m20_core_web/cam_cap.py

import cv2
import pynng
import struct
import json
import time
import asyncio
import aiohttp
from threading import Thread, Lock
from queue import Queue, Empty
import logging

HTTP_SERVER_URL = "http://c1.sgc.brisky.space/upload"

# 设置日志
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class ImageBuffer:
    def __init__(self, max_size=2):
        self.left_queue = Queue(maxsize=max_size)
        self.right_queue = Queue(maxsize=max_size)
        self.lock = Lock()

    def update_frames(self, left_frame, right_frame):
        """更新缓冲区中的帧，如果缓冲区满则丢弃旧帧"""
        with self.lock:
            try:
                if not self.left_queue.full():
                    self.left_queue.put_nowait(left_frame)
                else:
                    try:
                        self.left_queue.get_nowait()  # 丢弃旧帧
                        self.left_queue.put_nowait(left_frame)
                    except Empty:
                        pass
                
                if not self.right_queue.full():
                    self.right_queue.put_nowait(right_frame)
                else:
                    try:
                        self.right_queue.get_nowait()  # 丢弃旧帧
                        self.right_queue.put_nowait(right_frame)
                    except Empty:
                        pass
            except:
                pass

    def get_latest_frames(self):
        """获取最新的帧对"""
        with self.lock:
            try:
                left_frames = []
                right_frames = []
                
                # 获取所有可用的左帧
                while not self.left_queue.empty():
                    try:
                        left_frames.append(self.left_queue.get_nowait())
                    except Empty:
                        break
                
                # 获取所有可用的右帧
                while not self.right_queue.empty():
                    try:
                        right_frames.append(self.right_queue.get_nowait())
                    except Empty:
                        break
                
                if left_frames and right_frames:
                    # 返回最新的帧对
                    return left_frames[-1], right_frames[-1]
            except:
                pass
            return None, None

# 全局缓冲区
image_buffer = ImageBuffer()

def capture_thread():
    """异步捕获线程"""
    cam_left = cv2.VideoCapture('/dev/videoL')
    cam_right = cv2.VideoCapture('/dev/videoR')
    
    # # 设置摄像头分辨率
    cam_left.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
    cam_left.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
    cam_right.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
    cam_right.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
    
    while True:
        ret_left, frame_left = cam_left.read()
        ret_right, frame_right = cam_right.read()
        
        if ret_left and ret_right:
            image_buffer.update_frames(frame_left.copy(), frame_right.copy())
            # print(f"num of left frames: {image_buffer.left_queue.qsize()}")
            # print(f"num of right frames: {image_buffer.right_queue.qsize()}")
        else:
            print(f"Error capture thread, ret_left: {ret_left}, ret_right: {ret_right}")
        
        time.sleep(0.03)  # ~30fps
    
    cam_left.release()
    cam_right.release()

async def send_image_to_web_server(frame_left, frame_right, metadata):
    """异步发送图片到 Web 服务器（留空实现）"""
    try:
        # 编码为 JPEG
        _, jpeg_left = cv2.imencode('.jpg', frame_left)
        _, jpeg_right = cv2.imencode('.jpg', frame_right)
        jpeg_left = jpeg_left.tobytes()
        jpeg_right = jpeg_right.tobytes()
    
        # HTTP POST 请求实现留空
        print(f"Would send frame {metadata['timestamp']} to web server via HTTP POST")
        # print(f"Client ID: {metadata['client_id']}")
        cv2.imwrite(f"./saved/left_{metadata['timestamp']}.jpg", frame_left)
        cv2.imwrite(f"./saved/right_{metadata['timestamp']}.jpg", frame_right)
        # 这里可以添加实际的 HTTP POST 请求代码
        # 示例：
        async with aiohttp.ClientSession() as session:
            data = aiohttp.FormData()
            data.add_field('left_image', jpeg_left, filename='left.jpg', content_type='image/jpeg')
            data.add_field('right_image', jpeg_right, filename='right.jpg', content_type='image/jpeg')
            data.add_field('metadata', json.dumps(metadata))
            
            async with session.post(HTTP_SERVER_URL, data=data) as response:
                if response.status == 200:
                    print("Images sent successfully")
                else:
                    print(f"Failed to send images: {response.status}")
        
        # 模拟发送延迟
        await asyncio.sleep(0.01)
        
    except Exception as e:
        print(f"Error sending images to web server: {e}")

class ImageServer:
    def __init__(self, address="tcp://0.0.0.0:54321"):
        self.address = address
        self.socket = None

    async def handle_client_request(self, client_id):
        """处理客户端请求：获取最新帧并发送到 Web 服务器"""
        try:
            # 从缓冲区获取最新帧
            frame_left, frame_right = image_buffer.get_latest_frames()
            if frame_left is not None and frame_right is not None:
                # 创建元数据
                metadata = {
                    "timestamp": time.time(),
                    # "client_id": client_id,
                    # "resolution": {
                    #     "width": frame_left.shape[1],
                    #     "height": frame_left.shape[0]
                    # }
                }
                
                # 异步发送图片到 Web 服务器
                asyncio.create_task(send_image_to_web_server(frame_left, frame_right, metadata))
                
                logger.info(f"Processed request from client {client_id}, frames sent to web server")
                return b'ACK'
            else:
                logger.warning(f"No frames available for client {client_id}")
                return b'NO_FRAMES'
                
        except Exception as e:
            logger.error(f"Error processing request for client {client_id}: {e}")
            return b'ERROR'

    async def run(self):
        """运行服务器"""
        self.socket = pynng.Rep0()
        self.socket.listen(self.address)
        logger.info(f"Image server listening on {self.address}...")
        
        while True:
            try:
                # 接收客户端请求（客户端 ID）
                data = await self.socket.arecv()
                
                # 解析客户端 ID
                client_id = data.decode('utf-8') if data else "unknown"
                # logger.info(f"Received request from client: {client_id}")
                
                # 处理请求并发送响应
                response = await self.handle_client_request(client_id)
                await self.socket.asend(response)
                
            except Exception as e:
                logger.error(f"Server error: {e}")
                break

async def main():
    # 启动捕获线程
    capture_thread_obj = Thread(target=capture_thread, daemon=True)
    capture_thread_obj.start()
    print("Capture thread started")
    
    # 启动图像服务器
    server = ImageServer()
    await server.run()

if __name__ == "__main__":
    asyncio.run(main())