robocars/robocar-oak-camera
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refactor(cli): remove docopt dependency

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Cyrille Nofficial 2022-10-20 10:48:35 +02:00 committed by Cyrille Nofficial
parent 3919519e50
commit fa4c7eef03
3 changed files with 58 additions and 56 deletions
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100
camera/cli.py
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@ -1,31 +1,8 @@
"""
Publish data from oak-lite device
Usage: rc-oak-camera [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
[--mqtt-broker-host=HOSTNAME] [--mqtt-broker-port=PORT] \
[--mqtt-topic-robocar-oak-camera="TOPIC_CAMERA"] [--mqtt-topic-robocar-objects="TOPIC_OBJECTS"] \
[--mqtt-client-id=CLIENT_ID] \
[-H IMG_HEIGHT | --image-height=IMG_HEIGHT] [-W IMG_WIDTH | --image-width=IMG_width] \
[-t OBJECTS_THRESHOLD | --objects-threshold=OBJECTS_THRESHOLD]
Options:
-h --help Show this screen.
-u USERID --mqtt-username=USERNAME MQTT user
-p PASSWORD --mqtt-password=PASSWORD MQTT password
-b HOSTNAME --mqtt-broker-host=HOSTNAME MQTT broker host
-P HOSTNAME --mqtt-broker-port=PORT MQTT broker port
-C CLIENT_ID --mqtt-client-id=CLIENT_ID MQTT client id
-c TOPIC_CAMERA --mqtt-topic-robocar-oak-camera=TOPIC_CAMERA MQTT topic where to publish robocar-oak-camera frames
-o TOPIC_OBJECTS --mqtt-topic-robocar-objects=TOPIC_OBJECTS MQTT topic where to publish objects detection results
-H IMG_HEIGHT --image-height=IMG_HEIGHT IMG_HEIGHT image height
-W IMG_WIDTH --image-width=IMG_width IMG_WIDTH image width
-t OBJECTS_THRESHOLD --objects-threshold=OBJECTS_THRESHOLD OBJECTS_THRESHOLD threshold to filter objects detected
"""
import logging
import os
from . import depthai as cam
from docopt import docopt
import paho.mqtt.client as mqtt
import argparse
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
@ -47,31 +24,68 @@ def init_mqtt_client(broker_host: str, broker_port, user: str, password: str, cl
def execute_from_command_line():
logging.basicConfig(level=logging.INFO)
args = docopt(__doc__)
parser = argparse.ArgumentParser()
parser.add_argument("-u", "--mqtt-username",
help="MQTT user",
default=_get_env_value("MQTT_USERNAME", ""))
parser.add_argument("-p", "--mqtt-password",
help="MQTT password",
default=_get_env_value("MQTT_PASSWORD", ""))
parser.add_argument("-b", "--mqtt-broker-host",
help="MQTT broker host",
default=_get_env_value("MQTT_BROKER_HOST", "localhost"))
parser.add_argument("-P", "--mqtt-broker-port",
help="MQTT broker port",
type=int,
default=_get_env_int_value("MQTT_BROKER_PORT", 1883))
parser.add_argument("-C", "--mqtt-client-id",
help="MQTT client id",
default=_get_env_value("MQTT_CLIENT_ID", default_client_id))
parser.add_argument("-c", "--mqtt-topic-robocar-oak-camera",
help="MQTT topic where to publish robocar-oak-camera frames",
default=_get_env_value("MQTT_TOPIC_CAMERA","/oak/camera_rgb"))
parser.add_argument("-o", "---mqtt-topic-robocar-objects",
help="MQTT topic where to publish objects detection results",
default=_get_env_value("MQTT_TOPIC_OBJECTS", "/objects"))
parser.add_argument("-t", "--objects-threshold",
help="threshold to filter detected objects",
type=float,
default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2))
parser.add_argument("-H", "--image-height", help="image height",
type=int,
default=_get_env_int_value("IMAGE_HEIGHT", 120))
parser.add_argument("-W", "--image-width", help="image width",
type=int,
default=_get_env_int_value("IMAGE_WIDTH", 126))
client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker-host"], "MQTT_BROKER_HOST", "localhost"),
broker_port=int(get_default_value(args["--mqtt-broker-port"], "MQTT_BROKER_PORT", "1883")),
user=get_default_value(args["--mqtt-username"], "MQTT_USERNAME", ""),
password=get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", ""),
client_id=get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID",
default_client_id),
args = parser.parse_args()
client = init_mqtt_client(broker_host=args.mqtt_broker_host,
broker_port=args.mqtt_broker_port,
user=args.mqtt_username,
password=args.mqtt_password,
client_id=args.mqtt_client_id,
)
frame_topic = get_default_value(args["--mqtt-topic-robocar-oak-camera"], "MQTT_TOPIC_CAMERA", "/oak/camera_rgb")
objects_topic = get_default_value(args["--mqtt-topic-robocar-objects"], "MQTT_TOPIC_OBJECTS", "/objects")
frame_processor = cam.FramePublisher(mqtt_client=client,
frame_topic=frame_topic,
objects_topic=objects_topic,
objects_threshold=float(get_default_value(args["--objects-threshold"],
"OBJECTS_THRESHOLD", 0.2)),
img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
frame_topic=args.mqtt_topic_robocar_oak_camera,
objects_topic=args.mqtt_topic_robocar_objects,
objects_threshold=args.objects_threshold,
img_width=args.image_width,
img_height=args.image_height)
frame_processor.run()
def get_default_value(value, env_var: str, default_value) -> str:
if value:
return value
def _get_env_value(env_var: str, default_value: str) -> str:
if env_var in os.environ:
return os.environ[env_var]
return default_value
def _get_env_int_value(env_var: str, default_value: int) -> int:
value = _get_env_value(env_var, str(default_value))
return int(value)
def _get_env_float_value(env_var: str, default_value: float) -> float:
value = _get_env_value(env_var, str(default_value))
return float(value)

13
poetry.lock generated
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@ -107,14 +107,6 @@ category = "main"
optional = false
python-versions = ">=3.6"
[[package]]
name = "docopt"
version = "0.6.2"
description = "Pythonic argument parser, that will make you smile"
category = "main"
optional = false
python-versions = "*"
[[package]]
name = "google"
version = "3.0.0"
@ -354,7 +346,7 @@ socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
[metadata]
lock-version = "1.1"
python-versions = "^3.10"
content-hash = "93f922ddb9c03189bf1efabdcf702513ff5526332a78f54c21ab532574f4519a"
content-hash = "b165038947d8a9e0e256c91b449c4cbd1e65ccfd0e65f271d002fc8e21e2640e"
[metadata.files]
attrs = [
@ -421,9 +413,6 @@ depthai = [
{file = "depthai-2.17.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:de7b5e4a15b0a9e15fdf19c5388e6aa9629ecc25a955675d400173f9a2dd199b"},
{file = "depthai-2.17.4.0.tar.gz", hash = "sha256:b8e3c2eaa643c64e737435adaa23d54e3fda58baad1477f5176908689473a85f"},
]
docopt = [
{file = "docopt-0.6.2.tar.gz", hash = "sha256:49b3a825280bd66b3aa83585ef59c4a8c82f2c8a522dbe754a8bc8d08c85c491"},
]
google = [
{file = "google-3.0.0-py2.py3-none-any.whl", hash = "sha256:889cf695f84e4ae2c55fbc0cfdaf4c1e729417fa52ab1db0485202ba173e4935"},
{file = "google-3.0.0.tar.gz", hash = "sha256:143530122ee5130509ad5e989f0512f7cb218b2d4eddbafbad40fd10e8d8ccbe"},

1
pyproject.toml
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@ -12,7 +12,6 @@ packages = [
[tool.poetry.dependencies]
python = "^3.10"
paho-mqtt = "^1.6.1"
docopt = "^0.6.2"
depthai = "^2.17.4.0"
protobuf3 = "^0.2.1"
google = "^3.0.0"