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if err := token.Error(); err != nil {
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log.Errorf("unable to publish frame: %v", err)
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}
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}
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