import threading
__all__ = ["USBCamera", "CameraServer"]
[docs]class USBCamera:
kDefaultCameraName = b"cam0"
[docs] class WhiteBalance:
kFixedIndoor = 3000
kFixedOutdoor1 = 4000
kFixedOutdoor2 = 5000
kFixedFluorescent1 = 5100
kFixedFlourescent2 = 5200
def __init__(self, name=None):
if name is None:
name = USBCamera.kDefaultCameraName
self.name = name
self.id = None
self.active = False
self.useJpeg = True
self.mutex = threading.RLock()
self.width = 320
self.height = 240
self.fps = 30
self.whiteBalance = "auto"
self.whiteBalanceValue = None
self.exposure = "auto"
self.exposureValue = None
self.brightness = 50
self.needSettingsUpdate = True
self.openCamera()
[docs] def openCamera(self):
pass
[docs] def closeCamera(self):
pass
[docs] def startCapture(self):
self.active = True
[docs] def stopCapture(self):
self.active = False
[docs] def updateSettings(self):
pass
[docs] def setFPS(self, fps):
with self.mutex:
if fps != self.fps:
self.needSettingsUpdate = True
self.fps = fps
[docs] def setSize(self, width, height):
with self.mutex:
if width != self.width or height != self.height:
self.needSettingsUpdate = True
self.width = width
self.height = height
[docs] def setBrightness(self, brightness):
"""Set the brightness, as a percentage (0-100).
"""
with self.mutex:
if brightness > 100:
self.brightness = 100
elif brightness < 0:
self.brightness = 0
else:
self.brightness = brightness
self.needSettingsUpdate = True
[docs] def getBrightness(self):
"""Get the brightness, as a percentage (0-100).
"""
with self.mutex:
return self.brightness
[docs] def setWhiteBalanceAuto(self):
"""Set the white balance to auto.
"""
with self.mutex:
self.whiteBalance = "auto"
self.whiteBalanceValue = None
self.needSettingsUpdate = True
[docs] def setWhiteBalanceHoldCurrent(self):
"""Set the white balance to hold current.
"""
with self.mutex:
self.whiteBalance = "manual"
self.whiteBalanceValue = None
self.needSettingsUpdate = True
[docs] def setWhiteBalanceManual(self, value):
"""Set the white balance to manual, with specified color temperature.
"""
with self.mutex:
self.whiteBalance = "manual"
self.whiteBalanceValue = value
self.needSettingsUpdate = True
[docs] def setExposureAuto(self):
"""Set the exposure to auto aperature.
"""
with self.mutex:
self.exposure = "auto"
self.exposureValue = None
self.needSettingsUpdate = True
[docs] def setExposureHoldCurrent(self):
"""Set the exposure to hold current.
"""
with self.mutex:
self.exposure = "manual"
self.exposureValue = None
self.needSettingsUpdate = True
[docs] def setExposureManual(self, value):
"""Set the exposure to manual, as a percentage (0-100).
"""
with self.mutex:
self.exposure = "manual"
if value > 100:
self.exposureValue = 100
elif value < 0:
self.exposureValue = 0
else:
self.exposureValue = value
self.needSettingsUpdate = True
[docs] def getImage(self, image):
with self.mutex:
if self.needSettingsUpdate or self.useJpeg:
self.needSettingsUpdate = False
self.useJpeg = False
self.updateSettings()
raise NotImplementedError
[docs] def getImageData(self, data, maxsize):
with self.mutex:
if self.needSettingsUpdate or not self.useJpeg:
self.needSettingsUpdate = False
self.useJpeg = True
self.updateSettings()
return 0
[docs]class CameraServer:
kPort = 1180
kSize640x480 = 0
kSize320x240 = 1
kSize160x120 = 2
server = None
@staticmethod
[docs] def getInstance():
if CameraServer.server is None:
CameraServer.server = CameraServer()
return CameraServer.server
def __init__(self):
self.mutex = threading.RLock()
self.ready = threading.Event()
self.quality = 50
self.camera = None
[docs] def setImage(self, image):
pass
[docs] def startAutomaticCapture(self, camera):
"""Start automatically capturing images to send to the dashboard.
You should call this method to just see a camera feed on the dashboard
without doing any vision processing on the roboRIO. {@link #setImage}
shouldn't be called after this is called.
:param camera: The camera interface (e.g. a USBCamera instance)
"""
if self.camera is not None:
return
self.camera = camera
self.camera.startCapture()
[docs] def isAutoCaptureStarted(self):
"""check if auto capture is started
"""
with self.mutex:
return self.camera is not None
[docs] def setSize(self, size):
if size == self.kSize160x120:
self.camera.setSize(160, 120)
elif size == self.kSize320x240:
self.camera.setSize(320, 240)
elif size == self.kSize640x480:
self.camera.setSize(640, 480)
else:
return
[docs] def setQuality(self, quality):
"""Set the quality of the compressed image sent to the dashboard
:param quality: The quality of the JPEG image, from 0 to 100
"""
with self.mutex:
if quality > 100:
self.quality = 100
elif quality < 0:
self.quality = 0
else:
self.quality = quality
[docs] def getQuality(self):
"""Get the quality of the compressed image sent to the dashboard
:returns: The quality, from 0 to 100
"""
with self.mutex:
return self.quality