diff options
Diffstat (limited to 'plugins/camera_sensor/camera_sensor.py')
| -rw-r--r-- | plugins/camera_sensor/camera_sensor.py | 332 |
1 files changed, 332 insertions, 0 deletions
diff --git a/plugins/camera_sensor/camera_sensor.py b/plugins/camera_sensor/camera_sensor.py new file mode 100644 index 0000000..cb1e226 --- /dev/null +++ b/plugins/camera_sensor/camera_sensor.py @@ -0,0 +1,332 @@ +#!/usr/bin/env python +#Copyright (c) 2011, 2012 Walter Bender +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +import gst +import gtk +from fcntl import ioctl +import os +from time import time + +from gettext import gettext as _ + +from plugins.camera_sensor.tacamera import Camera +from plugins.camera_sensor.v4l2 import v4l2_control, V4L2_CID_AUTOGAIN, \ + VIDIOC_G_CTRL, VIDIOC_S_CTRL + +from plugins.plugin import Plugin + +from TurtleArt.tapalette import make_palette +from TurtleArt.talogo import media_blocks_dictionary +from TurtleArt.tautils import get_path, debug_output +from TurtleArt.taconstants import MEDIA_SHAPES, NO_IMPORT, SKIN_PATHS, \ + BLOCKS_WITH_SKIN +from TurtleArt.taprimitive import (ConstantArg, Primitive) +from TurtleArt.tatype import TYPE_NUMBER + + +class Camera_sensor(Plugin): + + def __init__(self, parent): + Plugin.__init__(self) + ''' Make sure there is a camera device ''' + self._parent = parent + self._status = False + self._ag_control = None + self.devices = [] + self.cameras = [] + self.luminance = 0 + + if os.path.exists('/dev/video0'): + self.devices.append('/dev/video0') + if os.path.exists('/dev/video1'): + self.devices.append('/dev/video1') + if len(self.devices) > 0: + self._status = True + else: + self._status = False + + def setup(self): + ''' Set up the palettes ''' + ''' + sensors_palette = make_palette('sensor', + colors=["#FF6060", "#A06060"], + help_string=_( + 'Palette of sensor blocks'), + position=6) + ''' + media_palette = make_palette('media', + colors=["#A0FF00", "#80A000"], + help_string=_('Palette of media objects'), + position=7) + sensors_palette = media_palette + + # set up camera-specific blocks + media_blocks_dictionary['camera'] = self.prim_take_picture0 + media_blocks_dictionary['camera1'] = self.prim_take_picture1 + + SKIN_PATHS.append('plugins/camera_sensor/images') + + if self._status: + sensors_palette.add_block('luminance', + hidden=True, + style='box-style', + label=_('brightness'), + help_string=_( + 'light level detected by camera'), + value_block=True, + prim_name='luminance') + self._parent.lc.def_prim( + 'luminance', 0, + Primitive(self.prim_read_camera, + return_type=TYPE_NUMBER, + kwarg_descs={'luminance_only': ConstantArg(True)}, + call_afterwards=self.after_luminance)) + + # Depreciated block + sensors_palette.add_block('read_camera', + hidden=True, + style='box-style', + label=_('brightness'), + help_string=_( + 'Average RGB color from camera \ +is pushed to the stack'), + value_block=True, + prim_name='read_camera') + self._parent.lc.def_prim( + 'read_camera', 0, + Primitive(self.prim_read_camera, + kwarg_descs={'luminance_only': ConstantArg(False)})) + + media_palette.add_block('camera', + hidden=True, + style='box-style-media', + label=' ', + default='CAMERA', + help_string=_('camera output'), + content_block=True) + if len(self.devices) > 1: + media_palette.add_block('camera1', + hidden=True, + style='box-style-media', + label=' ', + default='CAMERA', + help_string=_('camera output'), + content_block=True) + else: + media_palette.add_block('camera1', + hidden=True, + style='box-style-media', + label=' ', + default='CAMERA', + help_string=_('camera output'), + content_block=True) + + else: # No camera, so blocks should do nothing + sensors_palette.add_block('luminance', + hidden=True, + style='box-style', + label=_('brightness'), + help_string=\ + _('light level detected by camera'), + value_block=True, + prim_name='read_camera') + self._parent.lc.def_prim( + 'luminance', 0, + Primitive(self.prim_read_camera, + return_type=TYPE_NUMBER, + kwarg_descs={'luminance_only': ConstantArg(True)}, + call_afterwards=self.after_luminance)) + + # Depreciated block + sensors_palette.add_block('read_camera', + hidden=True, + style='box-style', + label=_('brightness'), + help_string=_( + 'Average RGB color from camera \ +is pushed to the stack'), + value_block=True, + prim_name='read_camera') + self._parent.lc.def_prim( + 'read_camera', 0, + Primitive(self.prim_read_camera, + return_type=TYPE_NUMBER, + kwarg_descs={'luminance_only': ConstantArg(False)})) + + media_palette.add_block('camera', + hidden=True, + style='box-style-media', + label=' ', + default='CAMERA', + help_string=_('camera output'), + content_block=True) + + media_palette.add_block('camera1', + hidden=True, + style='box-style-media', + label=' ', + default='CAMERA', + help_string=_('camera output'), + content_block=True) + + NO_IMPORT.append('camera') + BLOCKS_WITH_SKIN.append('camera') + NO_IMPORT.append('camera1') + BLOCKS_WITH_SKIN.append('camera1') + MEDIA_SHAPES.append('camerasmall') + MEDIA_SHAPES.append('cameraoff') + MEDIA_SHAPES.append('camera1small') + MEDIA_SHAPES.append('camera1off') + + def start(self): + ''' Initialize the camera if there is an camera block in use ''' + if len(self._parent.block_list.get_similar_blocks('block', + ['camera', 'camera1', 'read_camera', 'luminance'])) > 0: + if self._status and len(self.cameras) == 0: + for device in self.devices: + self.cameras.append(Camera(device)) + + def quit(self): + ''' This gets called when the activity quits ''' + self._reset_the_camera() + + def stop(self): + ''' This gets called by the stop button ''' + self._reset_the_camera() + + def clear(self): + ''' This gets called by the clean button and erase button ''' + self._reset_the_camera() + + def _reset_the_camera(self): + if self._status and len(self.cameras) > 0: + for i, camera in enumerate(self.cameras): + camera.stop_camera_input() + self._set_autogain(1, camera=i) # enable AUTOGAIN + + def _status_report(self): + debug_output('Reporting camera status: %s' % (str(self._status)), + self._parent.running_sugar) + return self._status + + # Block primitives used in talogo + + def prim_take_picture0(self): + self._take_picture(camera=0) + + def prim_take_picture1(self): + self._take_picture(camera=1) + + def _take_picture(self, camera=0): + ''' method called by media block ''' + self._set_autogain(1, camera) # enable AUTOGAIN + self._get_pixbuf_from_camera(camera) + self._parent.lc.pixbuf = self.cameras[camera].pixbuf + + def prim_read_camera(self, luminance_only=False, camera=0): + """ Read average pixel from camera and push b, g, r to the stack """ + self.luminance_only = luminance_only + if not self._status: + if self.luminance_only: + return -1 + else: + self._parent.lc.heap.append(-1) + self._parent.lc.heap.append(-1) + self._parent.lc.heap.append(-1) + return + + array = None + self._set_autogain(0, camera=camera) # disable AUTOGAIN + self._get_pixbuf_from_camera(camera=camera) + self.calc_luminance(camera=camera) + if self.luminance_only: + return int(self.luminance) + else: + self._parent.lc.heap.append(self.b) + self._parent.lc.heap.append(self.g) + self._parent.lc.heap.append(self.r) + return + + def calc_luminance(self, camera=0): + array = self.cameras[camera].pixbuf.get_pixels() + width = self.cameras[camera].pixbuf.get_width() + height = self.cameras[camera].pixbuf.get_height() + + if array is not None: + length = int(len(array) / 3) + if length != width * height: + debug_output('array length != width x height (%d != %dx%d)' % \ + (length, width, height), + self._parent.running_sugar) + + # Average the 100 pixels in the center of the screen + r, g, b = 0, 0, 0 + row_offset = int((height / 2 - 5) * width * 3) + column_offset = int(width / 2 - 5) * 3 + for y in range(10): + i = row_offset + column_offset + for x in range(10): + r += ord(array[i]) + i += 1 + g += ord(array[i]) + i += 1 + b += ord(array[i]) + i += 1 + row_offset += width * 3 + if self.luminance_only: + self.luminance = int((r * 0.3 + g * 0.6 + b * 0.1) / 100) + else: + self.r = int(r / 100) + self.g = int(g / 100) + self.b = int(b / 100) + else: + if self.luminance_only: + self.luminance = -1 + else: + self.r = -1 + self.g = -1 + self.b = -1 + + def after_luminance(self, luminance_only=False): + if self._parent.lc.update_values and luminance_only: + self._parent.lc.update_label_value('luminance', self.luminance) + + def _set_autogain(self, state, camera=0): + ''' 0 is off; 1 is on ''' + if self._ag_control is not None and self._ag_control.value == state: + return + try: + video_capture_device = open(self.devices[camera], 'rw') + except: + video_capture_device = None + debug_output('video capture device not available', + self._parent.running_sugar) + return + self._ag_control = v4l2_control(V4L2_CID_AUTOGAIN) + try: + ioctl(video_capture_device, VIDIOC_G_CTRL, self._ag_control) + self._ag_control.value = state + ioctl(video_capture_device, VIDIOC_S_CTRL, self._ag_control) + except: + pass + video_capture_device.close() + + def _get_pixbuf_from_camera(self, camera): + ''' Regardless of how we get it, we want to return a pixbuf ''' + self._parent.lc.pixbuf = None + if self._status: + self.cameras[camera].start_camera_input() |