68 lines
2.1 KiB
Python
68 lines
2.1 KiB
Python
import time
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from typing import Callable, Optional
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from google.protobuf.timestamp_pb2 import Timestamp
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from clients._path_setup import ensure_paths
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ensure_paths()
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from clients.base_client import RobotClientBase
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from cmvr.api import camera_command_pb2 as pb
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from cmvr.api import camera_service_pb2_grpc as rpc
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from cmvr.api import common_pb2
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class CameraClient(RobotClientBase):
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"""Client for CameraService RGB image RPCs."""
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def _init_stubs(self, channel):
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self.stub = rpc.CameraServiceStub(channel)
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@staticmethod
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def _make_header(device_id: str):
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header = common_pb2.CommandHeader.Request()
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header.device_id = device_id
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timestamp = Timestamp()
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timestamp.GetCurrentTime()
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header.timestamp.CopyFrom(timestamp)
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return header
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def start_camera(self, device_id: str):
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request = pb.StartCameraCommand.Request(header=self._make_header(device_id))
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return self.stub.StartCamera(request, timeout=self.timeout)
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def stop_camera(self, device_id: str):
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request = pb.StopCameraCommand.Request(header=self._make_header(device_id))
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return self.stub.StopCamera(request, timeout=self.timeout)
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def get_rgb_image(self, device_id: str):
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request = pb.GetRGBImageCommand.Request(header=self._make_header(device_id))
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return self.stub.GetRGBImage(request, timeout=self.timeout)
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def get_rgb_image_stream(
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self,
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device_id: str,
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stop_requested: Optional[Callable[[], bool]] = None,
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request_interval: float = 0.001,
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):
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should_stop = stop_requested or (lambda: False)
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def request_gen():
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while not should_stop():
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yield pb.GetRGBImageStreamCommand.Request(
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header=self._make_header(device_id),
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eof=False,
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)
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time.sleep(request_interval)
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yield pb.GetRGBImageStreamCommand.Request(
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header=self._make_header(device_id),
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eof=True,
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)
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return self.stub.GetRGBImageStream(request_gen())
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GetRGBImageStreamClient = CameraClient
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