API documentation

bluetooth

ObsBT

Source code in obs_picamera/bluetooth.py

class ObsBT:
    def __init__(self, scanner: Optional[ObsScanner] = None) -> None:
        self.bt_connected: bool = False
        self.obs_address: str | None = None
        self.my_scanner: ObsScanner = scanner if scanner is not None else ObsScanner()
        self.handlebar_left: int = 0
        self.handlebar_right: int = 0
        self.track_id: str | None = None
        self.overtaking_callbacks: List[Callable] = []
        self.recording_callbacks: List[Callable] = []
        self.bt_connecting: bool = False
        self.unittesting: bool = False
        self.history: deque = deque(maxlen=100)

    async def find_obs(self) -> None:
        await self.my_scanner.run()
        if self.obs_address is None:
            self.obs_address = self.my_scanner.obs_address
        assert self.obs_address is not None

    def overtaking_handler(self, sender: str, data: bytearray) -> None:
        """Simple notification handler which prints the data received."""
        t, l, r = struct.unpack("Ihh", data)
        logger.info(
            f"Overtaking event: sensortime: {t}, Left distance {l}, right distance {r}"
        )
        for callback in self.overtaking_callbacks:
            callback(
                distance_l=l - self.handlebar_left,
                distance_r=r - self.handlebar_right,
                handlebars_l=self.handlebar_left,
                handlebar_r=self.handlebar_right,
                track_id=self.track_id,
                sensortime=t,
                history=list(self.history),
            )

    def history_handler(self, sender: str, data: bytearray) -> None:
        t, l, r = struct.unpack("Ihh", data)
        self.history.append(
            DistanceMeasurement(t, l - self.handlebar_left, r - self.handlebar_right)
        )

        for callback in self.recording_callbacks:
            callback(
                distance_l=l - self.handlebar_left,
                distance_r=r - self.handlebar_right,
                handlebars_l=self.handlebar_left,
                handlebar_r=self.handlebar_right,
                track_id=self.track_id,
                sensortime=t,
            )

    async def connect(self) -> None:
        def disconnected_callback(client: bleak.BleakClient) -> None:
            logger.info("DISCONNECTED")
            self.bt_connected = False

        async with bleak.BleakClient(
            self.obs_address, disconnected_callback=disconnected_callback, timeout=25  # type: ignore
        ) as client:
            logger.info(f"Connected: {client.is_connected}")
            await client.start_notify(
                CLOSE_PASS_NOTIFICATION_UUID, self.overtaking_handler
            )
            await client.start_notify(
                SENSOR_DISTANCE_NOTIFICATION_UUID, self.history_handler
            )
            self.track_id = (await client.read_gatt_char(TRACK_ID_UUID)).decode("utf-8")
            handlebar = await client.read_gatt_char(HANDLEBAR_OFFSET_UUID)
            self.handlebar_left, self.handlebar_right = struct.unpack("hh", handlebar)
            logger.info(
                f"track id is {self.track_id}, handlebar: <{self.handlebar_left} | {self.handlebar_right} >"
            )
            self.bt_connected = True
            self.bt_connecting = False
            while True:
                if not self.bt_connected or self.unittesting:
                    break
                await asyncio.sleep(1)

    async def run(self) -> None:
        await self.find_obs()
        while not self.bt_connected:
            try:
                if not self.bt_connecting:
                    logger.info(f"connecting to {self.obs_address}")
                    self.bt_connecting = True
                    assert isinstance(self.obs_address, str)
                    await self.connect()
                else:  # pragma: no cover
                    await asyncio.sleep(1)
            except BleakError:  # pragma: no cover
                logger.info(
                    f"lost connection, reconnecting. connecting={self.bt_connecting}"
                )

overtaking_handler(sender: str, data: bytearray) -> None

Simple notification handler which prints the data received.

Source code in obs_picamera/bluetooth.py

def overtaking_handler(self, sender: str, data: bytearray) -> None:
    """Simple notification handler which prints the data received."""
    t, l, r = struct.unpack("Ihh", data)
    logger.info(
        f"Overtaking event: sensortime: {t}, Left distance {l}, right distance {r}"
    )
    for callback in self.overtaking_callbacks:
        callback(
            distance_l=l - self.handlebar_left,
            distance_r=r - self.handlebar_right,
            handlebars_l=self.handlebar_left,
            handlebar_r=self.handlebar_right,
            track_id=self.track_id,
            sensortime=t,
            history=list(self.history),
        )

recorder

Recorder

Recorder for picamera that starts recording to a ring buffer when initialized and allows to save the last 5 seconds of video from the buffer.

Source code in obs_picamera/recorder.py

class Recorder:
    """
    Recorder for picamera that starts recording to a ring buffer when initialized
    and allows to save the last 5 seconds of video from the buffer.
    """

    def __init__(self) -> None:
        self.picam2 = Picamera2()
        fps = 25
        dur = 10
        micro = int((1 / fps) * 1000000)
        vconfig = self.picam2.create_video_configuration(
            main={"size": (800, 606)}, lores={"size": (800, 606)}, encode="lores"
        )
        vconfig["controls"]["FrameDurationLimits"] = (micro, micro)
        self.picam2.configure(vconfig)
        self.encoder = H264Encoder(
            iperiod=1,
            repeat=True,
        )
        self.output = CircularOutput(
            buffersize=int(fps * (dur + 0.2)), outputtofile=False
        )
        self.picam2.start_recording(self.encoder, self.output, Quality.HIGH)

    def save_snippet_to(self, fp: BinaryIO) -> None:
        """
        Save the last 5 seconds of video from the buffer to the filename
        :param fp:
        :return:
        """
        self.output.fileoutput = fp
        self.output.stop()

    def jpeg_screenshot(self) -> bytes:
        data = BytesIO()
        self.picam2.capture_file(data, format="jpeg")
        return data.getvalue()

    def __del__(self) -> None:
        self.picam2.stop_recording()

save_snippet_to(fp: BinaryIO) -> None

Save the last 5 seconds of video from the buffer to the filename :param fp: :return:

Source code in obs_picamera/recorder.py

def save_snippet_to(self, fp: BinaryIO) -> None:
    """
    Save the last 5 seconds of video from the buffer to the filename
    :param fp:
    :return:
    """
    self.output.fileoutput = fp
    self.output.stop()

scripts

ui

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

MyApp

Bases: App

Source code in obs_picamera/scripts/ui.py

class MyApp(App):
    def __init__(self, *args, recorder=None):
        super().__init__(*args)

    def idle(self):
        if hasattr(self, "data_table"):
            i = 0
            for k, v in self.data.items():
                i += 1
                self.data_table.item_at(i, 0).set_text(str(k))
                self.data_table.item_at(i, 1).set_text(str(v))
        else:
            logger.info("no counter")

    def _get_list_from_app_args(self, name):
        return super()._get_list_from_app_args(name)

    def preview_screen(self) -> gui.Widget:
        self.to_review = gui.Button("review tracks")
        tabs = gui.HBox(
            children=[self.to_review],
            style={"margin": "0px auto", "background-color": "lightgray"},
        )

        self.stop_flag = False

        self.img = RefreshImageWidget(
            f"{API_HOST}/v1/preview.jpeg", margin="10px", width=0, height=0
        )
        self.video = gui.VideoPlayer(width=806, height=600)
        self.check = gui.CheckBoxLabel(
            "Preview", False, width=200, height=30, margin="10px"
        )

        self.data_table = gui.TableWidget(8, 2)
        self.data_table.item_at(0, 0).set_text("k")
        self.data_table.item_at(0, 1).set_text("v")

        self.check.onchange.do(self.on_check_change)
        video_container = gui.VBox(
            [tabs, self.img, self.check, self.data_table], margin="8pt auto"
        )

        self.refresh = False
        self.running = True
        return video_container

    def review_screen(self) -> gui.Widget:
        self.to_preview = gui.Button("change page")
        reviewcontainer = gui.HBox(
            children=[self.to_preview],
            style={"margin": "0px auto", "background-color": "lightgray"},
        )
        return reviewcontainer

    def main(self):
        self.data = {}
        # self.recorder = Recorder()

        self.previewcontainer = self.preview_screen()
        self.reviewcontainer = self.review_screen()
        self.to_review.onclick.do(self.set_different_root_widget, self.reviewcontainer)
        self.to_preview.onclick.do(
            self.set_different_root_widget, self.previewcontainer
        )

        t = threading.Thread(target=self.update)
        t.start()

        return self.reviewcontainer

    def set_different_root_widget(self, emitter, page_to_be_shown):
        self.set_root_widget(page_to_be_shown)
        self.check.set_value(False)
        self.refresh = False

    def update_data(self):
        try:
            current = requests.get(f"{API_HOST}/v1/state")
            self.data = json.loads(current.content)
        except requests.RequestException:
            pass

    def update(self):
        lasttime: int = 0
        while self.running:
            time.sleep(0.1)
            if self.refresh and lasttime != int(time.time()):
                self.img.load()
                lasttime = int(time.time())
            self.update_data()

    def __main(self):
        # the margin 0px auto centers the main container
        verticalContainer = gui.Container(
            width=540,
            margin="0px auto",
            style={"display": "block", "overflow": "hidden"},
        )

        horizontalContainer = gui.Container(
            width="100%",
            layout_orientation=gui.Container.LAYOUT_HORIZONTAL,
            margin="0px",
            style={"display": "block", "overflow": "auto"},
        )

        subContainerLeft = gui.Container(
            width=320,
            style={"display": "block", "overflow": "auto", "text-align": "center"},
        )
        self.img = gui.Image("/res:logo.png", height=100, margin="10px")
        self.img.onclick.do(self.on_img_clicked)

        self.table = gui.Table.new_from_list(
            [
                ("ID", "First Name", "Last Name"),
                ("101", "Danny", "Young"),
                ("102", "Christine", "Holand"),
                ("103", "Lars", "Gordon"),
                ("104", "Roberto", "Robitaille"),
                ("105", "Maria", "Papadopoulos"),
            ],
            width=300,
            height=200,
            margin="10px",
        )
        self.table.on_table_row_click.do(self.on_table_row_click)

        # the arguments are	width - height - layoutOrientationOrizontal
        subContainerRight = gui.Container(
            style={
                "width": "220px",
                "display": "block",
                "overflow": "auto",
                "text-align": "center",
            }
        )
        self.count = 0
        self.counter = gui.Label("", width=200, height=30, margin="10px")

        self.lbl = gui.Label("This is a LABEL!", width=200, height=30, margin="10px")

        self.bt = gui.Button("Press me!", width=200, height=30, margin="10px")
        # setting the listener for the onclick event of the button
        self.bt.onclick.do(self.on_button_pressed)

        self.txt = gui.TextInput(width=200, height=30, margin="10px")
        self.txt.set_text("This is a TEXTAREA")
        self.txt.onchange.do(self.on_text_area_change)

        self.spin = gui.SpinBox(1, 0, 100, width=200, height=30, margin="10px")
        self.spin.onchange.do(self.on_spin_change)

        self.progress = gui.Progress(1, 100, width=200, height=5)

        self.check = gui.CheckBoxLabel(
            "Label checkbox", True, width=200, height=30, margin="10px"
        )
        self.check.onchange.do(self.on_check_change)

        self.btInputDiag = gui.Button(
            "Open InputDialog", width=200, height=30, margin="10px"
        )
        self.btInputDiag.onclick.do(self.open_input_dialog)

        self.btFileDiag = gui.Button(
            "File Selection Dialog", width=200, height=30, margin="10px"
        )
        self.btFileDiag.onclick.do(self.open_fileselection_dialog)

        self.btUploadFile = gui.FileUploader("./", width=200, height=30, margin="10px")
        self.btUploadFile.onsuccess.do(self.fileupload_on_success)
        self.btUploadFile.onfailed.do(self.fileupload_on_failed)

        items = ("Danny Young", "Christine Holand", "Lars Gordon", "Roberto Robitaille")
        self.listView = gui.ListView.new_from_list(
            items, width=300, height=120, margin="10px"
        )
        self.listView.onselection.do(self.list_view_on_selected)

        self.link = gui.Link(
            "http://localhost:8081",
            "A link to here",
            width=200,
            height=30,
            margin="10px",
        )

        self.dropDown = gui.DropDown.new_from_list(
            ("DropDownItem 0", "DropDownItem 1"), width=200, height=20, margin="10px"
        )
        self.dropDown.onchange.do(self.drop_down_changed)
        self.dropDown.select_by_value("DropDownItem 0")

        self.slider = gui.Slider(10, 0, 100, 5, width=200, height=20, margin="10px")
        self.slider.onchange.do(self.slider_changed)

        self.colorPicker = gui.ColorPicker(
            "#ffbb00", width=200, height=20, margin="10px"
        )
        self.colorPicker.onchange.do(self.color_picker_changed)

        self.date = gui.Date("2015-04-13", width=200, height=20, margin="10px")
        self.date.onchange.do(self.date_changed)

        self.video = gui.Widget(_type="iframe", width=290, height=200, margin="10px")
        self.video.attributes[
            "src"
        ] = "https://drive.google.com/file/d/0B0J9Lq_MRyn4UFRsblR3UTBZRHc/preview"
        self.video.attributes["width"] = "100%"
        self.video.attributes["height"] = "100%"
        self.video.attributes["controls"] = "true"
        self.video.style["border"] = "none"

        self.tree = gui.TreeView(width="100%", height=300)
        ti1 = gui.TreeItem("Item1")
        ti2 = gui.TreeItem("Item2")
        ti3 = gui.TreeItem("Item3")
        subti1 = gui.TreeItem("Sub Item1")
        subti2 = gui.TreeItem("Sub Item2")
        subti3 = gui.TreeItem("Sub Item3")
        subti4 = gui.TreeItem("Sub Item4")
        subsubti1 = gui.TreeItem("Sub Sub Item1")
        subsubti2 = gui.TreeItem("Sub Sub Item2")
        subsubti3 = gui.TreeItem("Sub Sub Item3")
        self.tree.append([ti1, ti2, ti3])
        ti2.append([subti1, subti2, subti3, subti4])
        subti4.append([subsubti1, subsubti2, subsubti3])

        # appending a widget to another, the first argument is a string key
        subContainerRight.append(
            [
                self.counter,
                self.lbl,
                self.bt,
                self.txt,
                self.spin,
                self.progress,
                self.check,
                self.btInputDiag,
                self.btFileDiag,
            ]
        )
        # use a defined key as we replace this widget later
        fdownloader = gui.FileDownloader(
            "download test", "../remi/res/logo.png", width=200, height=30, margin="10px"
        )
        subContainerRight.append(fdownloader, key="file_downloader")
        subContainerRight.append(
            [
                self.btUploadFile,
                self.dropDown,
                self.slider,
                self.colorPicker,
                self.date,
                self.tree,
            ]
        )
        self.subContainerRight = subContainerRight

        subContainerLeft.append(
            [self.img, self.table, self.listView, self.link, self.video]
        )

        horizontalContainer.append([subContainerLeft, subContainerRight])

        menu = gui.Menu(width="100%", height="30px")
        m1 = gui.MenuItem("File", width=100, height=30)
        m2 = gui.MenuItem("View", width=100, height=30)
        m2.onclick.do(self.menu_view_clicked)
        m11 = gui.MenuItem("Save", width=100, height=30)
        m12 = gui.MenuItem("Open", width=100, height=30)
        m12.onclick.do(self.menu_open_clicked)
        m111 = gui.MenuItem("Save", width=100, height=30)
        m111.onclick.do(self.menu_save_clicked)
        m112 = gui.MenuItem("Save as", width=100, height=30)
        m112.onclick.do(self.menu_saveas_clicked)
        m3 = gui.MenuItem("Dialog", width=100, height=30)
        m3.onclick.do(self.menu_dialog_clicked)

        menu.append([m1, m2, m3])
        m1.append([m11, m12])
        m11.append([m111, m112])

        menubar = gui.MenuBar(width="100%", height="30px")
        menubar.append(menu)

        verticalContainer.append([menubar, horizontalContainer])

        # this flag will be used to stop the display_counter Timer
        self.stop_flag = False

        # kick of regular display of counter
        self.display_counter()

        # returning the root widget
        return verticalContainer

    # listener function
    def on_img_clicked(self, widget):
        self.lbl.set_text("Image clicked!")

    def on_table_row_click(self, table, row, item):
        self.lbl.set_text("Table Item clicked: " + item.get_text())

    def on_button_pressed(self, widget):
        self.lbl.set_text("Button pressed! ")
        self.bt.set_text("Hi!")

    def on_text_area_change(self, widget, newValue):
        self.lbl.set_text("Text Area value changed!")

    def on_spin_change(self, widget, newValue):
        self.lbl.set_text("SpinBox changed, new value: " + str(newValue))

    def on_check_change(self, widget, newValue):
        self.refresh = newValue
        if self.refresh:
            self.img.set_size(806, 600)
        else:
            self.img.set_size(0, 0)

    def open_input_dialog(self, widget):
        self.inputDialog = gui.InputDialog(
            "Input Dialog", "Your name?", initial_value="type here", width=500
        )
        self.inputDialog.confirm_value.do(self.on_input_dialog_confirm)

        # here is returned the Input Dialog widget, and it will be shown
        self.inputDialog.show(self)

    def on_input_dialog_confirm(self, widget, value):
        self.lbl.set_text("Hello " + value)

    def open_fileselection_dialog(self, widget):
        self.fileselectionDialog = gui.FileSelectionDialog(
            "File Selection Dialog", "Select files and folders", False, "."
        )
        self.fileselectionDialog.confirm_value.do(self.on_fileselection_dialog_confirm)

        # here is returned the Input Dialog widget, and it will be shown
        self.fileselectionDialog.show(self)

    def on_fileselection_dialog_confirm(self, widget, filelist):
        # a list() of filenames and folders is returned
        self.lbl.set_text("Selected files: %s" % ",".join(filelist))
        if len(filelist):
            f = filelist[0]
            # replace the last download link
            fdownloader = gui.FileDownloader(
                "download selected", f, width=200, height=30
            )
            self.subContainerRight.append(fdownloader, key="file_downloader")

    def list_view_on_selected(self, widget, selected_item_key):
        """The selection event of the listView, returns a key of the clicked event.
        You can retrieve the item rapidly
        """
        self.lbl.set_text(
            "List selection: " + self.listView.children[selected_item_key].get_text()
        )

    def drop_down_changed(self, widget, value):
        self.lbl.set_text("New Combo value: " + value)

    def slider_changed(self, widget, value):
        self.lbl.set_text("New slider value: " + str(value))

    def color_picker_changed(self, widget, value):
        self.lbl.set_text("New color value: " + value)

    def date_changed(self, widget, value):
        self.lbl.set_text("New date value: " + value)

    def menu_save_clicked(self, widget):
        self.lbl.set_text("Menu clicked: Save")

    def menu_saveas_clicked(self, widget):
        self.lbl.set_text("Menu clicked: Save As")

    def menu_open_clicked(self, widget):
        self.lbl.set_text("Menu clicked: Open")

    def menu_view_clicked(self, widget):
        self.lbl.set_text("Menu clicked: View")

    def fileupload_on_success(self, widget, filename):
        self.lbl.set_text("File upload success: " + filename)

    def fileupload_on_failed(self, widget, filename):
        self.lbl.set_text("File upload failed: " + filename)

    def on_close(self):
        """Overloading App.on_close event to stop the Timer."""
        self.stop_flag = True
        self.running = False

        super().on_close()

list_view_on_selected(widget, selected_item_key)

The selection event of the listView, returns a key of the clicked event. You can retrieve the item rapidly

Source code in obs_picamera/scripts/ui.py

def list_view_on_selected(self, widget, selected_item_key):
    """The selection event of the listView, returns a key of the clicked event.
    You can retrieve the item rapidly
    """
    self.lbl.set_text(
        "List selection: " + self.listView.children[selected_item_key].get_text()
    )

on_close()

Overloading App.on_close event to stop the Timer.

Source code in obs_picamera/scripts/ui.py

def on_close(self):
    """Overloading App.on_close event to stop the Timer."""
    self.stop_flag = True
    self.running = False

    super().on_close()