#!/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, primitive_dictionary from TurtleArt.tautils import get_path, debug_output from TurtleArt.taconstants import MEDIA_SHAPES, NO_IMPORT, SKIN_PATHS, \ BLOCKS_WITH_SKIN class Camera_sensor(Plugin): def __init__(self, parent): ''' Make sure there is a camera device ''' self._parent = parent self._status = False self._ag_control = None self.devices = [] self.cameras = [] 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) # set up camera-specific blocks primitive_dictionary['read_camera'] = self.prim_read_camera 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', 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, lambda self: primitive_dictionary['read_camera']( luminance_only=True)) # 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, lambda self: primitive_dictionary['read_camera']()) media_palette.add_block('camera', style='box-style-media', label=' ', default='CAMERA', help_string=_('camera output'), content_block=True) if len(self.devices) > 1: media_palette.add_block('camera1', 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, lambda self: primitive_dictionary['read_camera']( luminance_only=True)) # 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, lambda self: primitive_dictionary['read_camera']()) 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: self._parent.lc.update_label_value('luminance', self.luminance) return self.luminance else: self._parent.lc.heap.append(self.b) self._parent.lc.heap.append(self.g) self._parent.lc.heap.append(self.r) 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 _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()