chore: implemented test video function

If there is no qi session, the webcam of the device is used to send video.

src/robot_interface/endpoints/video_sender.py

@@ -1,6 +1,7 @@
 import zmq
 import threading
 import logging
+import cv2
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
@@ -28,7 +29,9 @@ class VideoSender(SocketBase):
         Will not start if no qi session is available.
         """
         if not state.qi_session:
-            logging.info("No Qi session available. Not starting video loop.")
+            logging.info("No Qi session available. Starting video from webcam.")
+            thread = threading.Thread(target=self.test_video_stream)
+            thread.start()
             return
 
         video = state.qi_session.service("ALVideoDevice")
@@ -59,3 +62,29 @@ class VideoSender(SocketBase):
                 self.socket.send(img[settings.video_config.image_buffer])
             except:
                 logging.warn("Failed to retrieve video image from robot.")
+
+    def test_video_stream(self):
+        """
+        Test function to send video from local webcam instead of the robot.
+        """
+        cap = cv2.VideoCapture(0)
+        if not cap.isOpened():
+            logging.error("Could not open webcam for video stream test.")
+            return
+
+        while not state.exit_event.is_set():
+
+            ret, frame = cap.read()
+            if not ret:
+                logging.warning("Failed to read frame from webcam.")
+                continue
+
+            cv2.waitKey(1)
+            
+            small_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_AREA)
+            encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 70]
+            _, buffer = cv2.imencode('.jpg', small_frame, encode_param)
+
+            self.socket.send(buffer.tobytes())
+
+        cap.release()