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#!/usr/bin/env python
#Copyright (c) 2011 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 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
class Camera_sensor(Plugin):
def __init__(self, parent):
self._parent = parent
self._status = False
v4l2src = gst.element_factory_make('v4l2src')
if v4l2src.props.device_name is not None:
if self._parent.running_sugar:
self._imagepath = get_path(self._parent.activity,
'data/turtlepic.png')
else:
self._imagepath = '/tmp/turtlepic.png'
self._camera = None
self._status = True
def setup(self):
palette = make_palette('sensor',
colors=["#FF6060", "#A06060"],
help_string=_('Palette of sensor blocks'))
# set up camera-specific blocks
primitive_dictionary['read_camera'] = self.prim_read_camera
media_blocks_dictionary['camera'] = self.prim_take_picture
if self._status:
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
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']())
palette.add_block('camera',
style='box-style-media',
label=' ',
default='CAMERA',
help_string=_('camera output'),
content_block=True)
else: # No camera, so blocks should do nothing
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
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']())
palette.add_block('camera',
hidden=True,
style='box-style-media',
label=' ',
default='CAMERA',
help_string=_('camera output'),
content_block=True)
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', 'read_camera', 'luminance'])) > 0:
if self._camera is None:
self._camera = Camera(self._imagepath)
def stop(self):
''' This gets called by the stop button '''
if self._status and self._camera is not None:
self._camera.stop_camera_input()
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_picture(self):
if self._status:
''' method called by media block '''
self._camera.save_camera_input_to_file()
self._camera.stop_camera_input()
self._parent.lc.filepath = self._imagepath
else:
self._parent.lc.filepath = os.path.join(
self._parent.path, 'samples', 'images', 'me.jpg')
def prim_read_camera(self, luminance_only=False):
""" Read average pixel from camera and push b, g, r to the stack """
if not self._status:
if luminance_only:
return -1
else:
self._parent.lc.heap.append(-1)
self._parent.lc.heap.append(-1)
self._parent.lc.heap.append(-1)
return
pixbuf = None
array = None
if self._status:
try:
self._video_capture_device = open('/dev/video0', 'rw')
except:
self._video_capture_device = None
debug_output('video capture device not available',
self._parent.running_sugar)
self._set_autogain(0) # disable AUTOGAIN
pixbuf = self._get_pixbuf_from_camera()
try:
array = pixbuf.get_pixels()
except:
array = None
self._set_autogain(1) # reenable AUTOGAIN
if array is not None:
length = len(array) / 3
r, g, b, i = 0, 0, 0, 0
for j in range(length):
r += ord(array[i])
i += 1
g += ord(array[i])
i += 1
b += ord(array[i])
i += 1
if luminance_only:
lum = int((r * 0.3 + g * 0.6 + b * 0.1) / length)
self._parent.lc.update_label_value('luminance', lum)
return lum
else:
self._parent.lc.heap.append(int((b / length)))
self._parent.lc.heap.append(int((g / length)))
self._parent.lc.heap.append(int((r / length)))
else:
if luminance_only:
return -1
else:
self._parent.lc.heap.append(-1)
self._parent.lc.heap.append(-1)
self._parent.lc.heap.append(-1)
def _set_autogain(self, state):
''' 0 is off; 1 is on '''
if self._video_capture_device is not None:
self._ag_control = v4l2_control(V4L2_CID_AUTOGAIN)
try:
ioctl(self._video_capture_device, VIDIOC_G_CTRL,
self._ag_control)
self._ag_control.value = state
ioctl(self._video_capture_device, VIDIOC_S_CTRL,
self._ag_control)
except:
pass
def _get_pixbuf_from_camera(self):
''' Regardless of how we get it, we want to return a pixbuf '''
if self._video_capture_device is not None:
self._video_capture_device.close()
self._camera.save_camera_input_to_file()
self._camera.stop_camera_input()
return gtk.gdk.pixbuf_new_from_file(self._imagepath)
else:
return None
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