Massive update - API and other modules added
This commit is contained in:
Alireza Vaezi
372
usda_vision_system/camera/recorder.py
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372
usda_vision_system/camera/recorder.py
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"""
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Camera Recorder for the USDA Vision Camera System.
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This module handles video recording from GigE cameras using the python demo library (mvsdk).
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"""
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import sys
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import os
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import threading
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import time
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import logging
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import cv2
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import numpy as np
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from typing import Optional, Dict, Any
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from datetime import datetime
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from pathlib import Path
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# Add python demo to path
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sys.path.append(os.path.join(os.path.dirname(__file__), '..', '..', 'python demo'))
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import mvsdk
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from ..core.config import CameraConfig
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from ..core.state_manager import StateManager
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from ..core.events import EventSystem, publish_recording_started, publish_recording_stopped, publish_recording_error
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from ..core.timezone_utils import now_atlanta, format_filename_timestamp
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class CameraRecorder:
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"""Handles video recording for a single camera"""
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def __init__(self, camera_config: CameraConfig, device_info: Any, state_manager: StateManager, event_system: EventSystem):
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self.camera_config = camera_config
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self.device_info = device_info
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self.state_manager = state_manager
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self.event_system = event_system
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self.logger = logging.getLogger(f"{__name__}.{camera_config.name}")
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# Camera handle and properties
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self.hCamera: Optional[int] = None
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self.cap = None
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self.monoCamera = False
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self.frame_buffer = None
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self.frame_buffer_size = 0
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# Recording state
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self.recording = False
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self.video_writer: Optional[cv2.VideoWriter] = None
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self.output_filename: Optional[str] = None
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self.frame_count = 0
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self.start_time: Optional[datetime] = None
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# Threading
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self._recording_thread: Optional[threading.Thread] = None
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self._stop_recording_event = threading.Event()
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self._lock = threading.RLock()
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# Initialize camera
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self._initialize_camera()
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def _initialize_camera(self) -> bool:
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"""Initialize the camera with configured settings"""
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try:
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self.logger.info(f"Initializing camera: {self.camera_config.name}")
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# Initialize camera
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self.hCamera = mvsdk.CameraInit(self.device_info, -1, -1)
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self.logger.info("Camera initialized successfully")
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# Get camera capabilities
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self.cap = mvsdk.CameraGetCapability(self.hCamera)
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self.monoCamera = self.cap.sIspCapacity.bMonoSensor != 0
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self.logger.info(f"Camera type: {'Monochrome' if self.monoCamera else 'Color'}")
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# Set output format
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if self.monoCamera:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
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else:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
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# Configure camera settings
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self._configure_camera_settings()
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# Allocate frame buffer
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self.frame_buffer_size = (self.cap.sResolutionRange.iWidthMax *
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self.cap.sResolutionRange.iHeightMax *
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(1 if self.monoCamera else 3))
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self.frame_buffer = mvsdk.CameraAlignMalloc(self.frame_buffer_size, 16)
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# Start camera
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mvsdk.CameraPlay(self.hCamera)
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self.logger.info("Camera started successfully")
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return True
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except mvsdk.CameraException as e:
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self.logger.error(f"Camera initialization failed({e.error_code}): {e.message}")
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return False
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except Exception as e:
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self.logger.error(f"Unexpected error during camera initialization: {e}")
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return False
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def _configure_camera_settings(self) -> None:
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"""Configure camera settings from config"""
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try:
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# Set trigger mode (continuous acquisition)
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mvsdk.CameraSetTriggerMode(self.hCamera, 0)
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# Set manual exposure
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mvsdk.CameraSetAeState(self.hCamera, 0) # Disable auto exposure
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exposure_us = int(self.camera_config.exposure_ms * 1000) # Convert ms to microseconds
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mvsdk.CameraSetExposureTime(self.hCamera, exposure_us)
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# Set analog gain
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gain_value = int(self.camera_config.gain * 100) # Convert to camera units
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mvsdk.CameraSetAnalogGain(self.hCamera, gain_value)
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self.logger.info(f"Camera settings configured - Exposure: {exposure_us}μs, Gain: {gain_value}")
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except Exception as e:
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self.logger.warning(f"Error configuring camera settings: {e}")
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def start_recording(self, filename: str) -> bool:
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"""Start video recording"""
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with self._lock:
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if self.recording:
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self.logger.warning("Already recording!")
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return False
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if not self.hCamera:
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self.logger.error("Camera not initialized")
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return False
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try:
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# Prepare output path
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output_path = os.path.join(self.camera_config.storage_path, filename)
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Path(self.camera_config.storage_path).mkdir(parents=True, exist_ok=True)
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# Test camera capture before starting recording
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if not self._test_camera_capture():
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self.logger.error("Camera capture test failed")
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return False
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# Initialize recording state
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self.output_filename = output_path
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self.frame_count = 0
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self.start_time = now_atlanta() # Use Atlanta timezone
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self._stop_recording_event.clear()
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# Start recording thread
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self._recording_thread = threading.Thread(target=self._recording_loop, daemon=True)
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self._recording_thread.start()
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# Update state
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self.recording = True
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recording_id = self.state_manager.start_recording(self.camera_config.name, output_path)
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# Publish event
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publish_recording_started(self.camera_config.name, output_path)
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self.logger.info(f"Started recording to: {output_path}")
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return True
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except Exception as e:
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self.logger.error(f"Error starting recording: {e}")
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publish_recording_error(self.camera_config.name, str(e))
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return False
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def _test_camera_capture(self) -> bool:
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"""Test if camera can capture frames"""
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try:
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# Try to capture one frame
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pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 1000) # 1 second timeout
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mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
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mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
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return True
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except Exception as e:
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self.logger.error(f"Camera capture test failed: {e}")
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return False
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def stop_recording(self) -> bool:
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"""Stop video recording"""
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with self._lock:
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if not self.recording:
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self.logger.warning("Not currently recording")
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return False
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try:
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# Signal recording thread to stop
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self._stop_recording_event.set()
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# Wait for recording thread to finish
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if self._recording_thread and self._recording_thread.is_alive():
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self._recording_thread.join(timeout=5)
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# Update state
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self.recording = False
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# Calculate duration and file size
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duration = 0
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file_size = 0
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if self.start_time:
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duration = (now_atlanta() - self.start_time).total_seconds()
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if self.output_filename and os.path.exists(self.output_filename):
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file_size = os.path.getsize(self.output_filename)
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# Update state manager
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if self.output_filename:
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self.state_manager.stop_recording(self.output_filename, file_size, self.frame_count)
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# Publish event
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publish_recording_stopped(
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self.camera_config.name,
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self.output_filename or "unknown",
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duration
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)
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self.logger.info(f"Stopped recording - Duration: {duration:.1f}s, Frames: {self.frame_count}")
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return True
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except Exception as e:
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self.logger.error(f"Error stopping recording: {e}")
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return False
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def _recording_loop(self) -> None:
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"""Main recording loop running in separate thread"""
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try:
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# Initialize video writer
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if not self._initialize_video_writer():
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self.logger.error("Failed to initialize video writer")
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return
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self.logger.info("Recording loop started")
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while not self._stop_recording_event.is_set():
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try:
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# Capture frame
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pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 200) # 200ms timeout
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# Process frame
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mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
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# Convert to OpenCV format
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frame = self._convert_frame_to_opencv(FrameHead)
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# Write frame to video
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if frame is not None and self.video_writer:
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self.video_writer.write(frame)
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self.frame_count += 1
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# Release buffer
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mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
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# Control frame rate
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time.sleep(1.0 / self.camera_config.target_fps)
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except mvsdk.CameraException as e:
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if e.error_code == mvsdk.CAMERA_STATUS_TIME_OUT:
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continue # Timeout is normal, continue
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else:
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self.logger.error(f"Camera error during recording: {e.message}")
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break
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except Exception as e:
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self.logger.error(f"Error in recording loop: {e}")
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break
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self.logger.info("Recording loop ended")
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except Exception as e:
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self.logger.error(f"Fatal error in recording loop: {e}")
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publish_recording_error(self.camera_config.name, str(e))
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finally:
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self._cleanup_recording()
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def _initialize_video_writer(self) -> bool:
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"""Initialize OpenCV video writer"""
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try:
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# Get frame dimensions by capturing a test frame
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pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 1000)
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mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
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mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
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# Set up video writer
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fourcc = cv2.VideoWriter_fourcc(*'XVID')
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frame_size = (FrameHead.iWidth, FrameHead.iHeight)
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self.video_writer = cv2.VideoWriter(
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self.output_filename,
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fourcc,
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self.camera_config.target_fps,
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frame_size
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)
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if not self.video_writer.isOpened():
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self.logger.error(f"Failed to open video writer for {self.output_filename}")
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return False
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self.logger.info(f"Video writer initialized - Size: {frame_size}, FPS: {self.camera_config.target_fps}")
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return True
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except Exception as e:
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self.logger.error(f"Error initializing video writer: {e}")
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return False
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def _convert_frame_to_opencv(self, frame_head) -> Optional[np.ndarray]:
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"""Convert camera frame to OpenCV format"""
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try:
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if self.monoCamera:
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# Monochrome camera - convert to BGR
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frame_data = np.frombuffer(self.frame_buffer, dtype=np.uint8)
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frame = frame_data.reshape((frame_head.iHeight, frame_head.iWidth))
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frame_bgr = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
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else:
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# Color camera - already in BGR format
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frame_data = np.frombuffer(self.frame_buffer, dtype=np.uint8)
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frame_bgr = frame_data.reshape((frame_head.iHeight, frame_head.iWidth, 3))
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return frame_bgr
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except Exception as e:
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self.logger.error(f"Error converting frame: {e}")
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return None
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def _cleanup_recording(self) -> None:
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"""Clean up recording resources"""
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try:
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if self.video_writer:
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self.video_writer.release()
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self.video_writer = None
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self.recording = False
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except Exception as e:
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self.logger.error(f"Error during recording cleanup: {e}")
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def cleanup(self) -> None:
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"""Clean up camera resources"""
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try:
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# Stop recording if active
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if self.recording:
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self.stop_recording()
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# Clean up camera
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if self.hCamera:
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mvsdk.CameraUnInit(self.hCamera)
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self.hCamera = None
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# Free frame buffer
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if self.frame_buffer:
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mvsdk.CameraAlignFree(self.frame_buffer)
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self.frame_buffer = None
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self.logger.info("Camera resources cleaned up")
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except Exception as e:
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self.logger.error(f"Error during cleanup: {e}")
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def is_recording(self) -> bool:
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"""Check if currently recording"""
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return self.recording
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def get_status(self) -> Dict[str, Any]:
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"""Get recorder status"""
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return {
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"camera_name": self.camera_config.name,
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"is_recording": self.recording,
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"current_file": self.output_filename,
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"frame_count": self.frame_count,
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"start_time": self.start_time.isoformat() if self.start_time else None,
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"camera_initialized": self.hCamera is not None,
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"storage_path": self.camera_config.storage_path
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}
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