reformat

live_cameraclient.py

@@ -29,7 +29,7 @@ def on_log(client, userdata, level, buf):
         client.on_message = on_message
 
     global cap
-    cap = cv2.VideoCapture(0, cv2.CAP_DSHOW)  # external camera
+    cap = cv2.VideoCapture(0, cv2.CAP_DSHOW)  # update index for external camera
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, config["LiveData"]["camera"]["width"])
     cap.set(cv2.CAP_PROP_FRAME_HEIGHT, config["LiveData"]["camera"]["height"])
     cap.set(cv2.CAP_PROP_FPS, config["LiveData"]["camera"]["fps"])
@@ -56,13 +56,14 @@ def on_log(client, userdata, level, buf):
                 status = res[0]
                 if status == 0:
                     print(f"Send {len(payload)} bytes to topic data/livecamera")
-                    #i += 1
+                    # i += 1
             else:
                 print("No frame received.")
         except KeyboardInterrupt:
             print("LIVE CAMERA: Process Terminated. Exiting Camera...")
             break
-    #print(f"FPS is {num_frames/(time.perf_counter()-start)}")
+    # print(f"FPS is {num_frames/(time.perf_counter()-start)}")
+
 
 def main():
     try:

processModule/camera_process.py

@@ -1,6 +1,6 @@
 import numpy as np
-import yaml 
-import cv2 
+import yaml
+import cv2
 
 with open("config.yaml", "r") as f:
     config = yaml.safe_load(f)
@@ -9,6 +9,7 @@
 SAMPLE_IMG = "data/sample_frame.png"
 data_array = cv2.imread(SAMPLE_IMG)
 
+
 # used in pre-recorded data playback
 def process_frames(frame_payload: bytearray) -> None:
     # convert byte array to numpy array for cv2 to read
@@ -21,26 +22,29 @@ def process_frames(frame_payload: bytearray) -> None:
     else:
         cv2.waitKey(0)
 
+
 # used in live data playback
 def process_livecam(payload: bytearray) -> None:
     timestamp = payload[-26:].decode("utf-8")
     # print("Timestamp: ", timestamp)
-    frame_payload = payload[:-26] # remove timestamp
+    frame_payload = payload[:-26]  # remove timestamp
 
     # convert byte array to numpy array for cv2 to read
     frame = np.frombuffer(frame_payload, dtype=np.uint8)
-    if not hasattr(process_livecam, 'window_created'):
+    if not hasattr(process_livecam, "window_created"):
         cv2.namedWindow("Live Camera Feed")
         process_livecam.window_created = True
     font = cv2.FONT_HERSHEY_SIMPLEX
     bottom_left_corner = (10, 30)
     font_scale = 1
     font_color = (255, 255, 255)
     line_type = 2
-    frame = frame.reshape(data_array.shape) # (480, 640, 3)
-    cv2.putText(frame, timestamp, bottom_left_corner, font, font_scale, font_color, line_type)
+    frame = frame.reshape(data_array.shape)  # (480, 640, 3)
+    cv2.putText(
+        frame, timestamp, bottom_left_corner, font, font_scale, font_color, line_type
+    )
     cv2.imshow("Live Camera Feed", frame)
     if config["CameraOutput"]["continuous_frame_mode"]:
         cv2.waitKey(1)
     else:
-        cv2.waitKey(0)
+        cv2.waitKey(0)

processModule/radar_process.py

@@ -6,18 +6,19 @@
 
 with open("config.yaml", "r") as f:
     config = yaml.safe_load(f)
-    
+
 radar_data_file = config["Files"]["radar_data_file"]
 with open(radar_data_file) as json_file:
     data = json.load(json_file)
 
+
 # sensorhost format
 def rd_process():
     radar_points = []
     for item in data["frames"]:
         num_ob = item["sensorMessage"]["metadata"]["numOfDetectedObjects"]
         detected_points = item["sensorMessage"]["object"]["detectedPoints"]
-        timestamp = item["timestamp"]  
+        timestamp = item["timestamp"]
 
         for j in range(num_ob):
             s = dict()
@@ -30,8 +31,10 @@ def rd_process():
             radar_points.append(s)
     return radar_points
 
+
 data = rd_process()
 
+
 def process_radar(radar_payload: list[dict]) -> None:
     # TODO: generate text and data points from radar data to plot over image
-    raise NotImplementedError
+    raise NotImplementedError

processModule/save_data.py

@@ -1,4 +1,4 @@
-import cv2 
+import cv2
 import numpy as np
 import json, yaml
 import datetime as dt
@@ -20,6 +20,7 @@
 with open("config.yaml", "r") as f:
     config = yaml.safe_load(f)
 
+
 def save_data(topic: str, payload: bytes | str) -> dict | None:
     """
     saves live camera frames and radar data to ./liveDataLog/camera_data and ./liveDataLog/radcam_log.json
@@ -33,8 +34,8 @@ def save_data(topic: str, payload: bytes | str) -> dict | None:
     sub_ts = str(dt.datetime.now().isoformat())
     if topic == CAMERA_TOPIC:
         save_data.frame_id += 1
-        cam_ts = payload[-26:].decode("utf-8") # ts is 26 bytes extension
-        frame_payload = payload[:-26] # remove timestamp
+        cam_ts = payload[-26:].decode("utf-8")  # ts is 26 bytes extension
+        frame_payload = payload[:-26]  # remove timestamp
         frame = np.frombuffer(frame_payload, dtype=np.uint8)
         height = config["LiveData"]["camera"]["height"]
         width = config["LiveData"]["camera"]["width"]
@@ -46,7 +47,7 @@ def save_data(topic: str, payload: bytes | str) -> dict | None:
             "topic": topic,
             "sub_ts": sub_ts,
             "pub_ts": cam_ts,
-            "frame_id": save_data.frame_id
+            "frame_id": save_data.frame_id,
         }
     # save radar data
     if topic == RADAR_TOPIC:
@@ -59,7 +60,7 @@ def save_data(topic: str, payload: bytes | str) -> dict | None:
         except json.JSONDecodeError:
             radar_object2 = {"radar_payload": payload.decode("utf-8")}
         radar_object = {**radar_object1, **radar_object2}
-    
+
     with open(RADCAM_PATH, "a") as f:
         if f.tell() == 0:
             f.write("[")
@@ -70,6 +71,7 @@ def save_data(topic: str, payload: bytes | str) -> dict | None:
         if radar_object:
             json.dump(radar_object, f)
 
+
 """
 class CamPayload:
     def __init__(self, sub_ts, pub_ts, frame_id) -> None:
@@ -106,4 +108,4 @@ def to_json(self) -> dict:
             "pub_ts": self.pub_ts,
             "radar_json": self.radar_json
         }
-"""
+"""

processModule/serverConnect.py

@@ -7,6 +7,7 @@
 broker = config["mqtt"]["broker"]
 port = config["mqtt"]["port"]
 
+
 def connect_mqtt(client_id) -> mqtt_client:
     def on_connect(client, userdata, flags, rc):
         if rc == 0:
@@ -21,6 +22,7 @@ def on_connect(client, userdata, flags, rc):
     client.connect(broker, port)
     return client
 
+
 def on_disconnect(client, userdata, rc):
     if rc != 0:
-        print(f"Unexpected MQTT disconnection. Will auto-reconnect (rc={rc})")
+        print(f"Unexpected MQTT disconnection. Will auto-reconnect (rc={rc})")

scripts/clear_logs.py

@@ -6,13 +6,13 @@
 RADCAMLOG = "../liveDataLog/radcam_log.json"
 IMGS = "../liveDataLog/camera_data/"
 
-with open (RADCAMLOG, "w") as f:
+with open(RADCAMLOG, "w") as f:
     f.write("")
     print("Cleared radcam_log.json")
 
 # delete all jpgs
 for file in os.listdir(IMGS):
     if file.endswith(".jpg"):
         os.remove(IMGS + file)
-        #print(f"Deleted {file}")
-print("Cleared camera_data folder.")
+        # print(f"Deleted {file}")
+print("Cleared camera_data folder.")

scripts/extract_logitech_frame.py

@@ -6,5 +6,5 @@
     ret, frame = cap.read()
     cv2.imshow("frame", frame)
     print(frame.shape)
-    if cv2.waitKey(1) & 0xFF == ord('q'):
-        break
+    if cv2.waitKey(1) & 0xFF == ord("q"):
+        break

scripts/frame_write.py

@@ -10,11 +10,11 @@
 with open("config.yaml", "r") as f:
     config = yaml.safe_load(f)
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     cap = cv2.VideoCapture(config["Files"]["video_file"])
     ret, frame = cap.read()
     with open("data/sample_frame.txt", "a") as f:
         f.write(str(bytearray(frame)))
     print("Sample frame written to data/sample_frame.txt")
     cap.release()
-    cv2.destroyAllWindows()
+    cv2.destroyAllWindows()

scripts/image_extract.py

@@ -1,12 +1,15 @@
 import cv2
+
 """
 Extracting random frame as sample for resizing, to account for
 not being able to transmit a numpy array over MQTT. To reference
 a reshape size, this script is used to extract a frame from the
 video file and save it as an image.
 """
 
-frame_num = 50 # extract 50th frame as sample (arbitrary)
+frame_num = 50  # extract 50th frame as sample (arbitrary)
+
+
 def save_frame(video_path, output_path):
     cap = cv2.VideoCapture(video_path)
     cap.set(cv2.CAP_PROP_POS_FRAMES, frame_num)
@@ -20,6 +23,7 @@ def save_frame(video_path, output_path):
     # Release the video capture object
     cap.release()
 
+
 if __name__ == "__main__":
     input_video_path = "data/camdata.avi"
     output_image_path = "data/sample_frame.png"

t1_cam_client.py

@@ -1,26 +1,29 @@
 import cv2
 import yaml
 import datetime as dt
-import time 
+import time
 from processModule.serverConnect import connect_mqtt
 
 with open("config.yaml", "r") as f:
     config = yaml.safe_load(f)
 CLIENT_ID = config["mqtt"]["client_id2"]
 
+
 def on_log(client, userdata, level, buf):
-    print("log: ",buf)
+    print("log: ", buf)
+
 
 def on_message(client, userdata, message):
     if message.topic == "data/camera/frame":
         print(f"Received {len(message.payload)} bytes from topic {message.topic}")
     else:
-     print("message received " ,str(message.payload.decode("utf-8")))
-    print("message topic=",message.topic)
-    print("message qos=",message.qos)
-    print("message retain flag=",message.retain)
+        print("message received ", str(message.payload.decode("utf-8")))
+    print("message topic=", message.topic)
+    print("message qos=", message.qos)
+    print("message retain flag=", message.retain)
+
 
-def publish(client): 
+def publish(client):
     frame_id = 0
     i = 0
     frame_start = config["CameraOutput"]["frame_start"]
@@ -33,46 +36,53 @@ def publish(client):
             continue
         frame_id += 1
         if frame_id % frame_skip != 0:
-            i+=1 
+            i += 1
             continue
-    
+
         if not ret:
             break
-        
+
         msg_str = f"f_id {frame_id}: {frame}"
-        topic="data/camera/frame"
+        topic = "data/camera/frame"
         msg = bytearray(frame)
-        res = client.publish(topic, payload=msg, qos=0) # QoS 0 for frames
+        res = client.publish(topic, payload=msg, qos=0)  # QoS 0 for frames
         status = res[0]
         if status == 0:
             if config["mqtt"]["compressed_output"]:
-                print(f"{CLIENT_ID}: Send `{msg[:10]}` to topic `{topic} (fid={frame_id})`\n")
+                print(
+                    f"{CLIENT_ID}: Send `{msg[:10]}` to topic `{topic} (fid={frame_id})`\n"
+                )
             else:
-                print(f"{CLIENT_ID}: Send `{msg}` to topic `{topic} (fid={frame_id})`\n")    
+                print(
+                    f"{CLIENT_ID}: Send `{msg}` to topic `{topic} (fid={frame_id})`\n"
+                )
         else:
             print(f"{CLIENT_ID}: Failed to send frame message to topic {topic}")
         timestamp = dt.datetime.now().isoformat()
-        topic="data/camera/ts"
-        res = client.publish(topic, payload=timestamp, qos=1) # QoS 1 for timestamps
+        topic = "data/camera/ts"
+        res = client.publish(topic, payload=timestamp, qos=1)  # QoS 1 for timestamps
         status = res[0]
         if status == 0:
             print(f"{CLIENT_ID}: Send `{timestamp}` to topic `{topic}`\n")
         else:
             print(f"{CLIENT_ID}: Failed to send timestamp message to topic {topic}")
         time.sleep(0.033)
-        i+=1
+        i += 1
+
 
 cap = cv2.VideoCapture(config["Files"]["video_file"])
 
+
 def run():
     def exit_handler(client):
         cap.release()
         client.disconnect()
         cv2.destroyAllWindows()
+
     try:
-        client = connect_mqtt(CLIENT_ID) 
+        client = connect_mqtt(CLIENT_ID)
         if config["mqtt"]["show_log"]:
-            client.on_message=on_message
+            client.on_message = on_message
             # client.on_log=on_log
         client.loop_start()
         publish(client)
@@ -85,5 +95,6 @@ def exit_handler(client):
         print(e)
         exit_handler(client)
 
-if __name__ == '__main__':
-    run()
+
+if __name__ == "__main__":
+    run()