robocars/robocar-oak-camera
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refactor: remove thread

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This commit is contained in:
Cyrille Nofficial 2022-01-28 12:02:03 +01:00
parent 000dd65054
commit c8372239d3
2 changed files with 3 additions and 8 deletions
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6
camera/cli.py
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@ -32,7 +32,7 @@ def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str)
client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311) client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
client.username_pw_set(user, password) client.username_pw_set(user, password)
logger.info("Connect to mqtt broker "+ broker_host+ " -> " + user + " / " + password) logger.info("Connect to mqtt broker "+ broker_host)
client.connect(host=broker_host, port=1883, keepalive=60) client.connect(host=broker_host, port=1883, keepalive=60)
logger.info("Connected to mqtt broker") logger.info("Connected to mqtt broker")
return client return client
@ -55,9 +55,7 @@ def execute_from_command_line():
frame_topic=frame_topic, frame_topic=frame_topic,
img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)), img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120))) img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
frame_processor.start() frame_processor.run()
client.loop_forever()
def get_default_value(value, env_var: str, default_value) -> str: def get_default_value(value, env_var: str, default_value) -> str:

5
camera/depthai.py
View File

@ -8,14 +8,11 @@ import depthai as dai
from depthai_sdk import getDeviceInfo from depthai_sdk import getDeviceInfo
import cv2 import cv2
from threading import Thread
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class FramePublisher(Thread): class FramePublisher:
def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int): def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int):
super().__init__(name="FrameProcessor")
self._mqtt_client = mqtt_client self._mqtt_client = mqtt_client
self._frame_topic = frame_topic self._frame_topic = frame_topic
self._img_width = img_width self._img_width = img_width