robotpy-cscore 2025.2.1.2__cp313-cp313-manylinux_2_36_aarch64.whl

cscore/imagewriter.py

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+import os.path
+import time
+import threading
+
+import cv2
+import numpy as np
+
+import logging
+
+logger = logging.getLogger("cscore.storage")
+
+
+class ImageWriter:
+    """
+    Creates a thread that periodically writes images to a specified
+    directory. Useful for looking at images after a match has
+    completed.
+
+    The default location is ``/media/sda1/camera``. The folder
+    ``/media/sda1`` is the default location that USB drives inserted into
+    the RoboRIO are mounted at. The USB drive must have a directory in it
+    named ``camera``.
+
+    .. note:: It is recommended to only write images when something useful
+              (such as targeting) is happening, otherwise you'll end up
+              with a lot of images written to disk that you probably aren't
+              interested in.
+
+    Intended usage is::
+
+        self.image_writer = ImageWriter()
+
+        ..
+
+        while True:
+
+            img = ..
+
+            if self.logging_enabled:
+                self.image_writer.setImage(img)
+
+    """
+
+    def __init__(
+        self,
+        *,
+        location_root="/media/sda1/camera",
+        capture_period=0.5,
+        image_format="jpg"
+    ):
+        """
+        :param location_root: Directory to write images to. A subdirectory
+                              with the current time will be created, and
+                              timestamped images will be written to the
+                              subdirectory.
+        :param capture_period: How often to write images to disk
+        :param image_format: File extension of files to write
+        """
+
+        self.location_root = os.path.abspath(location_root)
+        self.capture_period = capture_period
+        self.image_format = image_format
+
+        self.active = True
+        self._location = None
+        self.has_image = False
+        self.size = None
+
+        self.lock = threading.Condition()
+        self._thread = threading.Thread(target=self._run, daemon=True)
+        self._thread.start()
+
+    def setImage(self, img):
+        """
+        Call this function when you wish to write the image to disk. Not
+        every image is written to disk. Makes a copy of the image.
+
+        :param img: A numpy array representing an OpenCV image
+        """
+
+        if not self.active:
+            return
+
+        if (
+            self.size is None
+            or self.size[0] != img.shape[0]
+            or self.size[1] != img.shape[1]
+        ):
+            h, w = img.shape[:2]
+            self.size = (h, w)
+
+            self.out1 = np.empty((h, w, 3), dtype=np.uint8)
+            self.out2 = np.empty((h, w, 3), dtype=np.uint8)
+
+        with self.lock:
+            cv2.copyMakeBorder(
+                img, 0, 0, 0, 0, cv2.BORDER_CONSTANT, value=(0, 0, 255), dst=self.out1
+            )
+            self.has_image = True
+            self.lock.notify()
+
+    @property
+    def location(self):
+        if self._location is None:
+            # This assures that we only log when a USB memory stick is plugged in
+            if not os.path.exists(self.location_root):
+                raise IOError(
+                    "Logging disabled, %s does not exist" % self.location_root
+                )
+
+            # Can't do this when program starts, time might be wrong. Ideally by now the DS
+            # has connected, so the time will be correct
+            self._location = self.location_root + "/%s" % time.strftime(
+                "%Y-%m-%d %H.%M.%S"
+            )
+            logger.info("Logging to %s", self._location)
+            os.makedirs(self._location, exist_ok=True)
+
+        return self._location
+
+    def _run(self):
+        last = time.time()
+
+        logger.info("Storage thread started")
+
+        try:
+            while True:
+                with self.lock:
+                    now = time.time()
+                    while (not self.has_image) or (now - last) < self.capture_period:
+                        self.lock.wait()
+                        now = time.time()
+
+                    self.out2, self.out1 = self.out1, self.out2
+                    self.has_image = False
+
+                fname = "%s/%.2f.%s" % (self.location, now, self.image_format)
+                cv2.imwrite(fname, self.out2)
+
+                last = now
+
+        except IOError as e:
+            logger.error("Error logging images: %s", e)
+
+        logger.warn("Storage thread exited")
+        self.active = False

cscore/pkgcfg.py

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+# fmt: off
+# This file is automatically generated, DO NOT EDIT
+
+from os.path import abspath, join, dirname
+_root = abspath(dirname(__file__))
+
+libinit_import = "cscore._init_cscore"
+depends = ['wpiutil', 'wpinet', 'ntcore']
+pypi_package = 'robotpy-cscore'
+
+def get_include_dirs():
+    return [join(_root, "include"), join(_root, "rpy-include")]
+
+def get_library_dirs():
+    return []
+
+def get_library_dirs_rel():
+    return []
+
+def get_library_names():
+    return []
+
+def get_library_full_names():
+    return []
+
+def get_type_casters_cfg(casters):
+    casters.update({'cv::Mat': {'hdr': 'cvnp/cvnp.h'}})
+
+def get_type_casters(casters):
+    t = {}
+    get_type_casters_cfg(t)
+    for k, v in t.items():
+        if "hdr" in v:
+            casters[k] = v["hdr"]

cscore/src/main.cpp

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+
+#include <rpygen_wrapper.hpp>
+
+#include "cscore_cpp.h"
+
+#ifdef __FRC_ROBORIO__
+extern "C" {
+    void WPI_Impl_SetupNowUseDefaultOnRio(void);
+}
+#endif
+
+RPYBUILD_PYBIND11_MODULE(m) {
+    initWrapper(m);
+
+    static int unused; // the capsule needs something to reference
+    py::capsule cleanup(&unused, [](void *) {
+        // don't release gil until after calling this
+        cs::SetDefaultLogger(20 /* WPI_LOG_INFO */);
+        
+        // but this MUST release the gil, or deadlock may occur
+        py::gil_scoped_release __release;
+        CS_Shutdown();
+    });
+    m.add_object("_cleanup", cleanup);
+
+    #ifdef __FRC_ROBORIO__
+    m.def("_setupWpiNow", WPI_Impl_SetupNowUseDefaultOnRio);
+    #endif
+}

cscore/version.py

@@ -0,0 +1,4 @@
+# file generated by setuptools_scm
+# don't change, don't track in version control
+__version__ = version = '2025.2.1.2'
+__version_tuple__ = version_tuple = (2025, 2, 1, 2)

robotpy_cscore-2025.2.1.2.dist-info/LICENSE

@@ -0,0 +1,51 @@
+
+Copyright (c) 2017 Dustin Spicuzza
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of RobotPy nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY ROBOTPY AND CONTRIBUTORS``AS IS'' AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR 
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL ROBOTPY OR CONTRIBUTORS BE LIABLE FOR 
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code for for cscore and other FIRST libraries use the following license:
+
+* Copyright (c) 2016 FIRST
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in the
+*       documentation and/or other materials provided with the distribution.
+*     * Neither the name of the FIRST nor the
+*       names of its contributors may be used to endorse or promote products
+*       derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

robotpy_cscore-2025.2.1.2.dist-info/METADATA

@@ -0,0 +1,44 @@
+Metadata-Version: 2.2
+Name: robotpy-cscore
+Version: 2025.2.1.2
+Summary: RobotPy bindings for cscore image processing library
+Home-page: https://github.com/robotpy/robotpy-cscore
+Author: RobotPy Development Team
+Author-email: robotpy@googlegroups.com
+License: BSD-3-Clause
+Requires-Python: >=3.8
+Description-Content-Type: text/x-rst
+License-File: LICENSE
+Requires-Dist: robotpy-wpiutil==2025.2.1.2
+Requires-Dist: robotpy-wpinet==2025.2.1.2
+Requires-Dist: pyntcore==2025.2.1.2
+Dynamic: author
+Dynamic: author-email
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: license
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
+
+robotpy-cscore
+==============
+
+These are python bindings for the cscore library, which is a high performance 
+library used in the FIRST Robotics competition to serve video to/from robots.
+However, the core library is suitable for use in other applications, and is
+comparable to something like mjpg-streamer.
+
+This library requires python 3.6+
+
+Documentation
+=============
+
+* `Installation <http://robotpy.readthedocs.io/en/stable/install/cscore.html>`_
+* `Usage <http://robotpy.readthedocs.io/en/stable/vision/index.html>`_
+
+Author
+======
+
+Dustin Spicuzza (dustin@virtualroadside.com)

robotpy_cscore-2025.2.1.2.dist-info/RECORD

@@ -0,0 +1,27 @@
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+robotpy_cscore-2025.2.1.2.dist-info/LICENSE,sha256=sH4JB8OjTOdUoAPcybggUhhjphTHQWR9M8uoT3v8u5w,3087
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+robotpy_cscore-2025.2.1.2.dist-info/RECORD,,

robotpy_cscore-2025.2.1.2.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (75.8.0)
+Root-Is-Purelib: false
+Tag: cp313-cp313-linux_aarch64
+

robotpy_cscore-2025.2.1.2.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[robotpybuild]
+cscore = cscore.pkgcfg

robotpy_cscore-2025.2.1.2.dist-info/top_level.txt

@@ -0,0 +1 @@
+cscore