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275 lines
9.6 KiB
275 lines
9.6 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 time
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import threading # Import threading module
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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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import requests
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from PyQt5.QtCore import QCoreApplication, Qt, pyqtSlot, QThread, QTimer
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import numpy as np
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from icecream import ic
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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.Point_pb2 import Point
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from message_queue.proto.TrackCommandMessage_pb2 import TrackCommand
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from message_queue.proto.TrackCoordsMessage_pb2 import TrackCoordsMessage
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from message_queue.proto.enums_pb2 import MessageType
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from message_queue.proto.ConnectStatus_pb2 import ConnectStatus
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from video_streamer.gst_video_streamer import GstVideoStreamer
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import cv2
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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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def handle_camera_status(status: int):
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m = Message()
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m.msgType = MessageType.MESSAGE_TYPE_CAMERA_CONNECTION_STATUS
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m.cam_status.status = status
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manager.send_message(m.SerializeToString())
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# Helper class to track client connection status
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class ConnectionTracker:
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def __init__(self):
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self.last_message_time = time.time()
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self.timeout = 15 # 15-second timeout
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self.last_client_ip = None # Track last connected client IP
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def update_last_message_time(self, client_ip=None):
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self.last_message_time = time.time()
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if client_ip:
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self.last_client_ip = client_ip # Update last known client
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def is_client_active(self):
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"""Check if the last client is still active within the last 30 seconds."""
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return (time.time() - self.last_message_time) < self.timeout
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# Create an instance of ConnectionTracker
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connection_tracker = ConnectionTracker()
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class ConnectionThread(threading.Thread):
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def __init__(self):
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super().__init__()
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self.running = True
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def run(self):
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while self.running:
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sleep(0.5)
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if connection_tracker.last_client_ip:
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if debug:
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print(f"Checking if last client {connection_tracker.last_client_ip} is still available...")
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if self.query_last_client(connection_tracker.last_client_ip):
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connection_tracker.update_last_message_time()
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if debug:
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print(f"Last client {connection_tracker.last_client_ip} responded. Continuing...")
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continue # Skip discovering a new client
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if not connection_tracker.is_client_active():
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print("Client inactive for 30 seconds. Searching for another client...")
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cl_ip, _ = self.start_discovery_service(12345)
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print(f"New client found: {cl_ip}")
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# Reinitialize the Manager with the new client address
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global manager
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manager = Manager(f"tcp://{cl_ip}:5558", f"tcp://{cl_ip}:5557")
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manager.start(manager_callback)
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connection_tracker.update_last_message_time(cl_ip) # Update with new client
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def query_last_client(self, client_ip):
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"""Send a heartbeat packet to the last known client IP on port 29170 and wait for a response."""
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if debug:
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print(f"Sending heartbeat to {client_ip}:29170") # Debugging
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.settimeout(5) # 5-second timeout
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heartbeat_port = 29170 # New port for heartbeat
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try:
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sock.sendto(b"HEARTBEAT", (client_ip, heartbeat_port)) # Send heartbeat message
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data, addr = sock.recvfrom(1024) # Wait for response
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if debug:
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print(f"Received response from {addr}: {data.decode()}") # Debugging
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if data.decode() == "HEARTBEAT_ACK":
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if debug:
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print(f"Client {client_ip} is still responding.")
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return True
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except socket.timeout:
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print(f"Client {client_ip} did not respond. Marking as inactive.")
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finally:
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sock.close()
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return False # Client did not respond
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def start_discovery_service(self, port):
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.bind(('0.0.0.0', port))
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print(f"Discovery service listening on port {port}...")
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while True:
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data, addr = sock.recvfrom(1024)
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if data.decode() == "DISCOVER_SERVER":
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print(f"Received discovery request from {addr}")
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sock.sendto(b"SERVER_RESPONSE", addr)
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break
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sock.close()
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return addr
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def stop(self):
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self.running = False
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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: List[GstVideoStreamer] = []
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streamerThreads = []
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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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core = Core(videoStreamers,tracker,detector)
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def manager_callback(msg_str):
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msg = Message()
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msg.ParseFromString(msg_str)
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connection_tracker.update_last_message_time() # Update the last message time
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if msg.msgType == MessageType.MESSAGE_TYPE_TOGGLE_TRACK:
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if msg.track_cmd.command == TrackCommand.TRACK_COMMAND_STOP:
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core.stop_track()
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elif msg.track_cmd.command == TrackCommand.TRACK_COMMAND_START:
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core.start_track(msg.track_cmd.x, msg.track_cmd.y, msg.track_cmd.w, msg.track_cmd.h)
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elif msg.track_cmd.command == TrackCommand.TRACK_COMMAND_START_DETECT:
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core.start_detect(msg.track_cmd.x, msg.track_cmd.y, msg.track_cmd.w, msg.track_cmd.h)
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elif msg.msgType == MessageType.MESSAGE_TYPE_TRACK_SETTINGS:
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core.set_thickness(msg.track_settings.thickness)
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elif msg.msgType == MessageType.MESSAGE_TYPE_SWITCH_CAMERA:
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core.set_source(msg.cam_switch.primaryCamType)
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elif msg.msgType == MessageType.MESSAGE_TYPE_SET_CAMERA:
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ip = msg.cam_set.ip
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videoStreamers = []
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for src in range(2):
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rtsp_link = f'rtsp://admin:Abc.12345@{ip}:554/ch{src}/stream0'
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# ic(rtsp_link)
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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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core.set_video_sources(videoStreamers)
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import socket
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def start_discovery_service(port):
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.bind(('0.0.0.0', port))
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print(f"Discovery service listening on port {port}...")
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while True:
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data, addr = sock.recvfrom(1024)
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if data.decode() == "DISCOVER_SERVER":
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print(f"Received discovery request from {addr}")
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sock.sendto(b"SERVER_RESPONSE", addr)
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break
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sock.close()
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return addr
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cl_ip, _ = start_discovery_service(12345)
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print(cl_ip)
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global manager
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manager = Manager(f"tcp://{cl_ip}:5558", f"tcp://{cl_ip}:5557")
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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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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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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()
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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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