Documentation functions

entry.sh

@@ -3,6 +3,6 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 $DIR/bootstrap.sh $DIR $DIR/venv
 
-$DIR/venv/bin/python $DIR/src/main.py
+DISPLAY=:0 $DIR/venv/bin/python $DIR/src/main.py
 
 exit 0

manifest.json

@@ -3,7 +3,7 @@
         "camera-app-kivy": {
             "name": "camera-app-kivy",
             "type": "app",
-            "exec_cmd": "/mnt/managed_home/farm-ng-user-edgar/camera-streamer-kivy/entry.sh",
+            "exec_cmd": "/mnt/managed_home/YOUR_USER_HERE/camera-streamer-kivy/entry.sh",
             "display_name": "Kivy Camera App",
             "autostart": false
         }

service_config.json

@@ -0,0 +1,19 @@
+{
+    "configs": [
+        {
+        "name": "oak0",
+        "port": 50010,
+        "host": "localhost",
+        "log_level": "INFO",
+        "subscriptions": [
+            {
+                "uri": {
+                    "path": "/rgb",
+                    "query": "service_name=oak0"
+                },
+                "every_n": 1
+            }
+        ]
+    }
+    ]
+}

setup.cfg

@@ -23,7 +23,7 @@ install_requires =
     wheel
     kivy
     farm_ng_amiga
-    kornia-rs
+    PyTurboJPEG
 tests_require =
     pytest
 

src/main.py

@@ -24,9 +24,10 @@
 from farm_ng.core.event_service_pb2 import EventServiceConfig
 from farm_ng.core.event_service_pb2 import EventServiceConfigList
 from farm_ng.core.event_service_pb2 import SubscribeRequest
+from farm_ng.core.events_file_reader import payload_to_protobuf
 from farm_ng.core.events_file_reader import proto_from_json_file
 from farm_ng.core.uri_pb2 import Uri
-from kornia_rs import ImageDecoder
+from turbojpeg import TurboJPEG
 
 os.environ["KIVY_NO_ARGS"] = "1"
 
@@ -51,66 +52,94 @@ class CameraApp(App):
 
     STREAM_NAMES = ["rgb", "disparity", "left", "right"]
 
-    def __init__(self, service_config: EventServiceConfig, stream_every_n: int) -> None:
+    def __init__(self, service_config: EventServiceConfig) -> None:
         super().__init__()
+
         self.service_config = service_config
-        self.stream_every_n = stream_every_n
 
-        self.image_decoder = ImageDecoder()
-        self.image_subscription_tasks: list[asyncio.Task] = []
+        self.image_decoder = TurboJPEG()
+
+        self.view_name = "rgb"
+
+        self.async_tasks: list[asyncio.Task] = []
 
     def build(self):
         return Builder.load_file("res/main.kv")
 
     def on_exit_btn(self) -> None:
         """Kills the running kivy application."""
+        for task in self.tasks:
+            task.cancel()
         App.get_running_app().stop()
 
+    def update_view(self, view_name: str):
+        self.view_name = view_name
+
     async def app_func(self):
         async def run_wrapper():
             # we don't actually need to set asyncio as the lib because it is
             # the default, but it doesn't hurt to be explicit
             await self.async_run(async_lib="asyncio")
-            for task in self.image_subscription_tasks:
+            for task in self.async_tasks:
                 task.cancel()
 
+        config_list = proto_from_json_file(
+            self.service_config, EventServiceConfigList()
+        )
+
+        oak0_client: EventClient | None = None
+
+        for config in config_list.configs:
+            if config.name == "oak0":
+                oak0_client = EventClient(config)
+
+        if None in [oak0_client]:
+            raise RuntimeError(f"No {config} service config in {self.service_config}")
+
         # stream camera frames
-        self.image_subscription_tasks: list[asyncio.Task] = [
-            asyncio.create_task(self.stream_camera(view_name))
+        self.tasks: list[asyncio.Task] = [
+            asyncio.create_task(self.stream_camera(oak0_client, view_name))
             for view_name in self.STREAM_NAMES
         ]
 
-        return await asyncio.gather(run_wrapper(), *self.image_subscription_tasks)
+        return await asyncio.gather(run_wrapper(), *self.tasks)
 
     async def stream_camera(
-        self, view_name: Literal["rgb", "disparity", "left", "right"] = "rgb"
+        self,
+        oak_client: EventClient,
+        view_name: Literal["rgb", "disparity", "left", "right"] = "rgb",
     ) -> None:
         """Subscribes to the camera service and populates the tabbed panel with all 4 image streams."""
         while self.root is None:
             await asyncio.sleep(0.01)
 
-        async for _, message in EventClient(self.service_config).subscribe(
-            SubscribeRequest(
-                uri=Uri(path=f"/{view_name}"), every_n=self.stream_every_n
-            ),
-            decode=True,
+        rate = oak_client.config.subscriptions[0].every_n
+
+        async for event, payload in oak_client.subscribe(
+            SubscribeRequest(uri=Uri(path=f"/{view_name}"), every_n=rate),
+            decode=False,
         ):
-            try:
-                img = self.image_decoder.decode(message.image_data)
-            except Exception as e:
-                logger.exception(f"Error decoding image: {e}")
-                continue
-
-            # create the opengl texture and set it to the image
-            texture = Texture.create(size=(img.shape[1], img.shape[0]), icolorfmt="rgb")
-            texture.flip_vertical()
-            texture.blit_buffer(
-                bytes(img.data),
-                colorfmt="rgb",
-                bufferfmt="ubyte",
-                mipmap_generation=False,
-            )
-            self.root.ids[view_name].texture = texture
+            if view_name == self.view_name:
+                print(self.view_name)
+                message = payload_to_protobuf(event, payload)
+                try:
+                    img = self.image_decoder.decode(message.image_data)
+                except Exception as e:
+                    logger.exception(f"Error decoding image: {e}")
+                    continue
+
+                # create the opengl texture and set it to the image
+                texture = Texture.create(
+                    size=(img.shape[1], img.shape[0]), icolorfmt="bgr"
+                )
+                texture.flip_vertical()
+                texture.blit_buffer(
+                    bytes(img.data),
+                    colorfmt="bgr",
+                    bufferfmt="ubyte",
+                    mipmap_generation=False,
+                )
+                self.root.ids[view_name].texture = texture
 
 
 def find_config_by_name(
@@ -129,32 +158,17 @@ def find_config_by_name(
 
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(prog="amiga-camera-app")
-    parser.add_argument(
-        "--service-config", type=Path, default="/opt/farmng/config.json"
-    )
-    parser.add_argument("--camera-name", type=str, default="oak1")
-    parser.add_argument(
-        "--stream-every-n", type=int, default=1, help="Streaming frequency"
-    )
-    args = parser.parse_args()
+    parser = argparse.ArgumentParser(prog="template-app")
 
-    # config with all the configs
-    service_config_list: EventServiceConfigList = proto_from_json_file(
-        args.service_config, EventServiceConfigList()
-    )
+    # Add additional command line arguments here
+    parser.add_argument("--service-config", type=Path, default="service_config.json")
 
-    # filter out services to pass to the events client manager
-    oak_service_config = find_config_by_name(service_config_list, args.camera_name)
-    if oak_service_config is None:
-        raise RuntimeError(f"Could not find service config for {args.camera_name}")
+    args = parser.parse_args()
 
     loop = asyncio.get_event_loop()
 
     try:
-        loop.run_until_complete(
-            CameraApp(oak_service_config, args.stream_every_n).app_func()
-        )
+        loop.run_until_complete(CameraApp(args.service_config).app_func())
     except asyncio.CancelledError:
         pass
     loop.close()

src/res/main.kv

@@ -4,18 +4,22 @@ RelativeLayout:
         do_default_tab: False
         TabbedPanelItem:
             text: "Rgb"
+            on_press: app.update_view('rgb')
             Image:
                 id: rgb
         TabbedPanelItem:
             text: "Disparity"
+            on_press: app.update_view('disparity')
             Image:
                 id: disparity
         TabbedPanelItem:
             text: "Left"
+            on_press: app.update_view('left')
             Image:
                 id: left
         TabbedPanelItem:
             text: "Right"
+            on_press: app.update_view('right')
             Image:
                 id: right
     Button: