pozyx test and camera streaming progress

lunadev/luna.dockerfile

@@ -61,5 +61,11 @@ RUN apt-get install -y --no-install-recommends \
 # Install VNC and socat
 RUN apt-get install -y x11vnc socat xvfb
 
+# Configure git
+RUN git config pull.rebase false
+
+# Install ffmpeg
+RUN apt install ffmpeg
+
 COPY base_bashrc_append.sh /bashrc_append
 RUN ["/bin/bash", "-c", "cat /bashrc_append >> /root/.bashrc && rm /bashrc_append"]

src/camera/camera/camera_compress.py

@@ -0,0 +1,99 @@
+import rclpy
+from rclpy.node import Node
+import subprocess
+from sensor_msgs.msg import Image
+from global_msgs.msg import CompressedImagePacket
+from threading import Thread
+from time import time
+
+
+class CameraCompress(Node):
+    def __init__(self):
+        super().__init__("camera_compress")
+
+        self.target_fps = 10
+        self.ffmpeg = subprocess.Popen(
+            [
+                "ffmpeg",
+                "-f", "rawvideo",
+                "-pix_fmt", "rgb24",
+                "-s", "1280x720",
+                "-r", "10",
+                "-i", "-",
+                "-c:v", "libvpx-vp9",
+                "-b:v", "1500k",
+                # "-g", "72",
+                "-f", "matroska", "-"
+            ],
+            stdin=subprocess.PIPE,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+
+        self.camera_listener = self.create_subscription(
+            Image,
+            '/camera/color/image_raw',
+            self.camera_callback_callback,
+            10
+        )
+        self.compressed_pub = self.create_publisher(CompressedImagePacket, 'compressed_image', 10)
+
+        self.count = 0
+        self.probe_complete = False
+        self.last_processed_frame_time = 0
+
+        self.thr = Thread(target=self.read_stdout)
+        self.thr.start()
+
+    def read_stdout(self):
+        try:
+            while True:
+                data = self.ffmpeg.stdout.read(1024 * 8)
+
+                if len(data) == 0:
+                    err = b""
+                    while True:
+                        packet = self.ffmpeg.stderr.read(1024)
+                        if len(packet) == 0:
+                            break
+                        err += packet
+                    raise Exception(err.decode())
+
+                self.compressed_pub.publish(CompressedImagePacket(data=data))
+                self.probe_complete = True
+
+        except BrokenPipeError:
+            # Error will be caught in camera callback
+            return
+
+    def camera_callback_callback(self, img: Image):
+        if self.probe_complete and time() - self.last_processed_frame_time < 1.0 / self.target_fps:
+            return
+        try:
+            i = 0
+            while i < len(img.data):
+                i += self.ffmpeg.stdin.write(bytes(img.data[i::]))
+
+        except BrokenPipeError:
+            err = b""
+            while True:
+                packet = self.ffmpeg.stderr.read(1024)
+                if len(packet) == 0:
+                    break
+                err += packet
+            raise Exception(err.decode())
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = CameraCompress()
+
+    rclpy.spin(node)
+
+    node.destroy_node()
+    # rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    raise Exception("Please run from ROS 2")

src/camera/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>camera</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>global_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/camera/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/camera
+[install]
+install_scripts=$base/lib/camera

src/camera/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'camera'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'compress = camera.camera_compress:main'
+        ],
+    },
+)

src/camera/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/camera/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/camera/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/global_msgs/CMakeLists.txt

@@ -26,6 +26,7 @@ find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Steering.msg"
   "action/SetArmAngle.action"
+  "msg/CompressedImagePacket.msg"
 )
 
 if(BUILD_TESTING)

src/global_msgs/msg/CompressedImagePacket.msg

@@ -0,0 +1 @@
+uint8[] data

src/positioning/positioning/pozyx_localizer.py

@@ -177,17 +177,15 @@ def loop(self):
             orientation=MsgQuaternion(x=orientation.x, y=orientation.y, z=orientation.z, w=orientation.w)
         )
 
-        if status == POZYX_SUCCESS:
-            print(self.posAndOrientatonToString())
-        else:
+        if status != POZYX_SUCCESS:
             statusString = "failure" if status == POZYX_FAILURE else "timeout"
             print('Error: Do positioning failed due to ' + statusString)
 
-    def posAndOrientatonToString(self):
-        """
-        Returning a string with the x,y,z coordinates of the position and the orientation.
-        """
-        return 'Current position:\n  ' + str(self.position) + '\nCurrent orientation\n  ' + str(self.orientation) + '\n'
+    # def posAndOrientatonToString(self):
+    #     """
+    #     Returning a string with the x,y,z coordinates of the position and the orientation.
+    #     """
+    #     return 'Current position:\n  ' + str(self.position) + '\nCurrent orientation\n  ' + str(self.orientation) + '\n'
 
 
 if __name__ == '__main__':

src/telemetry/telemetry/telemetry.py

@@ -5,6 +5,7 @@
 from rclpy.node import Node
 from struct import Struct
 from global_msgs.msg import Steering
+from global_msgs.msg import CompressedImagePacket
 from std_msgs.msg import Float32
 
 
@@ -35,6 +36,13 @@ def __init__(self, scheme: int):
         self.arm_vel_pub = self.create_publisher(
             Float32, 'target_arm_velocity', 10
         )
+        self.camera_image_buffer = bytearray()
+        self.camera_listener = self.create_subscription(
+            CompressedImagePacket,
+            'compressed_image',
+            self.receive_image,
+            10
+        )
 
         self.scheme = scheme
         if scheme == ControlScheme.ARCHIMEDES:
@@ -48,6 +56,9 @@ def __init__(self, scheme: int):
         self.thr = Thread(target=self.run)
         self.thr.start()
 
+    def receive_image(self, img: CompressedImagePacket):
+        self.camera_image_buffer += img.data
+
     def run(self):
         logger = self.get_logger()
         host = enet.Host(None, 1, 0, 0, 0)
@@ -108,6 +119,11 @@ def run(self):
                     logger.error("Host has returned an error! Restarting...")
                     break
 
+                peer.send(
+                    Channels.CAMERA,
+                    enet.Packet(self.camera_image_buffer, enet.PACKET_FLAG_UNSEQUENCED)
+                )
+
     def on_receive(self, channel: int, data: bytes, peer) -> None:
         logger = self.get_logger()