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107 lines
3.6 KiB
107 lines
3.6 KiB
import base64
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import re
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import sys
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from datetime import datetime, timedelta
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from time import sleep
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from typing import List
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import os
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import utils
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from detector import Detector
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# Add the proto directory to the Python path
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proto_dir = os.path.join(os.path.dirname(__file__), 'message_queue', 'proto')
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if proto_dir not in sys.path:
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sys.path.append(proto_dir)
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# Debug: Print the updated Python path
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# print("Updated Python Path:", sys.path)
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from PyQt5.QtCore import QCoreApplication, Qt
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import conection
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from conection import ConnectionThread
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import shared_manager
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from utils import manager_callback, handle_camera_status, findUsbCams
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from configs import ConfigManager
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from core import Core
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from tracker import Tracker
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from message_queue.Bridge import Bridge
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from message_queue.Manager import Manager
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from message_queue.proto.ImageMessage_pb2 import ImageMessage, TrackMode
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from message_queue.proto.Message_pb2 import Message
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from message_queue.proto.enums_pb2 import MessageType
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from video_streamer.gst_video_streamer import GstVideoStreamer
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config_manager = ConfigManager('config.yaml')
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rtsp_links = config_manager.configs['rtsp_links'].get()
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debug = config_manager.configs['debug'].get()
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if __name__ == '__main__':
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QCoreApplication.setAttribute(Qt.AA_EnableHighDpiScaling)
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app = QCoreApplication(sys.argv)
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videoStreamers = []
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for idx, rtsp_link in enumerate(rtsp_links):
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videoStreamer = GstVideoStreamer(rtsp_link, [1920, 1080, 3], str(idx), fps=15)
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videoStreamer.cameraStatus.connect(handle_camera_status)
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print(f'{videoStreamer.id} connected')
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videoStreamers.append(videoStreamer)
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tracker = Tracker()
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detector = Detector(classes=[0, 2, 5, 7])
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sources = findUsbCams()
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if len(sources) >= 2:
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core = Core(sources,tracker,detector)
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else:
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core = Core(videoStreamers, tracker, detector)
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utils.core = core
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cl_ip, _ = conection.start_discovery_service(12345)
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print(cl_ip)
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shared_manager.manager = Manager(f"tcp://{cl_ip}:5558", f"tcp://{cl_ip}:5557")
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shared_manager.manager.start(manager_callback)
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def gotNewFrame(bboxes, id_, isDetection, ctime):
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#print(f"Got new frame, bboxes : {bboxes} Id: {id} Is detection {isDetection}")
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m = Message()
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m.msgType = MessageType.MESSAGE_TYPE_IMAGE
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m.image.timestamp = int(ctime.value)
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for bbox in bboxes:
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# Skip if bbox is None, doesn't have exactly 4 elements, or contains None values
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if bbox is None or len(bbox) != 4 or not all(element is not None for element in bbox):
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continue
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# Add the bounding box to the image
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box = m.image.boxes.add()
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box.x, box.y, box.w, box.h = bbox
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m.image.camType = id_
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if isDetection:
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m.image.trackMode = TrackMode.TRACK_MODE_DETECT
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else:
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m.image.trackMode = TrackMode.TRACK_MODE_TRACK
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shared_manager.manager.send_message(m.SerializeToString())
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def gotCoords(id_, coord, successful):
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m = Message()
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m.msgType = MessageType.MESSAGE_TYPE_TRACK_COORD
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m.track_coords.camType = id_
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m.track_coords.center.x = coord[0]
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m.track_coords.center.y = coord[1]
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m.track_coords.isLost = not successful
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shared_manager.manager.send_message(m.SerializeToString())
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core.newFrame.connect(gotNewFrame)
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core.coordsUpdated.connect(gotCoords)
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# Start the connection thread
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connection_thread = ConnectionThread(debug,core)
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connection_thread.start()
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try:
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app.exec_()
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except KeyboardInterrupt:
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connection_thread.stop()
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connection_thread.join()
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sys.exit(0)
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