feat - Desactivate API for the moment

Add camera

WIP - The API remove the change mode due to asyncio
We need to use a thread

rpi/manager/thymio/manager.py

@@ -11,21 +11,22 @@
 class ThymioManager(BaseManager):
     current_mode = 0
     last_mode_change_time = 0  
-    mode_change_delay = 0.5
+    mode_change_delay = 0.2
 
     def __init__(self):
         self.controller = ThymioController()
         self.logger = logging.getLogger(__name__)
 
         self.tasks = [
+            # API(self.controller),
             ObjectCollector(self.controller), 
             FollowLine(self.controller), 
-            API(self.controller)
         ]
 
         self.num_modes = len(self.tasks)
 
     def change_mode(self):
+        print("test")
         current_time = time.time()
 
         if current_time - self.last_mode_change_time <  self.mode_change_delay:

rpi/websocket/input_output.py → rpi/sockets/input_output.py

@@ -45,7 +45,6 @@ def run(self):
         self.loop = asyncio.get_event_loop()
         self.loop.run_until_complete(server)
         self.loop.create_task(self.send_to_all_clients())
-        self.loop.run_forever()
 
     def close(self):
         self.loop.close()

rpi/tasks/api.py

@@ -2,7 +2,64 @@
 
 from controller.base import BaseController
 from tasks.base import Task
-from websocket.input_output import InputOuputServer
+from sockets.input_output import InputOuputServer
+
+import asyncio
+import websockets
+
+from PIL import Image
+from io import BytesIO
+from vision.camera import Camera
+
+class CameraServer:
+    def __init__(self):
+        self.connected = set()
+        self.logger = logging.getLogger(__name__)
+        self.camera = Camera()
+
+    async def send_to_all_clients(self):
+        while True:
+            await asyncio.sleep(1/20.0) 
+
+            if len(self.connected) == 0:
+                continue
+
+            img = self.camera.grab_frame_loop()
+            if img is None:
+                continue
+
+            with BytesIO() as bytes:
+                pil_img = Image.fromarray(img)
+                pil_img.save(bytes, 'jpeg')
+                message = bytes.getvalue()
+
+            for websocket in list(self.connected): 
+                try:
+                    await websocket.send(message)
+                except websockets.ConnectionClosed:
+                    self.logger.warning("Client disconnected. Removing from list.")
+                    self.connected.remove(websocket)
+
+    async def handler(self, websocket, path):
+        self.logger.debug("New connection added.")
+        self.connected.add(websocket)
+
+        try:
+            async for message in websocket:
+                self.logger.debug(f"Receive commands :", message)
+        except (websockets.ConnectionClosed, Exception) as e:
+            self.logger.warning(f"Connection closed due to error: {e}")
+        finally:
+            self.connected.remove(websocket)
+
+    def run(self):
+        server_coro = websockets.serve(self.handler, '0.0.0.0', 5678)
+
+        self.loop = asyncio.get_event_loop()
+
+        self.loop.run_until_complete(server_coro)
+        self.loop.create_task(self.send_to_all_clients())
+
 
 class API(Task):
     def __init__(self, controller: BaseController):
@@ -12,9 +69,10 @@ def __init__(self, controller: BaseController):
         self.input_output = InputOuputServer(self.controller)
         self.input_output.run()
 
-
-    def initialize(self):
-        pass
+        self.camera_server = CameraServer()
+        self.camera_server.run()
+
+        asyncio.get_event_loop().run_forever()
 
     def run(self):
         self.logger.info("API")

rpi/tasks/base.py

@@ -1,10 +1,6 @@
 from abc import ABC, abstractmethod
 
 class Task(ABC):
-    @abstractmethod
-    def initialize(self):
-        pass
-
     @abstractmethod
     def run(self):
         pass

rpi/tasks/thymio/follow_line.py

@@ -7,10 +7,6 @@ def __init__(self, controller: ThymioController):
         self.controller = controller
         self.logger = logging.getLogger(__name__)
 
-
-    def initialize(self):
-        pass
-
     def run(self):
         self.logger.info("FOLLOW LINE")
 

rpi/tasks/thymio/object_collector.py

@@ -14,9 +14,6 @@ def __init__(self, controller: ThymioController):
         self.logger = logging.getLogger(__name__)
         self.cam = Camera()
 
-    def initialize(self):
-        pass
-
     def run(self):
         self.logger.info("OBJECT COLLECTOR")
         img = self.cam.grab_frame_loop()