mailsys_server/rec_ubuntu.py

from asyncio import subprocess
import sys
import os
import pyzed.sl as sl
import threading
import time
from signal import signal, SIGINT

#FIXME: 2022/02/04 completed
#FIXME: NOTE: rec_count.txt contains number of flies in target_path include itself.


zed_list = []
timestamp_list = []
thread_list = []
stop_signal = False
frame_list = []

record_time_per_svo = 1800

name_time_list = []


root_path = os.path.abspath(os.path.expanduser('~/data/'))
print(root_path)
filenames = os.listdir(root_path)
for f in filenames:
    w_time = os.path.getctime(root_path + '/'+f)
    name_time_list.append((f, w_time))

sorted_list = sorted(name_time_list, key=lambda x: x[1], reverse=True)
print(sorted_list)

recent_file = sorted_list[0]
target_dir = str(root_path) + '/' + str(recent_file[0])


def handler(signal, frame):
    global stop_signal
    global zed_list
    global target_dir        
    stop_signal = True
    #os.call(('wall', 'catch SIGINT'))
    

    #STOP RECORDING CAMERA
    for cam in zed_list:
        cam.disable_recording()
        cam.close()

    nowtime = time.localtime()
    rec_done = "%04d/%02d/%02d %02d:%02d:%02d" % (nowtime.tm_year, nowtime.tm_mon, nowtime.tm_mday, nowtime.tm_hour, nowtime.tm_min, nowtime.tm_sec)

    filepath = '%s/log.txt'%(target_dir)
    f = open(filepath, 'a')
    f.write('\n[RECORD] record succesfully stopped at ' + rec_done + '\n')
    f.close()
    with open ('%s/rec_count.txt'%(target_dir), "w") as rec_count:
        rec_count.write(str(len(os.listdir(target_dir))))

def grab_run(index, cameras):
    global stop_signal
    global zed_list
    global timestamp_list
    global left_list
    global depth_list
    global frame_list
    global taget_dir

    runtime = sl.RuntimeParameters()
    shard_count = 0
    while not stop_signal:
        #I need loop and 1800ms
        if frame_list[index] % record_time_per_svo == 0:
            filepath = '%s/%s_%s.svo'%(target_dir,str(shard_count).zfill(3),cameras[index].id+1)            
            record_params = sl.RecordingParameters(filepath, sl.SVO_COMPRESSION_MODE.H264)
            err = zed_list[index].enable_recording(record_params)
            #print('new shard created')
            shard_count += 1
            if zed_list[index].grab(runtime) == sl.ERROR_CODE.SUCCESS :
                frame_list[index] += 1
        #if zed_list[index].grab() == "SUCCESS":
        #    zed_list[index].record()
        #print("Frame count: " + str(frame_list[index]), end='\r')
        if zed_list[index].grab(runtime) == sl.ERROR_CODE.SUCCESS :
            frame_list[index] += 1

    zed_list[index].disable_recording()
    
    
    #print('saved')    

def main():
    global target_dir
    #os.call(('wall', target_dir))
    signal(SIGINT, handler)


    #print('Running...')
    init = sl.InitParameters()
    init.camera_resolution = sl.RESOLUTION.HD1080
    init.camera_fps = 30

    name_list = []

    cameras = sl.Camera.get_device_list()
    print(cameras)
    index = 0
    for cam in cameras:
        init.set_from_serial_number(cam.serial_number)
        name_list.append("ZED {}".format(cam.serial_number))
        print("Opening {}".format(name_list[index]))
        
        zed_list.append(sl.Camera())
        
        timestamp_list.append(0)
        frame_list.append(0)
        status = zed_list[index].open(init)
        if status != sl.ERROR_CODE.SUCCESS:
            print(repr(status))
            zed_list[index].close()
        index = index +1

    #Start camera threads
    for index in range(0, len(zed_list)):
        if zed_list[index].is_opened():
            thread_list.append(threading.Thread(target=grab_run, args=(index,cameras)))
            thread_list[index].start()
            



if __name__ == "__main__":
    main()