62 lines
2.1 KiB
Python
62 lines
2.1 KiB
Python
import zmq
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import threading
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import qi
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import logging
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from robot_interface.endpoints.socket_base import SocketBase
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from robot_interface.state import state
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class VideoSender(SocketBase):
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def __init__(self, zmq_context, port=5556):
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super(VideoSender, self).__init__("video")
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self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
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def start_video_rcv(self):
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"""
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Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
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:param robot_ip: The ip address of the robot to connect with.
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:type robot_ip: String
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:param port: The port of the robot.
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:type port: int
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:param socket: The ZMQ socket to send the video images over.
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:type: VideoSender
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"""
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app = qi.Application()
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app.start()
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session = app.session
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video = session.service("ALVideoDevice")
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camera_index = 0
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kQVGA = 2
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kRGB = 11
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FPS = 15
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vid_stream_name = video.subscribeCamera("Pepper Video", camera_index, kQVGA, kRGB, FPS)
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thread = threading.Thread(target=self.video_rcv_loop, args=(video, vid_stream_name))
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thread.start()
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def video_rcv_loop(self, vid_service, vid_stream_name):
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"""
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The main loop of retrieving video images from the robot.
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:param vid_stream: The name of a camera subscription on the video service object vid_service
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:type vid_stream: String
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:param vid_service: The video service object that the active Qi session is connected to.
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:type vid_service: Object (Qi service object)
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:param socket: The ZMQ socket to send the video images over.
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:type: VideoSender
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"""
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while not state.exit_event.is_set():
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try:
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img = vid_service.getImageRemote(vid_stream_name)
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#Possibly limit images sent if queuing issues arise
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self.socket.send(img[6])
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except:
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logging.warn("Failed to retrieve video image from robot.")
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