Initial working zmq pub sub and topic integration

displayarray/__init__.py

@@ -6,6 +6,5 @@ display is a function that displays these in their own windows.
 
 __version__ = "1.1.1"
 
-from .window.subscriber_windows import display, breakpoint_display, read_updates
-from .frame.frame_publishing import publish_updates_zero_mq, publish_updates_ros
+from .window.subscriber_windows import display, breakpoint_display, read_updates, publish_updates
 from . import effects

displayarray/frame/frame_publishing.py

@@ -27,6 +27,7 @@ import numpy as np
 
 from displayarray.frame import subscriber_dictionary
 from .np_to_opencv import NpCam
+from .zmq_to_opencv import ZmqCam
 from displayarray._uid import uid_for_source
 
 from typing import Union, Tuple, Optional, Dict, Any, List, Callable
@@ -127,7 +128,10 @@ def pub_cam_loop_opencv(
     name = uid_for_source(cam_id)
 
     if isinstance(cam_id, (int, str)):
-        cam: Union[NpCam, cv2.VideoCapture] = cv2.VideoCapture(cam_id)
+        if isinstance(cam_id, str) and cam_id.startswith('tcp'):
+            cam = ZmqCam(cam_id)
+        else:
+            cam: Union[NpCam,ZmqCam, cv2.VideoCapture] = cv2.VideoCapture(cam_id)
     elif isinstance(cam_id, np.ndarray):
         cam = NpCam(cam_id)
     else:
@@ -216,124 +220,3 @@ def pub_cam_thread(
         uid_dict[name] = t
         t.start()
     return t
-
-
-async def publish_updates_zero_mq(
-    *vids,
-    callbacks: Optional[
-        Union[Dict[Any, FrameCallable], List[FrameCallable], FrameCallable]
-    ] = None,
-    fps_limit=float("inf"),
-    size=(-1, -1),
-    end_callback: Callable[[], bool] = lambda: False,
-    blocking=False,
-    publishing_address="tcp://127.0.0.1:5600",
-    prepend_topic="",
-    flags=0,
-    copy=True,
-    track=False,
-):
-    """Publish frames to ZeroMQ when they're updated."""
-    import zmq
-    from displayarray import read_updates
-
-    ctx = zmq.Context()
-    s = ctx.socket(zmq.PUB)
-    s.bind(publishing_address)
-
-    if not blocking:
-        flags |= zmq.NOBLOCK
-
-    try:
-        for v in read_updates(vids, callbacks, fps_limit, size, end_callback, blocking):
-            if v:
-                for vid_name, frame in v.items():
-                    md = dict(
-                        dtype=str(frame.dtype),
-                        shape=frame.shape,
-                        name=prepend_topic + vid_name,
-                    )
-                    s.send_json(md, flags | zmq.SNDMORE)
-                    s.send(frame, flags, copy=copy, track=track)
-            if fps_limit:
-                await asyncio.sleep(1.0 / fps_limit)
-            else:
-                await asyncio.sleep(0)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        vid_names = [uid_for_source(name) for name in vids]
-        for v in vid_names:
-            subscriber_dictionary.stop_cam(v)
-
-
-async def publish_updates_ros(
-    *vids,
-    callbacks: Optional[
-        Union[Dict[Any, FrameCallable], List[FrameCallable], FrameCallable]
-    ] = None,
-    fps_limit=float("inf"),
-    size=(-1, -1),
-    end_callback: Callable[[], bool] = lambda: False,
-    blocking=False,
-    node_name="displayarray",
-    publisher_name="npy",
-    rate_hz=None,
-    dtype=None,
-):
-    """Publish frames to ROS when they're updated."""
-    import rospy
-    from rospy.numpy_msg import numpy_msg
-    import std_msgs.msg
-    from displayarray import read_updates
-
-    def get_msg_type(dtype):
-        if dtype is None:
-            msg_type = {
-                np.float32: std_msgs.msg.Float32(),
-                np.float64: std_msgs.msg.Float64(),
-                np.bool: std_msgs.msg.Bool(),
-                np.char: std_msgs.msg.Char(),
-                np.int16: std_msgs.msg.Int16(),
-                np.int32: std_msgs.msg.Int32(),
-                np.int64: std_msgs.msg.Int64(),
-                np.str: std_msgs.msg.String(),
-                np.uint16: std_msgs.msg.UInt16(),
-                np.uint32: std_msgs.msg.UInt32(),
-                np.uint64: std_msgs.msg.UInt64(),
-                np.uint8: std_msgs.msg.UInt8(),
-            }[dtype]
-        else:
-            msg_type = (
-                dtype  # allow users to use their own custom messages in numpy arrays
-            )
-        return msg_type
-
-    publishers: Dict[str, rospy.Publisher] = {}
-    rospy.init_node(node_name, anonymous=True)
-    try:
-        for v in read_updates(vids, callbacks, fps_limit, size, end_callback, blocking):
-            if v:
-                if rospy.is_shutdown():
-                    break
-                for vid_name, frame in v.items():
-                    if vid_name not in publishers:
-                        dty = frame.dtype if dtype is None else dtype
-                        publishers[vid_name] = rospy.Publisher(
-                            publisher_name + vid_name,
-                            numpy_msg(get_msg_type(dty)),
-                            queue_size=10,
-                        )
-                    publishers[vid_name].publish(frame)
-            if rate_hz:
-                await asyncio.sleep(1.0 / rate_hz)
-            else:
-                await asyncio.sleep(0)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        vid_names = [uid_for_source(name) for name in vids]
-        for v in vid_names:
-            subscriber_dictionary.stop_cam(v)
-    if rospy.core.is_shutdown():
-        raise rospy.exceptions.ROSInterruptException("rospy shutdown")

displayarray/frame/zmq_to_opencv.py

@@ -0,0 +1,46 @@
+import cv2
+import zmq
+from tensorcom.tenbin import decode_buffer
+
+class ZmqCam(object):
+    """Add OpenCV camera controls to a numpy array."""
+
+    def __init__(self, img):
+        """Create a fake camera for OpenCV based on the initial array."""
+        assert isinstance(img, str)
+        s = img.split('#')
+        self.__ctx = zmq.Context()
+        self.__addr = s[0]
+        self.__sub = self.__ctx.socket(zmq.SUB)
+        if len(s)>1:
+            self.__topic = bytes(s[1], 'ascii')
+            self.__sub.setsockopt(zmq.SUBSCRIBE, self.__topic)
+        else:
+            self.__topic = b""
+        self.__sub.connect(self.__addr)
+
+        self.__is_opened = True
+
+    def set(self, *args, **kwargs):
+        """Set CAP_PROP_FRAME_WIDTH or CAP_PROP_FRAME_HEIGHT to scale a numpy array to that size."""
+        pass
+
+    @staticmethod
+    def get(*args, **kwargs):
+        """Get OpenCV args. Currently only a fake CAP_PROP_FRAME_COUNT to fix detecting video ends."""
+        if args[0] == cv2.CAP_PROP_FRAME_COUNT:
+            return float("inf")
+
+    def read(self):
+        """Read back the numpy array in standard "did it work", "the array", OpenCV format."""
+        r = self.__sub.recv_multipart()
+        arrs = decode_buffer(r[1])[0]
+        return True, arrs
+
+    def isOpened(self):  # NOSONAR
+        """Hack to tell OpenCV we're opened until we call release."""
+        return self.__is_opened
+
+    def release(self):
+        """Let OpenCV know we're finished."""
+        self.__is_opened = False

displayarray/window/subscriber_windows.py

@@ -29,6 +29,12 @@ try:
 except:
     get_bus_info_from_camera = None
 
+try:
+    import zmq
+    from tensorcom.tenbin import encode_buffer
+except:
+    warnings.warn("Could not import ZMQ and tensorcom. Cannot send messages between programs.")
+
 
 class SubscriberWindows(object):
     """Windows that subscribe to updates to cameras, videos, and arrays."""
@@ -52,6 +58,9 @@ class SubscriberWindows(object):
         self.input_cams: List[str] = []
         self.exited = False
         self.silent = silent
+        self.ctx = None
+        self.sock_list = []
+        self.top_list = []
 
         if callbacks is None:
             callbacks = []
@@ -237,6 +246,11 @@ class SubscriberWindows(object):
         self.update_frames()
         msg_cmd = sub_cmd.get()
         key = self.handle_keys(cv2.waitKey(1))
+        if self.sock_list:
+            for s, t in zip(self.sock_list, self.top_list):
+                f = list(self.frames.values())
+                if f:
+                    s.send_multipart([t, encode_buffer(f[0])])
         return msg_cmd, key
 
     def wait_for_init(self):
@@ -277,6 +291,13 @@ class SubscriberWindows(object):
         window_commands.quit(force_all_read=False)
         self.__stop_all_cams()
 
+    def publish_to(self, address, topic=b""):
+        if self.ctx==None:
+            self.ctx = zmq.Context()
+        self.sock_list.append(self.ctx.socket(zmq.PUB))
+        self.sock_list[-1].bind(address)
+        self.top_list.append(topic)
+
     @property
     def cams(self):
         """Get the camera instances. Can be used for OpenCV or V4L2 functions, depending on backend."""
@@ -432,3 +453,20 @@ def breakpoint_display(*args, **kwargs):
 def read_updates(*args, **kwargs):
     """Read back all frame updates and yield a list of frames. List is empty if no frames were read."""
     return display(*args, **kwargs, silent=True)
+
+
+def publish_updates(*args, address="tcp://127.0.0.1:7880", topic=b"", **kwargs):
+    """Publish all the updates to the given address and topic"""
+    if kwargs['blocking']:
+        block = True
+        kwargs['blocking'] = False
+    else:
+        block = False
+
+    r = read_updates(*args, **kwargs)
+    r.publish_to(address, topic)
+
+    if block:
+        r.loop()
+        for vt in r.close_threads:
+            vt.join()

examples/effects/manual_control.py

@@ -21,7 +21,7 @@ i = 0
 while d:
     if len(d.frames) > 0:
         i += 1
-        frame = d.frames[0]
+        frame = next(iter(d.frames.values()))
         center_sin = [(m.sin(m.pi * (i / 70.0))), (m.cos(m.pi * (i / 120.0)))]
         pre_crop_callback.center = [
             center_sin[0] * 720 / 2 + 720 / 2,

examples/networking/get.py

@@ -0,0 +1,15 @@
+import zmq
+from displayarray import display
+from tensorcom.tenbin import decode_buffer
+
+ctx = zmq.Context()
+s = ctx.socket(zmq.SUB)
+s.setsockopt(zmq.SUBSCRIBE, b"topic")
+s.connect("tcp://127.0.0.1:7880")
+
+d = display()
+while True:
+    r = s.recv_multipart()
+    # r[0]=="topic"
+    arr = decode_buffer(r[1])
+    d.update(arr[0], '0')

examples/networking/get_easy.py

@@ -0,0 +1,10 @@
+from displayarray import display
+import time
+
+t0 = time.time()
+for up in display("tcp://127.0.0.1:7880#topic"):
+    if up:
+        t1 = time.time()
+        u = next(iter(up.values()))[0]
+        print(1.0 / (t1 - t0))
+        t0 = t1

examples/networking/to.py

@@ -0,0 +1,26 @@
+from displayarray import read_updates
+import numpy as np
+import zmq
+from tensorcom.tenbin import encode_buffer
+
+def black_and_white(arr):
+    return (np.sum(arr, axis=-1) / 3).astype(np.uint8)
+
+
+import time
+
+t0 = t1 = time.time()
+
+ctx = zmq.Context()
+s = ctx.socket(zmq.PUB)
+s.bind("tcp://127.0.0.1:7880")
+
+for up in read_updates(0, size=(9999,9999)):
+    if up:
+        t1 = time.time()
+        u = next(iter(up.values()))[0]
+        s.send_multipart([b'topic', encode_buffer([u])])
+        print(1.0 / (t1 - t0))
+        t0 = t1
+
+

examples/networking/to_easy.py

@@ -0,0 +1,9 @@
+from displayarray import publish_updates
+
+publish_updates(
+    0,
+    size=(9999, 9999),
+    address="tcp://127.0.0.1:7880",
+    topic=b'topic',
+    blocking=True
+)

setup.py

@@ -44,7 +44,8 @@ setup(
         "localpubsub==0.0.4",
         "numpy>=1.17.0",
         "opencv-python==4.*,>=4.0.0",
-        "pyzmq==18.1.0",
+        "pyzmq>=22.0.3",
+        "tensorcom"
     ],
     extras_require={
         # pypi doesn't allow direct dependencies for security reasons,