bluer-sbc 8.130.1__py3-none-any.whl → 8.151.1__py3-none-any.whl

bluer_sbc/.abcli/alias.sh

@@ -1,5 +1,7 @@
 #! /usr/bin/env bash
 
-alias @sbc=bluer_sbc
+alias @camera=bluer_sbc_camera
 
 alias grove=bluer_sbc_grove
+
+alias @sbc=bluer_sbc

bluer_sbc/.abcli/seed/headless_rpi.sh

@@ -0,0 +1,51 @@
+#! /usr/bin/env bash
+
+# internal function to bluer_ai_seed.
+# seed is NOT local
+function bluer_ai_seed_headless_rpi() {
+    bluer_ai_seed add_kaggle
+
+    bluer_ai_seed add_ssh_key sudo
+
+    # https://serverfault.com/a/1093530
+    # https://packages.ubuntu.com/bionic/all/ca-certificates/download
+    local certificate_name="ca-certificates_20230311ubuntu0.18.04.1_all"
+    seed="${seed}wget --no-check-certificate http://security.ubuntu.com/ubuntu/pool/main/c/ca-certificates/$certificate_name.deb$delim"
+    seed="${seed}sudo dpkg -i $certificate_name.deb$delim_section"
+    seed="${seed}sudo apt-get update --allow-releaseinfo-change$delim"
+    seed="${seed}sudo apt-get install -y ca-certificates libgnutls30$delim"
+    seed="${seed}sudo apt install -y python3-venv$delim"
+    seed="${seed}sudo apt install -y cmake build-essential$delim"
+    seed="${seed}sudo apt install -y libjpeg-dev zlib1g-dev libfreetype6-dev liblcms2-dev libopenjpeg-dev libtiff-dev libwebp-dev$delim"
+    seed="${seed}sudo apt-get install libopenblas-base$delim"
+
+    seed="${seed}sudo apt-get --yes --force-yes install git$delim_section"
+
+    bluer_ai_seed add_repo
+
+    seed="${seed}mkdir -pv ~/storage/temp/ignore$delim"
+    seed="${seed}touch ~/storage/temp/ignore/headless$delim_section"
+
+    bluer_ai_seed add_bluer_ai_env
+
+    seed="${seed}sudo apt install -y python3-pip$delim"
+    seed="${seed}pip3 install --upgrade pip --no-input$delim"
+    seed="${seed}pip3 install \"pandas<2.1\"$delim"
+    seed="${seed}pip3 install pillow$delim"
+    seed="${seed}pip3 install -e . --constraint ./bluer_ai/assets/no-pyarrow.txt$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-objects
+    seed="${seed}pip3 install -e .$delim_section"
+    seed="${seed}$(bluer_ai_seed add_file $abcli_path_git/bluer-objects/.env \$HOME/git/bluer-objects/.env)$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-sbc
+    seed="${seed}pip3 install -e .$delim_section"
+
+    seed="${seed}pip3 install opencv-python-headless$delim_section"
+    seed="${seed}sudo apt install -y libopenjp2-7 libavcodec58 libavformat58 libswscale5 libblas3 libatlas3-base$delim_section"
+
+    seed="${seed}cd; cd git; cd bluer-ai$delim"
+    seed="${seed}source ./bluer_ai/.abcli/bluer_ai.sh$delim_section"
+
+    seed="${seed}source ~/.bashrc$delim_section"
+}

bluer_sbc/.abcli/seed/headless_rpi_64_bit.sh

@@ -0,0 +1,38 @@
+#! /usr/bin/env bash
+
+# internal function to bluer_ai_seed.
+# seed is NOT local
+function bluer_ai_seed_headless_rpi_64_bit() {
+    bluer_ai_seed add_kaggle
+
+    bluer_ai_seed add_ssh_key sudo
+
+    seed="${seed}sudo apt-get --yes --force-yes install git$delim_section"
+
+    bluer_ai_seed add_repo
+
+    seed="${seed}mkdir -pv ~/storage/temp/ignore$delim"
+    seed="${seed}touch ~/storage/temp/ignore/headless$delim_section"
+
+    bluer_ai_seed add_bluer_ai_env_ssp
+
+    local ssp="--break-system-packages"
+
+    seed="${seed}sudo apt update$delim"
+    seed="${seed}sudo apt install -y python3-pip$delim"
+    seed="${seed}pip3 install $ssp -e .$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-objects
+    seed="${seed}pip3 install $ssp -e .$delim_section"
+    seed="${seed}$(bluer_ai_seed add_file $abcli_path_git/bluer-objects/.env \$HOME/git/bluer-objects/.env)$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-sbc
+    seed="${seed}pip3 install $ssp -e .$delim_section"
+
+    seed="${seed}pip3 install $ssp opencv-python-headless$delim"
+    seed="${seed}sudo apt install -y python3-picamera2$delim"
+    seed="${seed}pip3 install --force-reinstall --no-cache-dir simplejpeg$delim_section"
+
+    seed="${seed}cd; cd git; cd bluer-ai$delim"
+    seed="${seed}source ./bluer_ai/.abcli/bluer_ai.sh$delim_section"
+}

bluer_sbc/.abcli/{ROS/seed.sh → seed/headless_ubuntu_rpi.sh}

@@ -16,6 +16,8 @@ function bluer_ai_seed_headless_ubuntu_rpi() {
     seed="${seed}sudo apt install -y wireless-tools$delim"
     seed="${seed}sudo apt install -y gcc python3-dev$delim"
     seed="${seed}sudo apt install -y gcc-aarch64-linux-gnu$delim"
+    seed="${seed}sudo apt install -y v4l-utils$delim"
+    seed="${seed}sudo apt install -y ffmpeg$delim"
     seed="${seed}sudo apt install -y python3-venv$delim_section"
 
     seed="${seed}sudo mkdir -p /etc/systemd/system/getty@tty1.service.d$delim"

bluer_sbc/.abcli/seed/jetson.sh

@@ -0,0 +1,31 @@
+#! /usr/bin/env bash
+
+# internal function to bluer_ai_seed.
+# seed is NOT local
+function bluer_ai_seed_jetson() {
+    bluer_ai_seed add_kaggle
+
+    bluer_ai_seed add_ssh_key sudo
+
+    seed="${seed}sudo apt-get --yes --force-yes install git$delim_section"
+
+    bluer_ai_seed add_repo
+
+    bluer_ai_seed add_bluer_ai_env
+
+    seed="${seed}sudo apt install -y python3-pip$delim"
+    seed="${seed}pip3 install --upgrade pip --no-input$delim"
+    seed="${seed}pip3 install -e .$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-objects
+    seed="${seed}pip3 install -e .$delim_section"
+    seed="${seed}$(bluer_ai_seed add_file $abcli_path_git/bluer-objects/.env \$HOME/git/bluer-objects/.env)$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-sbc
+    seed="${seed}pip3 install -e .$delim_section"
+
+    seed="${seed}cd; cd git; cd bluer-ai$delim"
+    seed="${seed}source ./bluer_ai/.abcli/bluer_ai.sh$delim_section"
+
+    seed="${seed}source ~/.bashrc$delim_section"
+}

bluer_sbc/.abcli/seed/rpi.sh

@@ -0,0 +1,31 @@
+#! /usr/bin/env bash
+
+# internal function to bluer_ai_seed.
+# seed is NOT local
+function bluer_ai_seed_rpi() {
+    bluer_ai_seed add_kaggle
+
+    bluer_ai_seed add_ssh_key sudo
+
+    seed="${seed}sudo apt-get --yes --force-yes install git$delim_section"
+
+    bluer_ai_seed add_repo
+
+    bluer_ai_seed add_bluer_ai_env
+
+    seed="${seed}sudo apt install -y python3-pip$delim"
+    seed="${seed}pip3 install --upgrade pip --no-input$delim"
+    seed="${seed}pip3 install -e .$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-objects
+    seed="${seed}pip3 install -e .$delim_section"
+    seed="${seed}$(bluer_ai_seed add_file $abcli_path_git/bluer-objects/.env \$HOME/git/bluer-objects/.env)$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-sbc
+    seed="${seed}pip3 install -e .$delim_section"
+
+    seed="${seed}cd; cd git; cd bluer-ai$delim"
+    seed="${seed}source ./bluer_ai/.abcli/bluer_ai.sh$delim_section"
+
+    seed="${seed}source ~/.bashrc$delim_section"
+}

bluer_sbc/.abcli/seed/swallow_raspbian.sh

@@ -0,0 +1,13 @@
+#! /usr/bin/env bash
+
+# internal function to bluer_ai_seed.
+# seed is NOT local
+function bluer_ai_seed_swallow_raspbian() {
+    local ssp="--break-system-packages"
+
+    bluer_ai_seed add_repo repo=bluer-ugv
+    seed="${seed}pip3 install $ssp -e .$delim_section"
+
+    bluer_ai_seed add_repo repo=bluer-algo
+    seed="${seed}pip3 install $ssp -e .$delim_section"
+}

bluer_sbc/.abcli/seed.sh

@@ -1,84 +1,3 @@
 #! /usr/bin/env bash
 
-# internal function to bluer_ai_seed.
-# seed is NOT local
-function bluer_ai_seed_headless_rpi() {
-    bluer_sbc_seed "$@"
-}
-function bluer_ai_seed_jetson() {
-    bluer_sbc_seed "$@"
-}
-function bluer_ai_seed_rpi() {
-    bluer_sbc_seed "$@"
-}
-
-function bluer_sbc_seed() {
-    local target=$1
-
-    bluer_ai_seed add_kaggle
-
-    bluer_ai_seed add_ssh_key sudo
-
-    # https://serverfault.com/a/1093530
-    # https://packages.ubuntu.com/bionic/all/ca-certificates/download
-    local certificate_name="ca-certificates_20230311ubuntu0.18.04.1_all"
-    seed="${seed}wget --no-check-certificate http://security.ubuntu.com/ubuntu/pool/main/c/ca-certificates/$certificate_name.deb$delim"
-    seed="${seed}sudo dpkg -i $certificate_name.deb$delim_section"
-    seed="${seed}sudo apt-get update --allow-releaseinfo-change$delim"
-    seed="${seed}sudo apt-get install -y ca-certificates libgnutls30$delim"
-    seed="${seed}sudo apt install -y python3-venv$delim"
-    seed="${seed}sudo apt install -y cmake build-essential$delim"
-    seed="${seed}sudo apt install -y libjpeg-dev zlib1g-dev libfreetype6-dev liblcms2-dev libopenjpeg-dev libtiff-dev libwebp-dev$delim"
-    seed="${seed}sudo apt-get install libopenblas-base$delim"
-    seed="${seed}sudo apt-get --yes --force-yes install git$delim_section"
-
-    bluer_ai_seed add_repo
-
-    if [[ "$target" == "headless_rpi" ]]; then
-        seed="${seed}mkdir -pv ~/storage/temp/ignore$delim"
-        seed="${seed}touch ~/storage/temp/ignore/headless$delim_section"
-    fi
-
-    bluer_ai_seed add_bluer_ai_env
-
-    seed="${seed}pip3 install --upgrade pip --no-input$delim"
-    seed="${seed}pip3 install \"pandas<2.1\"$delim"
-    seed="${seed}pip3 install pillow$delim"
-    seed="${seed}pip3 install -e . --constraint ./bluer_ai/assets/no-pyarrow.txt$delim_section"
-
-    bluer_ai_seed add_repo repo=bluer-objects
-    seed="${seed}pip3 install -e .$delim_section"
-    seed="${seed}$(bluer_ai_seed add_file $abcli_path_git/bluer-objects/.env \$HOME/git/bluer-objects/.env)$delim_section"
-
-    bluer_ai_seed add_repo repo=bluer-sbc
-    seed="${seed}pip3 install -e .$delim_section"
-
-    if [[ "$target" == "headless_rpi" ]]; then
-        seed="${seed}pip3 install opencv-python-headless$delim"
-        seed="${seed}sudo apt install -y libopenjp2-7 libavcodec58 libavformat58 libswscale5 libblas3 libatlas3-base$delim_section"
-    fi
-
-    seed="${seed}cd; cd git; cd bluer-ai$delim"
-    seed="${seed}source ./bluer_ai/.abcli/bluer_ai.sh$delim_section"
-
-    seed="${seed}source ~/.bashrc$delim_section"
-
-    if [[ ! -z "$env_name" ]]; then
-        seed="${seed}bluer_ai_env dot copy $env_name$delim"
-        seed="${seed}bluer_ai init$delim_section"
-    fi
-}
-
-function bluer_ai_seed_swallow_raspbian() {
-    bluer_ai_seed add_repo repo=bluer-ugv
-    seed="${seed}pip3 install -e .$delim_section"
-
-    seed="${seed}sudo apt install -y libopenblas-dev$delim"
-
-    seed="${seed}cd$delim"
-    seed="${seed}wget https://github.com/nmilosev/pytorch-arm-builds/releases/download/v1.13.0/torch-1.13.0-cp39-cp39-linux_armv7l.whl$delim"
-    seed="${seed}pip3 install torch-1.13.0-cp39-cp39-linux_armv7l.whl$delim_section"
-
-    bluer_ai_seed add_repo repo=bluer-algo
-    seed="${seed}pip3 install -e .$delim_section"
-}
+bluer_ai_source_caller_suffix_path /seed

bluer_sbc/.abcli/tests/seed.sh

@@ -6,9 +6,11 @@ function test_bluer_sbc_seed() {
     local target
     for target in \
         headless_rpi \
+        headless_rpi_64_bit \
         headless_ubuntu_rpi \
         jetson \
-        rpi; do
+        rpi \
+        swallow_raspbian; do
         bluer_ai_eval ,$options \
             bluer_ai_seed $target screen
         [[ $? -ne 0 ]] && return 1

bluer_sbc/__init__.py

@@ -4,7 +4,7 @@ ICON = "🌀"
 
 DESCRIPTION = f"{ICON} AI for single board computers."
 
-VERSION = "8.130.1"
+VERSION = "8.151.1"
 
 REPO_NAME = "bluer-sbc"
 

bluer_sbc/config.env

@@ -2,6 +2,7 @@ BLUER_SBC_CAMERA_HI_RES=1
 BLUER_SBC_CAMERA_WIDTH=728
 BLUER_SBC_CAMERA_HEIGHT=600
 BLUER_SBC_CAMERA_ROTATION=0
+BLUER_SBC_CAMERA_KEEP_OPEN=0
 
 BLUER_SBC_DISPLAY_FULLSCREEN=1
 

bluer_sbc/env.py

@@ -7,6 +7,7 @@ BLUER_SBC_CAMERA_HI_RES = get_env("BLUER_SBC_CAMERA_HI_RES", True)
 BLUER_SBC_CAMERA_WIDTH = get_env("BLUER_SBC_CAMERA_WIDTH", 728)
 BLUER_SBC_CAMERA_HEIGHT = get_env("BLUER_SBC_CAMERA_HEIGHT", 600)
 BLUER_SBC_CAMERA_ROTATION = get_env("BLUER_SBC_CAMERA_ROTATION", 0)
+BLUER_SBC_CAMERA_KEEP_OPEN = get_env("BLUER_SBC_CAMERA_KEEP_OPEN", 0)
 
 BLUER_SBC_DISPLAY_FULLSCREEN = get_env("BLUER_SBC_DISPLAY_FULLSCREEN", True)
 

bluer_sbc/imager/camera/__init__.py

@@ -1,3 +1,11 @@
-from bluer_sbc.imager.camera.classes import Camera
+from bluer_options import host
+
+if host.is_rpi():
+    if host.is_64bit():
+        from bluer_sbc.imager.camera.rpi_64_bit import RPI_64_bit_Camera as Camera
+    else:
+        from bluer_sbc.imager.camera.rpi import RPI_Camera as Camera
+else:
+    from bluer_sbc.imager.camera.generic import Camera
 
 instance = Camera()

bluer_sbc/imager/camera/generic.py

@@ -0,0 +1,208 @@
+import cv2
+from typing import Tuple, List, Union
+import numpy as np
+
+from blueness import module
+from bluer_options import string
+from bluer_options import host
+from bluer_options.timer import Timer
+from bluer_options.logger import crash_report
+from bluer_objects import file, objects
+
+from bluer_sbc import env
+from bluer_sbc.hardware import hardware
+from bluer_sbc.imager.classes import Imager
+from bluer_sbc.logger import logger
+
+
+class Camera(Imager):
+    def __init__(self):
+        self.device = None
+        self.resolution = []
+
+    def capture(
+        self,
+        close_after: bool = True,
+        log: bool = True,
+        open_before: bool = True,
+        filename: str = "",
+        object_name: str = "",
+    ) -> Tuple[bool, np.ndarray]:
+        success = False
+        image = np.ones((1, 1, 3), dtype=np.uint8) * 127
+
+        if open_before:
+            if not self.open():
+                return success, image
+
+        if self.device is None:
+            return success, image
+
+        success, image = self.capture_function()
+        if not success:
+            logger.warning("capture failed.")
+        elif log:
+            logger.info(
+                "{}.capture(): {}".format(
+                    self.__class__.__name__,
+                    string.pretty_shape_of_matrix(image),
+                )
+            )
+
+        if close_after:
+            self.close()
+
+        if success and filename:
+            success = file.save_image(
+                filename=objects.path_of(
+                    object_name=object_name,
+                    filename=filename,
+                ),
+                image=image,
+                log=log,
+            )
+
+        return success, image
+
+    def capture_function(self) -> Tuple[bool, np.ndarray]:
+        success = False
+        image = np.ones((1, 1, 3), dtype=np.uint8) * 127
+
+        try:
+            success, image = self.device.read()
+
+            if success:
+                image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+
+        except Exception as e:
+            crash_report(e)
+
+        return success, image
+
+    # https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/6
+    def capture_video(
+        self,
+        filename: str,
+        object_name: str,
+        length: int = 10,  # in seconds
+        preview: bool = True,
+        pulse: bool = True,
+        resolution=None,
+    ) -> bool:
+        logger.error(f"{self.__class__.__name__}.capture_video(): not implemented.")
+        return False
+
+    def close(self, log: bool = True) -> bool:
+        if self.device is None:
+            logger.warning(
+                "{}.close(): device is {}, failed.".format(
+                    self.__class__.__name__,
+                    self.device,
+                )
+            )
+            return False
+
+        try:
+            self.close_function()
+        except Exception as e:
+            crash_report(e)
+            return False
+
+        self.device = None
+
+        if log:
+            logger.info(f"{self.__class__.__name__}.close().")
+
+        return True
+
+    def close_function(self):
+        self.device.release()
+
+    def get_resolution(self) -> List[int]:
+        try:
+            resolution = self.get_resolution_function()
+        except Exception as e:
+            crash_report(e)
+            return []
+
+        return resolution
+
+    def get_resolution_function(self) -> Tuple[int, int]:
+        return [
+            int(self.device.get(const))
+            for const in [cv2.CAP_PROP_FRAME_HEIGHT, cv2.CAP_PROP_FRAME_WIDTH]
+        ]
+
+    def open(
+        self,
+        log: bool = True,
+        resolution: Union[List[int], None] = None,
+    ) -> bool:
+        try:
+            self.open_function(resolution=resolution)
+
+            self.resolution = self.get_resolution()
+
+            if log:
+                logger.info(
+                    "{}.open({})".format(
+                        self.__class__.__name__,
+                        string.pretty_shape(self.resolution),
+                    )
+                )
+
+            return True
+        except Exception as e:
+            crash_report(e)
+            return False
+
+    def open_function(
+        self,
+        resolution=Union[List[int], None],
+    ):
+        self.device = cv2.VideoCapture(0)
+
+        # https://stackoverflow.com/a/31464688
+        self.device.set(cv2.CAP_PROP_FRAME_WIDTH, env.BLUER_SBC_CAMERA_WIDTH)
+        self.device.set(cv2.CAP_PROP_FRAME_HEIGHT, env.BLUER_SBC_CAMERA_HEIGHT)
+
+    def preview(
+        self,
+        length: float = -1,
+    ) -> bool:
+        logger.info(
+            "{}.preview{} ... | press q or e to quit ...".format(
+                self.__class__.__name__,
+                "[{}]".format("" if length == -1 else string.pretty_duration(length)),
+            )
+        )
+
+        hardware.sign_images = False
+        timer = Timer(length, "preview")
+        try:
+            self.open(
+                log=True,
+                resolution=(320, 240),
+            )
+
+            while not hardware.pressed("qe"):
+                _, image = self.capture(
+                    close_after=False,
+                    log=False,
+                    open_before=False,
+                )
+                hardware.update_screen(image, None, [])
+
+                if timer.tick(wait=True):
+                    logger.info(
+                        "{} is up, quitting.".format(string.pretty_duration(length))
+                    )
+                    break
+
+        except KeyboardInterrupt:
+            logger.info("Ctrl+C, stopping.")
+
+        finally:
+            self.close(log=True)
+
+        return True

bluer_sbc/imager/camera/rpi.py

@@ -0,0 +1,112 @@
+from typing import Tuple, Union, List
+import numpy as np
+from time import sleep
+
+from bluer_options.logger import crash_report
+from bluer_options import string
+from bluer_objects import file, objects
+
+from bluer_sbc.imager.camera.generic import Camera
+from bluer_sbc.hardware import hardware
+from bluer_sbc import env
+from bluer_sbc.logger import logger
+
+
+class RPI_Camera(Camera):
+    def capture_function(self) -> Tuple[bool, np.ndarray]:
+        success = False
+        image = np.ones((1, 1, 3), dtype=np.uint8) * 127
+
+        temp = file.auxiliary("camera", "png")
+        try:
+            self.device.capture(temp)
+            success = True
+        except Exception as e:
+            crash_report(e)
+
+        if success:
+            success, image = file.load_image(temp)
+
+        return success, image
+
+    # https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/6
+    def capture_video(
+        self,
+        filename: str,
+        object_name: str,
+        length: int = 10,  # in seconds
+        preview: bool = True,
+        pulse: bool = True,
+        resolution=None,
+    ) -> bool:
+        if not self.open(resolution=resolution):
+            return False
+
+        full_filename = objects.path_of(
+            object_name=object_name,
+            filename=filename,
+        )
+
+        success = True
+        try:
+            if preview:
+                self.device.start_preview()
+
+            self.device.start_recording(full_filename)
+            if pulse:
+                for _ in range(int(10 * length)):
+                    hardware.pulse("outputs")
+                    sleep(0.1)
+            else:
+                sleep(length)
+            self.device.stop_recording()
+
+            if preview:
+                self.device.stop_preview()
+        except Exception as e:
+            crash_report(e)
+            success = False
+
+        if not self.close():
+            return False
+
+        if success:
+            logger.info(
+                "{}.capture_video(): {} -{}-> {}".format(
+                    self.__class__.__name__,
+                    string.pretty_duration(length),
+                    string.pretty_bytes(file.size(full_filename)),
+                    filename,
+                )
+            )
+
+        return success
+
+    def close_function(self):
+        self.device.close()
+
+    def get_resolution_function(self) -> Tuple[int, int]:
+        return [value for value in self.device.resolution]
+
+    def open_function(
+        self,
+        resolution=Union[List[int], None],
+    ):
+        from picamera import PiCamera
+
+        self.device = PiCamera()
+        self.device.rotation = env.BLUER_SBC_CAMERA_ROTATION
+
+        # https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/7
+        self.device.resolution = (
+            (
+                (2592, 1944)
+                if env.BLUER_SBC_CAMERA_HI_RES
+                else (
+                    env.BLUER_SBC_CAMERA_WIDTH,
+                    env.BLUER_SBC_CAMERA_HEIGHT,
+                )
+            )
+            if resolution is None
+            else resolution
+        )

bluer_sbc/imager/camera/rpi_64_bit.py

@@ -0,0 +1,49 @@
+from typing import Tuple, Union, List
+import numpy as np
+
+from bluer_options.logger import crash_report
+
+from bluer_sbc.imager.camera.generic import Camera
+from bluer_sbc import env
+
+
+class RPI_64_bit_Camera(Camera):
+    def capture_function(self) -> Tuple[bool, np.ndarray]:
+        success = False
+        image = np.ones((1, 1, 3), dtype=np.uint8) * 127
+
+        try:
+            image = self.device.capture_array()
+            success = True
+        except Exception as e:
+            crash_report(e)
+
+        return success, image
+
+    def close_function(self):
+        self.device.stop()
+        del self.device
+
+    def get_resolution_function(self) -> Tuple[int, int]:
+        width, height = self.device.stream_configuration("main")["size"]
+        return [height, width]
+
+    def open_function(
+        self,
+        resolution=Union[List[int], None],
+    ):
+        from picamera2 import Picamera2
+
+        self.device = Picamera2()
+
+        config = self.device.create_still_configuration(
+            main={
+                "size": (
+                    env.BLUER_SBC_CAMERA_WIDTH,
+                    env.BLUER_SBC_CAMERA_HEIGHT,
+                )
+            }
+        )
+        self.device.configure(config)
+
+        self.device.start()

bluer_sbc/session/classes.py

@@ -90,7 +90,15 @@ class Session:
             return
         self.capture_requested = False
 
-        success, image = imager.capture()
+        if env.BLUER_SBC_CAMERA_KEEP_OPEN:
+            if imager.device is None:
+                if not imager.open(log=True):
+                    return
+
+        success, image = imager.capture(  # pylint: disable=unexpected-keyword-arg
+            open_before=not bool(env.BLUER_SBC_CAMERA_KEEP_OPEN),
+            close_after=not bool(env.BLUER_SBC_CAMERA_KEEP_OPEN),
+        )
         if not success:
             return
 
@@ -178,6 +186,9 @@ class Session:
     def close(self):
         hardware.release()
 
+        if env.BLUER_SBC_CAMERA_KEEP_OPEN:
+            imager.close(log=True)
+
     def process_message(self, message):
         if (
             env.BLUER_SBC_SESSION_OUTBOUND_QUEUE

{bluer_sbc-8.130.1.dist-info → bluer_sbc-8.151.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_sbc
-Version: 8.130.1
+Version: 8.151.1
 Summary: 🌀 AI for single board computers.
 Home-page: https://github.com/kamangir/bluer-sbc
 Author: Arash Abadpour (Kamangir)
@@ -50,7 +50,7 @@ pip install bluer_sbc
 
 [![pylint](https://github.com/kamangir/bluer-sbc/actions/workflows/pylint.yml/badge.svg)](https://github.com/kamangir/bluer-sbc/actions/workflows/pylint.yml) [![pytest](https://github.com/kamangir/bluer-sbc/actions/workflows/pytest.yml/badge.svg)](https://github.com/kamangir/bluer-sbc/actions/workflows/pytest.yml) [![bashtest](https://github.com/kamangir/bluer-sbc/actions/workflows/bashtest.yml/badge.svg)](https://github.com/kamangir/bluer-sbc/actions/workflows/bashtest.yml) [![PyPI version](https://img.shields.io/pypi/v/bluer-sbc.svg)](https://pypi.org/project/bluer-sbc/) [![PyPI - Downloads](https://img.shields.io/pypi/dd/bluer-sbc)](https://pypistats.org/packages/bluer-sbc)
 
-built by 🌀 [`bluer README`](https://github.com/kamangir/bluer-objects/tree/main/bluer_objects/README), based on 🌀 [`bluer_sbc-8.130.1`](https://github.com/kamangir/bluer-sbc).
+built by 🌀 [`bluer README`](https://github.com/kamangir/bluer-objects/tree/main/bluer_objects/README), based on 🌀 [`bluer_sbc-8.151.1`](https://github.com/kamangir/bluer-sbc).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_sbc-8.130.1.dist-info → bluer_sbc-8.151.1.dist-info}/RECORD

@@ -1,40 +1,43 @@
 bluer_sbc/README.py,sha256=p-zQD0mdeXyPxgy9MpqlTH8tNhP2HMLO6J7Ta2Gv4qQ,1115
-bluer_sbc/__init__.py,sha256=yM_1O6PavEJ8jhH5zCempjy5OtGd1TzeT3FsUCfnToE,292
+bluer_sbc/__init__.py,sha256=aalP6JdbH9v9E0ZwkGFRmXqg-k5udZLi9TlI1vI2sJ0,292
 bluer_sbc/__main__.py,sha256=JV8oYpZDQbvcDpKJtbjU0hDeMJkzsDLGlhIWLmRpDQ4,348
-bluer_sbc/config.env,sha256=_0-DQI3JZ5lvC1750KepY4ug6apI0I5EhcbZ3JD1yZs,652
-bluer_sbc/env.py,sha256=w1kYRW06SUm4AzyrqWX1SDRahR8eHWmWHEV1WQ3k1rs,1554
+bluer_sbc/config.env,sha256=1UOU7j1cP_hZEiJoRKrjxmsziWMkz92W-o9q_IOJx7Y,681
+bluer_sbc/env.py,sha256=PP_KcbMStWVvKtw79PFNampTxCuEV7vQvhCiINtLwBA,1624
 bluer_sbc/host.py,sha256=RacmqxPRBQrL--JHx_Q-KyuEjEZ1kSFu4fa5pCA0CHQ,209
 bluer_sbc/logger.py,sha256=4euXgNprDpQSuR45RXy0kWQ1LvCL_dwOi2v37hVBWvk,99
 bluer_sbc/sample.env,sha256=mX86TGaZvbbGKbiXQdInSBu7sVvLs2IzqYaHNVl0g5M,50
 bluer_sbc/urls.py,sha256=Bjdewssljt0LIefjixBem9JN0kkghPvmrIETj3GdXbY,17
-bluer_sbc/.abcli/ROS.sh,sha256=n0zl46gYEwAQb7scfBYM9Jk9JCrX1PRH4jzmVrVfDxk,62
 bluer_sbc/.abcli/abcli.sh,sha256=Q_YRZUeFjN4UT9zT8lzrNIQSuORPie4Cp5CW5O2pX5w,290
 bluer_sbc/.abcli/actions.sh,sha256=P4d9lOzxdvkISZ0M3lZKH9JlmrcWTJ_HeEQAhIRLvC8,224
 bluer_sbc/.abcli/adafruit_rgb_matrix.sh,sha256=DwPJeuDXYa_F0r4nIWNeBYVtodyHYT2tV9JxPbWxhAM,382
-bluer_sbc/.abcli/alias.sh,sha256=0J8ChbWxoRSA-nkVpzweNaEKEqhT6X6ah32o5I69Hyk,72
+bluer_sbc/.abcli/alias.sh,sha256=PsTwzDXyeSvXGY-0LRF3U8df3AQVvPU35MOKQ4lx7xo,104
 bluer_sbc/.abcli/blue_sbc.sh,sha256=4O_0C56Xj5P7FjSTet5k7hvaNa-SIKpBUsz4MkBUc84,198
 bluer_sbc/.abcli/camera.sh,sha256=cmDDqUoy-YaO-nwKoTcsgrX-KbZ1JtXiPA3RVBoUb3s,447
 bluer_sbc/.abcli/grove.sh,sha256=6Lf4TiQzZj9uStCY9ezd8djcqVthzbybkmgmZ8Kr9wE,1180
 bluer_sbc/.abcli/hat.sh,sha256=ggMb9XOFA3t3sBTGalQK4x7yNuAgK3jA6UkFDWAnndM,449
 bluer_sbc/.abcli/lepton.sh,sha256=e7bzeYC8JpZMTTWkIfIscPfsoGYPb1ONWaTdDrglfRc,327
 bluer_sbc/.abcli/scroll_phat_hd.sh,sha256=AUD38PfNMCA-88GjHa-xV4OM7IS8mg5ECNFjAzLJ8AQ,331
-bluer_sbc/.abcli/seed.sh,sha256=rJ35m0E4D0sTJG0LFhJ5bgcwLQIH63JoOxOoMxw32f8,3253
+bluer_sbc/.abcli/seed.sh,sha256=9azGhOe8g9FEAsI87AkJfKpLp-tF4Ej1x2dgcJ0sa5I,63
 bluer_sbc/.abcli/session.sh,sha256=90Y-2pzZnM3YZO9sYeshS83oiLUE38WqCl-gA_RfWT0,1003
 bluer_sbc/.abcli/sparkfun_top_phat.sh,sha256=F8dV3MjghNU1MMzCXRnQ0kaorr2BOswLBt8Sry5Youo,686
 bluer_sbc/.abcli/unicorn_16x16.sh,sha256=_cvgK1tT51BqN12HxEx_9FXWTNvPISd4T7pPmA2Jxfo,330
-bluer_sbc/.abcli/ROS/seed.sh,sha256=8OVfgFjU6KDv0V6V_CaRSswa4lACs3pQbVV8oGGVNnY,2407
 bluer_sbc/.abcli/install/adafruit_rgb_matrix.sh,sha256=YwUKVwwNtmETTomaPUi5O01_Bhoo9IZGdkv3ohGYyTY,452
 bluer_sbc/.abcli/install/grove.sh,sha256=4ceAMdU62p-_Y3gSF_ZLjqZqCnZ3ka_mKQVKu-bvdPI,848
 bluer_sbc/.abcli/install/lepton.sh,sha256=ziLRm872Y-SIRSqXFdSPap596hWFNOSJGz6oFLY4nMw,1005
-bluer_sbc/.abcli/install/rpi.sh,sha256=JDiEdEgTgZ2HaGmu7H5ygzeBy9SHZrw20Jnay8EsKf4,2388
 bluer_sbc/.abcli/install/scroll_phat_hd.sh,sha256=CxMLLh34C1i9FRyaD9JTUI9chTik18LAJltiEIax_Xk,395
 bluer_sbc/.abcli/install/sparkfun_top_phat.sh,sha256=3kOMZXBafLm2RqHXXgTx2Ez5WwY5ebKx6hdIK2TN2V0,1298
 bluer_sbc/.abcli/install/template.sh,sha256=Qqj6JKZlaxAqUGbY88gkNn-v-_aTUtKzpyi-lw353aY,215
 bluer_sbc/.abcli/install/unicorn_16x16.sh,sha256=zt6VN6c6cLQ59m7GiUNdV7aPTfO8CRoYtSs4VIuEJFw,496
+bluer_sbc/.abcli/seed/headless_rpi.sh,sha256=Sen1-Spg6lvBAzAqacLw42iJgME-v3yVs5T1qMuSO6c,2298
+bluer_sbc/.abcli/seed/headless_rpi_64_bit.sh,sha256=EsK30ungz2sDDrRBVVzNcqSTnMKKEcS6IBPVfRXt7N0,1315
+bluer_sbc/.abcli/seed/headless_ubuntu_rpi.sh,sha256=QQRkOLstdWequW4eutQPimhKwT1yHtHNRUJNhKN3FZ0,2512
+bluer_sbc/.abcli/seed/jetson.sh,sha256=QAvc-6aQwZ5oEhV5oruGfyFUwftsrPnO_d_7ryRQRkk,971
+bluer_sbc/.abcli/seed/rpi.sh,sha256=HzCcPnuC2DneMtiHawD6tjcgLuyCstljl-A90kmpDeg,968
+bluer_sbc/.abcli/seed/swallow_raspbian.sh,sha256=QK9YSkLA0_j5D_r8cp5DENLKhnczUj4a40O4w68ER98,363
 bluer_sbc/.abcli/tests/README.sh,sha256=0hp3y_URdsFtnYw5Ujty6xy5SNhNHGEVPqpQoYxu0WA,142
 bluer_sbc/.abcli/tests/camera.sh,sha256=NRr-RbyNORMSHYxNu6VUpVzHIJ2Qy-5NQr2qh54kqUg,1013
 bluer_sbc/.abcli/tests/help.sh,sha256=sfbx43OBqXwviy4yjVYTz38eTRijbWKWJlH2v4HvdSA,1359
-bluer_sbc/.abcli/tests/seed.sh,sha256=2FxgOe2WxSGKqKaigqxl28LCG4psIPVWE6I7oh9XjR4,335
+bluer_sbc/.abcli/tests/seed.sh,sha256=NQUQzgHQZITgaq2aFkiZkaLT0VKmIsrl3aTqSkr8670,392
 bluer_sbc/.abcli/tests/version.sh,sha256=odDOmAFlzH7KtsAYWOmyLsQ6GAws6XadNlZ6H-NZuzc,147
 bluer_sbc/ROS/__init__.py,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
 bluer_sbc/algo/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -71,20 +74,22 @@ bluer_sbc/help/sparkfun_top_phat.py,sha256=4JQMqzapnx5PBtzfw8RqpqgXtnF0HqDWxuTss
 bluer_sbc/help/unicorn_16x16.py,sha256=0uKABkkY7VGfmUj2U8g0fA0AvXDBlloVzGQXbx_mPO8,378
 bluer_sbc/imager/__init__.py,sha256=THkQ_yCpArJKfP7u_oeR-W7vGzCmXFDOa102FTDPAT4,419
 bluer_sbc/imager/classes.py,sha256=ikfQuazosqVHx-NEXArDvvCCbrOw8YJmRG6yPmiOijo,519
-bluer_sbc/imager/camera/__init__.py,sha256=n3jSl-WtSgP0DN9Qbl4cbs12tUmsmftxsJx7HXlHeeo,72
+bluer_sbc/imager/camera/__init__.py,sha256=rkye_7_RosR6q5X8ceWJi-SsGrW23oi761j-_BYu_3w,318
 bluer_sbc/imager/camera/__main__.py,sha256=KIS6lH8jWhE8_8vamQVhM-xd78BQ0GxRBHf7s8BQXFw,1588
-bluer_sbc/imager/camera/classes.py,sha256=9i3nXO4Rb6k9mugz3HT_5Vqg2dHKVlmekgEhmIYaUPs,7200
 bluer_sbc/imager/camera/constants.py,sha256=bcQ9-iz0OeKII_uFFQYDMZnTxPkh1C--9IsdUFb1qsY,606
+bluer_sbc/imager/camera/generic.py,sha256=TXqcdlcQWn_CUiOOai8Uh7xcyyfk0pg_02KIoiug9so,5622
+bluer_sbc/imager/camera/rpi.py,sha256=IF1iHoZQiXX3edpqPLc9sGtTyMH2suEnIck_vHST46U,3110
+bluer_sbc/imager/camera/rpi_64_bit.py,sha256=zRmdsUjsGfhdbAQroRoWmwuJ0rG_6fMM0-glSlXxEms,1253
 bluer_sbc/imager/lepton/__init__.py,sha256=qHzzDoYLe-RxMjIul-HTxT7sRt3O-sVC44vZJQZ9VBU,72
 bluer_sbc/imager/lepton/__main__.py,sha256=AUurRrU64bqLDKoiMeMPbHyIu53Rz4426ihzsPX6Juk,1081
 bluer_sbc/imager/lepton/classes.py,sha256=CnWEwaBZC2hAFuYkv32SAu7GaIK1A-PiLEppAgL7z4M,963
 bluer_sbc/imager/lepton/python2.py,sha256=1jAHHzmda_bmqKj0b0X-2KONW5s9umxKaTY4ZieoaCI,1600
 bluer_sbc/session/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_sbc/session/__main__.py,sha256=O2Tv6HgE8Bos7ASIViYludpWVi6EEc9XRoP8jYC2-2Q,534
-bluer_sbc/session/classes.py,sha256=WrfFBXf6Shz4PGyw1Xpr5nAnWbhfHXzabLnW393zbsE,8938
+bluer_sbc/session/classes.py,sha256=vap_vDWwZtecBY2G65IYPee0PQX7OlNcjLzfFu4rW-8,9355
 bluer_sbc/session/functions.py,sha256=eRJKSczRjKn3Fo2jv8_4EMAZwfJBj5cIPg2WqHkC2Q8,481
-bluer_sbc-8.130.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
-bluer_sbc-8.130.1.dist-info/METADATA,sha256=E6muudWAA7sjGdbHOGWVXybsbKGi5oV3CrFbY1djr24,3552
-bluer_sbc-8.130.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-bluer_sbc-8.130.1.dist-info/top_level.txt,sha256=DsLDHFiTeAj2mctGVmCSgWUhzCznWSQoUmQ1VyEmnT0,10
-bluer_sbc-8.130.1.dist-info/RECORD,,
+bluer_sbc-8.151.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
+bluer_sbc-8.151.1.dist-info/METADATA,sha256=5RCgOUDvGkW3NfA7OZPjpkOOHkoBhc3ChOoHJDohvtc,3552
+bluer_sbc-8.151.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+bluer_sbc-8.151.1.dist-info/top_level.txt,sha256=DsLDHFiTeAj2mctGVmCSgWUhzCznWSQoUmQ1VyEmnT0,10
+bluer_sbc-8.151.1.dist-info/RECORD,,

bluer_sbc/.abcli/ROS.sh

@@ -1,3 +0,0 @@
-#! /usr/bin/env bash
-
-bluer_ai_source_caller_suffix_path /ROS

bluer_sbc/.abcli/install/rpi.sh

@@ -1,65 +0,0 @@
-#! /usr/bin/env bash
-
-function bluer_ai_install_rpi() {
-    pushd $abcli_path_git >/dev/null
-
-    # https://docs.donkeycar.com/guide/robot_sbc/setup_raspberry_pi/
-    sudo apt-get update
-    sudo apt-get -y upgrade
-
-    sudo apt-get --yes --force-yes install build-essential python3 python3-dev python3-pip \
-        python3-virtualenv python3-numpy python3-picamera python3-pandas python3-rpi.gpio \
-        i2c-tools avahi-utils joystick libopenjp2-7-dev libtiff5-dev gfortran libatlas-base-dev \
-        libopenblas-dev libhdf5-serial-dev libgeos-dev git ntp
-
-    sudo apt-get --yes --force-yes install libilmbase-dev libopenexr-dev libgstreamer1.0-dev \
-        libjasper-dev libwebp-dev libatlas-base-dev libavcodec-dev libavformat-dev libswscale-dev \
-        libqtgui4 libqt4-test
-
-    # https://rtcbot.readthedocs.io/en/latest/installing.html
-    sudo apt-get --yes --force-yes install python3-numpy python3-cffi python3-aiohttp \
-        libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev \
-        libswscale-dev libswresample-dev libavfilter-dev libopus-dev \
-        libvpx-dev pkg-config libsrtp2-dev python3-opencv pulseaudio
-
-    cd
-    python3 -m virtualenv -p python3 env --system-site-packages
-    echo "source env/bin/activate" >>~/.bashrc
-    source env/bin/activate
-
-    cd git
-    git clone https://github.com/autorope/donkeycar
-    cd donkeycar
-    git checkout master
-    pip3 install -e .[pi]
-
-    pip3 install numpy --upgrade
-
-    cd
-    curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=1DCfoSwlsdX9X4E3pLClE1z0fvw8tFESP" >/dev/null
-    CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
-    curl -Lb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=1DCfoSwlsdX9X4E3pLClE1z0fvw8tFESP" -o tensorflow-2.2.0-cp37-cp37m-linux_armv7l.whl
-    pip3 install tensorflow-2.2.0-cp37-cp37m-linux_armv7l.whl
-
-    sudo apt --yes --force-yes install python3-opencv
-
-    pip3 install PyMySQL==0.10.1
-    pip3 install tqdm
-    pip3 install boto3
-    pip3 install dill
-    pip3 install imutils
-
-    # https://rtcbot.readthedocs.io/en/latest/installing.html
-    # pip install rtcbot
-
-    pip3 install awscli --upgrade
-    if [[ $PATH != *"/home/pi/.local/bin"* ]]; then
-        export PATH=/home/pi/.local/bin:$PATH
-    fi
-
-    popd >/dev/null
-}
-
-if [ "$abcli_is_rpi" == true ]; then
-    bluer_ai_install_module rpi 109
-fi

bluer_sbc/imager/camera/classes.py

@@ -1,259 +0,0 @@
-import cv2
-from typing import Tuple
-import numpy as np
-from time import sleep
-
-from blueness import module
-from bluer_options import string
-from bluer_options import host
-from bluer_options.timer import Timer
-from bluer_options.logger import crash_report
-from bluer_objects import file, objects
-
-from bluer_sbc import env
-from bluer_sbc import NAME
-from bluer_sbc.hardware import hardware
-from bluer_sbc.imager.classes import Imager
-from bluer_sbc.logger import logger
-
-NAME = module.name(__file__, NAME)
-
-
-class Camera(Imager):
-    def __init__(self):
-        self.device = None
-        self.resolution = []
-
-    def capture(
-        self,
-        close_after: bool = True,
-        log: bool = True,
-        open_before: bool = True,
-        filename: str = "",
-        object_name: str = "",
-    ) -> Tuple[bool, np.ndarray]:
-        success = False
-        image = np.ones((1, 1, 3), dtype=np.uint8) * 127
-
-        if open_before:
-            if not self.open():
-                return success, image
-
-        if self.device is None:
-            return success, image
-
-        if host.is_rpi():
-            temp = file.auxiliary("camera", "png")
-            try:
-                self.device.capture(temp)
-                success = True
-            except Exception as e:
-                crash_report(e)
-
-            if success:
-                success, image = file.load_image(temp)
-        else:
-            try:
-                success, image = self.device.read()
-
-                if success:
-                    image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
-
-            except Exception as e:
-                crash_report(e)
-
-        if close_after:
-            self.close()
-
-        if success and log:
-            logger.info(f"{NAME}.capture(): {string.pretty_shape_of_matrix(image)}")
-
-        if success and filename:
-            success = file.save_image(
-                filename=objects.path_of(
-                    object_name=object_name,
-                    filename=filename,
-                ),
-                image=image,
-                log=log,
-            )
-
-        return success, image
-
-    # https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/6
-    def capture_video(
-        self,
-        filename: str,
-        object_name: str,
-        length: int = 10,  # in seconds
-        preview: bool = True,
-        pulse: bool = True,
-        resolution=None,
-    ) -> bool:
-        if not host.is_rpi():
-            logger.error(f"{NAME}.capture_video() only works on rpi.")
-            return False
-
-        if not self.open(resolution=resolution):
-            return False
-
-        full_filename = objects.path_of(
-            object_name=object_name,
-            filename=filename,
-        )
-
-        success = True
-        try:
-            if preview:
-                self.device.start_preview()
-
-            self.device.start_recording(full_filename)
-            if pulse:
-                for _ in range(int(10 * length)):
-                    hardware.pulse("outputs")
-                    sleep(0.1)
-            else:
-                sleep(length)
-            self.device.stop_recording()
-
-            if preview:
-                self.device.stop_preview()
-        except Exception as e:
-            crash_report(e)
-            success = False
-
-        if not self.close():
-            return False
-
-        if success:
-            logger.info(
-                "{}.capture_video(): {} -{}-> {}".format(
-                    NAME,
-                    string.pretty_duration(length),
-                    string.pretty_bytes(file.size(full_filename)),
-                    filename,
-                )
-            )
-
-        return success
-
-    def close(self, log: bool = True) -> bool:
-        if self.device is None:
-            logger.warning(f"{NAME}.close(): device is {self.device}, failed.")
-            return False
-
-        success = False
-        try:
-            if host.is_rpi():
-                self.device.close()
-            else:
-                self.device.release()
-            success = True
-        except Exception as e:
-            crash_report(e)
-            return False
-
-        self.device = None
-
-        if log:
-            logger.info(f"{NAME}.close().")
-
-        return success
-
-    def get_resolution(self):
-        try:
-            if host.is_rpi():
-                from picamera import PiCamera
-
-                return [value for value in self.device.resolution]
-            else:
-                return [
-                    int(self.device.get(const))
-                    for const in [cv2.CAP_PROP_FRAME_HEIGHT, cv2.CAP_PROP_FRAME_WIDTH]
-                ]
-        except Exception as e:
-            crash_report(e)
-            return []
-
-    def open(
-        self,
-        log: bool = True,
-        resolution=None,
-    ) -> bool:
-        try:
-            if host.is_rpi():
-                from picamera import PiCamera
-
-                self.device = PiCamera()
-                self.device.rotation = env.BLUER_SBC_CAMERA_ROTATION
-
-                # https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/7
-                self.device.resolution = (
-                    (
-                        (2592, 1944)
-                        if env.BLUER_SBC_CAMERA_HI_RES
-                        else (
-                            env.BLUER_SBC_CAMERA_WIDTH,
-                            env.BLUER_SBC_CAMERA_HEIGHT,
-                        )
-                    )
-                    if resolution is None
-                    else resolution
-                )
-            else:
-                self.device = cv2.VideoCapture(0)
-
-                # https://stackoverflow.com/a/31464688
-                self.device.set(cv2.CAP_PROP_FRAME_WIDTH, 10000)
-                self.device.set(cv2.CAP_PROP_FRAME_HEIGHT, 10000)
-
-            self.resolution = self.get_resolution()
-
-            if log:
-                logger.info(f"{NAME}.open({string.pretty_shape(self.resolution)})")
-
-            return True
-        except Exception as e:
-            crash_report(e)
-            return False
-
-    def preview(
-        self,
-        length: float = -1,
-    ) -> bool:
-        logger.info(
-            "{}.preview{} ... | press q or e to quit ...".format(
-                NAME,
-                "[{}]".format("" if length == -1 else string.pretty_duration(length)),
-            )
-        )
-
-        hardware.sign_images = False
-        timer = Timer(length, "preview")
-        try:
-            self.open(
-                log=True,
-                resolution=(320, 240),
-            )
-
-            while not hardware.pressed("qe"):
-                _, image = self.capture(
-                    close_after=False,
-                    log=False,
-                    open_before=False,
-                )
-                hardware.update_screen(image, None, [])
-
-                if timer.tick(wait=True):
-                    logger.info(
-                        "{} is up, quitting.".format(string.pretty_duration(length))
-                    )
-                    break
-
-        except KeyboardInterrupt:
-            logger.info("Ctrl+C, stopping.")
-
-        finally:
-            self.close(log=True)
-
-        return True