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#!/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()
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