68 lines
2.9 KiB
Python
68 lines
2.9 KiB
Python
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"""
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Publish data from oak-lite device
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Usage: rc-oak-robocar-oak-camera [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] [--mqtt-broker=HOSTNAME]
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[--mqtt-topic-robocar-oak-camera="TOPIC_CAMERA"] [--mqtt-client-id=CLIENT_ID]
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Options:
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-h --help Show this screen.
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-u USERID --mqtt-username=USERNAME MQTT user
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-p PASSWORD --mqtt-password=PASSWORD MQTT password
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-b HOSTNAME --mqtt-broker=HOSTNAME MQTT broker host
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-C CLIENT_ID --mqtt-client-id=CLIENT_ID MQTT client id
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-c TOPIC_CAMERA --mqtt-topic-robocar-oak-camera=TOPIC_CAMERA MQTT topic where to publish robocar-oak-camera frames
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-H IMG_HEIGHT --image-height=IMG_HEIGHT IMG_HEIGHT image height
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-W IMG_WIDTH --image-width=IMG_width IMG_WIDTH image width
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"""
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import logging
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import os
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import camera.depthai as cam
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from docopt import docopt
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import paho.mqtt.client as mqtt
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logger = logging.getLogger(__name__)
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logging.basicConfig(level=logging.INFO)
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default_client_id = "robocar-depthai"
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def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str) -> mqtt.Client:
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logger.info("Start part.py-robocar-oak-camera")
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client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
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client.username_pw_set(user, password)
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logger.info("Connect to mqtt broker")
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client.connect(host=broker_host, port=1883, keepalive=60)
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logger.info("Connected to mqtt broker")
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return client
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def execute_from_command_line():
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logging.basicConfig(level=logging.INFO)
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args = docopt(__doc__)
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client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost"),
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user=get_default_value(args["--mqtt-username"], "MQTT_USERNAME", ""),
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password=get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", ""),
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client_id=get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID",
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default_client_id),
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)
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frame_topic = get_default_value(args["--mqtt-topic-robocar-oak-camera"], "MQTT_TOPIC_CAMERA", "/oak/camera_rgb")
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frame_processor = cam.FramePublisher(mqtt_client=client,
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frame_topic=frame_topic,
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img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
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img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
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frame_processor.start()
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client.loop_forever()
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def get_default_value(value, env_var: str, default_value) -> str:
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if value:
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return value
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if env_var in os.environ:
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return os.environ[env_var]
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return default_value
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