B ñŽi^{\ã@sŒdZddlZddlZddlZddlZeZGdd„dƒZe dkrˆddl Z dZ e ej ƒdkrdej dZne Zeedd d Ze  e¡e ¡dS) z‰A ZCAM E2 camera. Communicates with a TCP/IP-connected ZCAM E2 camera. Original author: Mark Zvilius, 20-July-2019 For: The Sexton Corp éNc@s8eZdZdddddœZdddd d gZd Zd Zd ZdZdZ dZ d{dd„Z dd„Z dd„Z dd„Zdd„Zdd„Zdd„Zd d!„Zd|d#d$„Zd%d&„Zd'd(„Zd)d*„Zd+d,„Zd-d.„Zd/d0„Zd1d2„Zd3d4„Zd5d6„Zd7d8„Zd9d:„Zd;d<„Zifd=d>„Z d?d@„Z!dAdB„Z"e#e$e#fdCœdDdE„Z%e#e$e#fdFœdGdH„Z&e#e$e#fdFœdIdJ„Z'e$e$e#fdKœdLdM„Z(dNdO„Z)dPdQ„Z*d}dSdT„Z+dUdV„Z,dWdX„Z-dYdZ„Z.d[d\„Z/d]d^„Z0d_d`„Z1dadb„Z2dcdd„Z3e#e4dCœdedf„Z5e#e4dFœdgdh„Z6e#e4dFœdidj„Z7e$e4dKœdkdl„Z8dmdn„Z9dodp„Z:dqdr„Z;ifdsdt„ZdRefdwdx„ƒZ?dydz„Z@dRS)~ÚE2CameraZ960Z540Z400000Ú30)ÚwidthÚheightZbitrateZfpsz--avdictzrts_transport:tcpz--livez--aidxz-1gð?éé)é*é+é,FcCs||_||_||_||_dS)zïConstructor. ip -- camera ip address id -- (string) unique camera id, e.g. '1', '2', '3', etc. master -- (bool) True if master camera, False if slave no_lens -- if camera has no lens (testing only) N)ÚipÚidÚmasterÚno_lens)Úselfr r r r©rú*/home/pi/sexton-multicamera/e2/E2Camera.pyÚ__init__3szE2Camera.__init__cCsº| ¡\}}|dkr||fS| ¡\}}|dkr8||fS|jrZ| ¡\}}|dkrZ||fS| ¡\}}|dkrv||fS| |¡\}}|dkr”||fS| dtj¡\}}|dkr¶||fSdS)a—Initialize camera. Start with a ping to verify connectivity. Establish a session. Set various parameters appropriate for this application. Initialize dynamic settings (e.g. white balance). settings -- (dictionary) dynamic settings saved from last run returns -- (status,errmsg) status 0 on success errmsg on error rÚstream1)rÚ) Ú command_infoÚcommand_get_sessionr Ú master_initsÚ camera_initsÚcamera_settingsÚcommand_stream_settingsrÚSTREAM1_SETTINGS)rÚsettingsÚstatusÚerrmsgrrrÚ start_cameraAs(    zE2Camera.start_cameracCs(| d¡\}}|dkr||fS| d¡S)zsIntializations for the master camera. Disable union exposure (iso and shutter) and white balance. ÚDisabler)Úcommand_set_union_aeÚcommand_set_union_awb)rrrrrrrnszE2Camera.master_initscCsˆ| d¡\}}|dkr||fS| d¡\}}| d¡\}}|dkrJ||fS| ¡\}}|dkrf||fS| d¡\}}|dkr„||fSdS)aVarious camera initializations. Set camera to record mode. Turn off recording if it is on for some reason. WB set to Manual to allow setting directly in Kelvin. Configure autofocus. returns -- (status,errmsg) from the last command Zto_recrÚstopÚrecZManual)rr)Úcommand_record_modeÚcommand_recordÚcheck_record_modeÚverify_unions_disabledÚcommand_set_wb_mode)rrrÚreplyrrrrzs  zE2Camera.camera_initscCslxP| ¡D]D\}}| d||i¡}t |¡\}}|dkr |dkrL|jrLd}q Pq W| ||fd |||¡¡S)aFDynamic camera settings. These are parameters that are changed by the user on the fly, and are persisted to a file and restored at initialization time. The keys and values are persisted using the camera command format, so they can be used directly by build_ctrl_command(). Examples: 'mwb' -- white balance 'iso' -- iso 'shutter_time' -- shutter speed 'video_encoder' -- video encoder 'iris' -- f-stop settings -- (dictionary) returns -- (status,reply) from the last command ÚsetrÚirisz {0}={1} {2})ÚitemsÚbuild_ctrl_commandrÚ http_requestrÚ make_errmsgÚformat)rrÚkÚvÚurlrr*rrrr¬szE2Camera.camera_settingscCsP| d¡\}}|d}|dks&||kr.||fSd ||¡}| tj|f|¡SdS)z Check that the camera record mode is as expected. expected_mode -- 'rec', 'rec_ing', etc. returns -- (status,reply) or (status,errmsg) ÚqueryÚmsgrzrecord mode: {0} expected {1}N)r%r1r0rÚ ERROR_CAMERA)rZ expected_moderr*Z record_moder6rrrr'Ës  zE2Camera.check_record_modecCs4| tjtj¡\}}|dkr$||fS| tjtj¡S)a[Check that union_ae and union_awb are disabled. These keys are set on the master. It can take some time for them to propagate to the slave cameras: in testing I have seen as much as 7 seconds. So this method polls, with a 10 second timeout, for the values to read as 'Disable'. returns -- (status,errmsg) r)Úwait_for_settingÚE2Ú KEY_UNION_AEÚ VAL_DISABLEÚ KEY_UNION_AWB)rrrrrrr(Ús zE2Camera.verify_unions_disabledcCs"| dddi¡}|j|ddddS)NrÚactionr5rÚidleg4@)ÚkeyÚvalueÚtimeout)Úbuild_stream_settings_commandÚ_wait_for_value)rr4rrrÚwait_for_stream_idleîszE2Camera.wait_for_stream_idleç$@cCs"| dd|i¡}|j|d||dS)NÚgetr2r@)r?r@rA)r.rC)rr?ÚvalrAr4rrrr8ûszE2Camera.wait_for_settingc CsÚd}d}d}i}x¢tt||ƒƒD]Ž} t |¡\} }| dkrD| |fS||}||kr|| dkrxt|j›d|›d|d›ƒdS| dkržt|j›d |›d |›ƒt |¡||7}q"W|›d|›d |›} | tj |f| ¡S) Ngš™™™™™¹?grrz: got z after z.1f)rrz: wait z got z secs waiting for ) ÚrangeÚroundrr/Úprintr ÚtimeZsleepr0r7) rr4r?r@rAZTICKÚelapsedZgot_valr*Úirr6rrrrC s&  zE2Camera._wait_for_valuecCs(| ¡}t |¡}| |d |d¡¡S)z©Send camera-info command, receive response. Useful as a ping. returns -- (status,reply) if success (status,errmsg) if error zinfo {0}é)Úbuild_info_commandrr/r0r1)rr4Úrrrrrs zE2Camera.command_infocCsN| ¡}t |¡\}}|dkr6| tj|fd |¡¡S| ||fd|¡SdS)zoGet camera session. returns -- (status,errmsg) status 409 means could not get session i™zcould not get session: {0}zget_sesssion %sN)Úbuild_session_commandrr/r0Ú ERROR_SESSIONr1)rr4rr*rrrr+s zE2Camera.command_get_sessioncCs*| d¡}t |¡}| |d |d¡¡S)zAQuit camera session. returns -- (status,errmsg) Úquitzquit_session {0}rN)rQrr/r0r1)rr4rPrrrÚcommand_quit_session9s  zE2Camera.command_quit_sessioncCs,| |¡}t |¡}| |d ||d¡¡S)zrSet ISO value. val -- (string) iso setting returns -- (status,reply) from http_request() z iso {0} {1}rN)Úbuild_iso_commandrr/r0r1)rrGr4rPrrrÚcommand_set_isoCs  zE2Camera.command_set_isocCs,| |¡}t |¡}| |d ||d¡¡S)z‡Set white balance mode: auto/manual. mode -- (string) wb mode ('Auto' or 'Manual') returns -- (status,errmsg) zwb_mode {0} {1}rN)Úbuild_wb_mode_commandrr/r0r1)rÚmoder4rPrrrr)Ns  zE2Camera.command_set_wb_modecCs,| |¡}t |¡}| |d ||d¡¡S)zrSet white balance. val -- (string) wb value as degrees kelvin returns -- (status,errmsg) z wb {0} {1}rN)Úbuild_wb_commandrr/r0r1)rrGr4rPrrrÚcommand_set_wbYs  zE2Camera.command_set_wbcCs,| |¡}t |¡}| |d ||d¡¡S)zeSet shutter speed. val -- (string) shutter speed returns -- (status,errmsg) zshutter {0} {1}rN)Úbuild_shutter_commandrr/r0r1)rrGr4rPrrrÚcommand_set_shutterds  zE2Camera.command_set_shuttercCs,| |¡}t |¡}| |d ||d¡¡S)zjSet video encoder. val -- (string) video encoder name returns -- (status,errmsg) zencoder {0} {1}rN)Úbuild_encoder_commandrr/r0r1)rrGr4rPrrrÚcommand_set_encoderos  zE2Camera.command_set_encodercCs6| |¡}t |¡}|jrdS| |d ||d¡¡S)zdSet f-stop (iris). val -- (string) f-stop value returns -- (status,errmsg) )rrz fstop {0} {1}rN)Úbuild_iris_commandrr/rr0r1)rrGr4rPrrrÚcommand_set_fstopzs   zE2Camera.command_set_fstopcCs0| |¡}t |¡}| |d|›d|d›¡S)zêSet union exposure: when enabled, shutter and iso are controlled by master. Should be set only on the master camera; slaves will return error. val -- (string) Enable/Disable returns -- (status,errmsg) z union_ae ú rN)Úbuild_union_ae_commandrr/r0)rrGr4rPrrrr!ˆs  zE2Camera.command_set_union_aecCs0| |¡}t |¡}| |d|›d|d›¡S)zìSet union white balance: when enabled, white balance is controlled by master. Should be set only on the master camera; slaves will return error. val -- (string) Enable/Disable returns -- (status,errmsg) z union_awb rarN)Úbuild_union_awb_commandrr/r0)rrGr4rPrrrr"”s  zE2Camera.command_set_union_awbcCs.| ||¡}t |¡}| |d ||d¡¡S)z±Set stream settings. index -- 'stream0' or 'stream1' settings -- e.g. width, height, bitrate, fps returns -- (status,reply) from http_request() zstream_settings {0} {1}rN)rBrr/r0r1)rÚindexrr4rPrrrr s  z E2Camera.command_stream_settingscCs,| |¡}t |¡}| |d ||d¡¡S)zControl camera recording mode. action -- 'to_rec', 'to_pb' returns -- (status,reply) or (status,errmsg) zrecord_mode {0} {1}rN)Úbuild_record_mode_commandrr/r0r1)rr=r4rPrrrr%¬s  zE2Camera.command_record_modecCs2| |¡}tj|tjd}| |d ||d¡¡S)z­Control recording. action -- 'start', 'stop', or 'remain' returns -- (status,reply) from http_request() (status,errmsg) on error )rAzrecord {0} {1}rN)Úbuild_record_commandrr/ÚRECORD_TIMEOUTr0r1)rr=r4rPrrrr&·s zE2Camera.command_record)rXÚreturncCs0| |¡}t |¡}| |d|›d|d›¡S)Nzfocus rarN)Úbuild_set_focus_commandrr/r0)rrXr4rPrrrÚcommand_set_focus_modeÉs  zE2Camera.command_set_focus_mode)rGrhcCs0| |¡}t |¡}| |d|›d|d›¡S)Nzcaf rarN)Úbuild_set_caf_commandrr/r0)rrGr4rPrrrÚ command_set_continuous_autofocusÕs  z)E2Camera.command_set_continuous_autofocuscCs0| |¡}t |¡}| |d|›d|d›¡S)Nzrestore_lens_pos rarN)Ú"build_set_restore_lens_pos_commandrr/r0)rrGr4rPrrrÚcommand_set_restore_lens_posás  z%E2Camera.command_set_restore_lens_pos)ÚposrhcCs0| |¡}t |¡}| |d|›d|d›¡S)Nzrestore_lens_pos rarN)Ú build_set_lens_focus_pos_commandrr/r0)rror4rPrrrÚcommand_set_lens_focus_posís  z#E2Camera.command_set_lens_focus_poscCs| ¡}t |¡}dS)z¾Get camera temperature in degC. returns -- (status,result) success: status=0 and result=temperature error: status!=0 and result=errmsg N)Zbuild_get_temperaturerr/)rr4rPrrrÚget_temperatureòszE2Camera.get_temperaturecCs | ¡dS)zBBuild camera-info command. returns -- url string Úinfo)Ú url_prefix)rrrrrOþszE2Camera.build_info_commandNcCsi}|r||d<| d|¡S)zgBuild camera session command. action -- None to get sesssion, 'quit' to quit session. r=Zsession)r.)rr=ÚparamsrrrrQszE2Camera.build_session_commandcCs| dtj|i¡S)z/ctrl/[?=[&=]...] command -- (string) params -- (dictionary) option-value pairs zctrl/ú?ú=ú&)rtr-)rÚcommandrur4Z query_charr2r3rrrr.’s zE2Camera.build_ctrl_commandcCsd|j›dS)zReturn prefix for URL.zhttp://ú/)r )rrrrrt¢szE2Camera.url_prefixcCs ytj|||d}WnJtjjk r:tjd ||¡fStjjk r^tjd ||¡fSX|j dkr||j d |j ¡fSd}|  ¡}d|kr˜|d}||fS)aOIssue request and get reply. url -- (string) payload -- (string or None) timeout -- comm timeout in seconds (number) returns -- (status,reply) status: (integer) 0 success, nonzero ERROR_TIMEOUT or status_code reply: (dictionary) json portion of reply, or error message )rurAz connection error: {0} ({1} secs)ztimeout: {0} ({1} secs)éÈzhttp status {0}rÚcode) ÚrequestsrFÚ exceptionsÚConnectionErrorrÚERROR_CONNECTIONr1ZTimeoutÚ ERROR_TIMEOUTZ status_codeÚjson)r4ZpayloadrArPrr*rrrr/¦s  zE2Camera.http_requestcCs*|d}|dkr|S|d |j|¡fSdS)zÎMake human-readable error message. sr -- (status, reply) tuple msg -- partial error message returns -- (status,reply) if success (status,errmsg) if error rz cam{0}: {1}N)r1r )rÚsrr6rrrrr0ÅszE2Camera.make_errmsg)F)rE)N)AÚ__name__Ú __module__Ú __qualname__rZOMXPLAYER_ARGSZDEFAULT_TIMEOUTrgrŠr‹rRr7rrrrrr'r(rDr8rCrrrTrVr)rZr\r^r`r!r"rr%r&ÚstrÚintrjrlrnrqrrrOrQrUrWrYr[r]r_rbrcÚUrlrirkrmrprBrerfr.rtÚ staticmethodr/r0rrrrrsz - 2                     rÚ__main__z 10.6.10.162rNÚ1T)r )Ú__doc__Úsysr‡rKÚ E2Protocolr9r‘r“rrŽZE2Camera_testsZDEFAULT_CAMERA_IPÚlenÚargvr ÚcamZrun_unit_testsÚexitrrrrÚs(I