e92b5a560b
- Remove main_cycling.py, main_multi.py, main_release.py (single main.py is canonical) - Update setup.sh to read SERVICE_NAME and PORT from .env - Update env.example with SERVICE_NAME and PORT for multi-instance support - Fix server-csi to try rpicam-still before libcamera-still (Debian Trixie) Deploy pattern: clone repo twice, configure each .env, run setup.sh Each instance gets its own systemd service and install directory.
269 lines
8.1 KiB
Python
269 lines
8.1 KiB
Python
#!/usr/bin/env python3
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"""
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vixy-vision CSI Camera Server
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FastAPI server for Raspberry Pi CSI ribbon cameras (including IR cameras).
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Supports both picamera2 (new) and picamera (legacy) libraries.
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For Pi 3 with older Raspbian: uses picamera
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For Pi 4/5 with newer Pi OS: uses picamera2
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"""
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import os
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import io
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import threading
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import subprocess
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from typing import Optional
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from dotenv import load_dotenv
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from fastapi import FastAPI, Security, HTTPException, Response
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from fastapi.security import APIKeyHeader
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# Load environment variables
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load_dotenv()
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# Configuration
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API_KEY = os.getenv("API_KEY")
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CAMERA_WIDTH = int(os.getenv("CAMERA_WIDTH", "1920"))
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CAMERA_HEIGHT = int(os.getenv("CAMERA_HEIGHT", "1080"))
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JPEG_QUALITY = int(os.getenv("JPEG_QUALITY", "85"))
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CAMERA_ID = os.getenv("CAMERA_ID", "csi-camera")
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# IR camera settings
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IR_MODE = os.getenv("IR_MODE", "false").lower() == "true"
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ROTATION = int(os.getenv("ROTATION", "0")) # 0, 90, 180, 270
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if not API_KEY:
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raise ValueError("API_KEY not set in .env file")
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# FastAPI app
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app = FastAPI(
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title="vixy-vision CSI Camera Server",
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description="CSI ribbon camera server for the fox 🦊 (supports IR)",
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version="1.0.0"
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)
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api_key_header = APIKeyHeader(name="X-API-Key", auto_error=False)
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# Detect which camera library is available
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CAMERA_LIB = None
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picamera2 = None
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picamera = None
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try:
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from picamera2 import Picamera2
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CAMERA_LIB = "picamera2"
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print("📷 Using picamera2 (modern)")
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except ImportError:
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try:
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import picamera as picamera_legacy
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picamera = picamera_legacy
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CAMERA_LIB = "picamera"
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print("📷 Using picamera (legacy)")
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except ImportError:
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print("⚠️ No camera library found, using libcamera-still fallback")
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CAMERA_LIB = "libcamera"
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class CSICameraManager:
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"""Manages CSI camera access with multiple backend support"""
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def __init__(self, width: int, height: int, rotation: int = 0):
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self.width = width
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self.height = height
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self.rotation = rotation
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self.lock = threading.Lock()
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self.camera = None
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self._initialized = False
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def _init_picamera2(self):
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"""Initialize picamera2"""
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from picamera2 import Picamera2
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self.camera = Picamera2()
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config = self.camera.create_still_configuration(
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main={"size": (self.width, self.height)},
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transform=self._get_transform()
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)
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self.camera.configure(config)
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self.camera.start()
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self._initialized = True
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def _init_picamera(self):
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"""Initialize legacy picamera"""
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self.camera = picamera.PiCamera()
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self.camera.resolution = (self.width, self.height)
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self.camera.rotation = self.rotation
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# Warm up
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import time
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time.sleep(2)
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self._initialized = True
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def _get_transform(self):
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"""Get libcamera Transform for rotation"""
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try:
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from libcamera import Transform
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if self.rotation == 180:
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return Transform(hflip=True, vflip=True)
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elif self.rotation == 90:
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return Transform(transpose=True, vflip=True)
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elif self.rotation == 270:
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return Transform(transpose=True, hflip=True)
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except ImportError:
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pass
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return None
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def get_snapshot(self) -> Optional[bytes]:
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"""Capture snapshot as JPEG bytes"""
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with self.lock:
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try:
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if CAMERA_LIB == "picamera2":
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if not self._initialized:
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self._init_picamera2()
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# Capture to bytes
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stream = io.BytesIO()
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self.camera.capture_file(stream, format='jpeg')
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return stream.getvalue()
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elif CAMERA_LIB == "picamera":
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if not self._initialized:
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self._init_picamera()
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stream = io.BytesIO()
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self.camera.capture(stream, format='jpeg', quality=JPEG_QUALITY)
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stream.seek(0)
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return stream.read()
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else:
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# Fallback to libcamera-still command
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return self._capture_libcamera()
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except Exception as e:
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print(f"Error capturing: {e}")
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return None
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def _capture_libcamera(self) -> Optional[bytes]:
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"""Fallback: use rpicam-still/libcamera-still command"""
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# Try rpicam-still first (Debian Trixie / newer Pi OS)
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for cmd_name in ["rpicam-still", "libcamera-still"]:
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try:
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cmd = [
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cmd_name,
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"-n", # No preview
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"-o", "-", # Output to stdout
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"--width", str(self.width),
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"--height", str(self.height),
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"-q", str(JPEG_QUALITY),
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"-t", "1", # 1ms timeout (immediate capture)
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]
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if self.rotation:
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cmd.extend(["--rotation", str(self.rotation)])
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result = subprocess.run(cmd, capture_output=True, timeout=10)
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if result.returncode == 0:
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return result.stdout
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else:
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print(f"{cmd_name} error: {result.stderr.decode()}")
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continue
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except subprocess.TimeoutExpired:
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print(f"{cmd_name} timed out")
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continue
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except FileNotFoundError:
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continue
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# Fall back to raspistill (older Pi OS)
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return self._capture_raspistill()
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def _capture_raspistill(self) -> Optional[bytes]:
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"""Legacy fallback: use raspistill command"""
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try:
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cmd = [
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"raspistill",
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"-n", # No preview
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"-o", "-", # Output to stdout
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"-w", str(self.width),
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"-h", str(self.height),
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"-q", str(JPEG_QUALITY),
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"-t", "1",
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]
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if self.rotation:
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cmd.extend(["-rot", str(self.rotation)])
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result = subprocess.run(cmd, capture_output=True, timeout=10)
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if result.returncode == 0:
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return result.stdout
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return None
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except Exception as e:
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print(f"raspistill error: {e}")
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return None
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def release(self):
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"""Release camera resources"""
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if self.camera:
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try:
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if CAMERA_LIB == "picamera2":
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self.camera.stop()
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elif CAMERA_LIB == "picamera":
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self.camera.close()
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except:
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pass
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self.camera = None
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self._initialized = False
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# Initialize camera
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camera_manager = CSICameraManager(CAMERA_WIDTH, CAMERA_HEIGHT, ROTATION)
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def verify_api_key(api_key: str = Security(api_key_header)) -> str:
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if api_key is None or api_key != API_KEY:
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raise HTTPException(status_code=403, detail="Invalid API key")
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return api_key
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@app.on_event("shutdown")
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def shutdown_event():
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camera_manager.release()
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@app.get("/")
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def root():
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return {
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"service": "vixy-vision CSI Camera Server",
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"version": "1.0.0",
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"camera_id": CAMERA_ID,
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"camera_lib": CAMERA_LIB,
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"ir_mode": IR_MODE,
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}
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@app.get("/health")
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def health():
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return {"status": "ok", "camera_id": CAMERA_ID, "library": CAMERA_LIB}
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@app.get("/snapshot")
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def get_snapshot(api_key: str = Security(verify_api_key)):
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"""Get JPEG snapshot"""
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snapshot = camera_manager.get_snapshot()
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if snapshot is None:
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raise HTTPException(status_code=503, detail="Camera unavailable")
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return Response(
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content=snapshot,
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media_type="image/jpeg",
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headers={"Cache-Control": "no-cache", "X-Camera-ID": CAMERA_ID}
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)
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if __name__ == "__main__":
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import uvicorn
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uvicorn.run(
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"main:app",
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host="0.0.0.0",
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port=8443,
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ssl_keyfile="ssl/key.pem",
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ssl_certfile="ssl/cert.pem"
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)
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