Photo Mode Skeleton

Enables Rpanion to capture still photos when a button on the frontend is pressed, or when the MavLink MAV_CMD_DO_DIGICAM_CONTROL message is received.

Adds ability to send CameraInformation, CameraSettings, and CameraTrigger messages.

.gitignore

@@ -9,6 +9,9 @@
 # production
 /build
 
+# media storage
+/media
+
 # misc
 .DS_Store
 .env
@@ -28,4 +31,4 @@ settingsTest.json
 /flightlogs
 .nyc_output
 
-/local_modules/long/node_modules
+/local_modules/long/node_modules

package.json

@@ -75,7 +75,9 @@
     "npm-run-all": "^4.1.5",
     "pino-colada": "^2.2.2",
     "pino-http": "^10.3.0",
-    "should": "^13.2.3"
+    "should": "^13.2.3",
+    "sinon": "^19.0.2",
+    "sinon-chai": "^3.7.0"
   },
   "nyc": {
     "all": true,

python/photomode.py

@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 vi:ts=4:noexpandtab
+
+from picamera2 import Picamera2
+from picamera2.encoders import H264Encoder
+
+import argparse
+import time, signal, os
+
+from gi.repository import GLib
+
+# Reset the signal flag
+GOT_SIGNAL = False
+# Get the PID (for testing/troubleshooting)
+pid = os.getpid()
+print("PID is : ", pid)
+
+def receive_signal(signum, stack):
+    global GOT_SIGNAL
+    GOT_SIGNAL = True
+
+# Register the signal handler function to fire when signals are received
+signal.signal(signal.SIGUSR1, receive_signal)
+
+# Reset the video recording flag
+VIDEO_ACTIVE = False
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Camera control server using libcamera")
+    parser.add_argument("-d", "--destination", dest="mediaPath",
+                        help="Save captured image to PATH. Default: ../media/",
+                        metavar="PATH",
+                        default="../media/"
+                        )
+    parser.add_argument("-m", "--mode", choices=['photo', 'video'],
+                        dest="captureMode",
+                        help="Capture mode options: photo [default], video", metavar="MODE",
+                        default='photo'
+                        )
+    parser.add_argument("-b", "--bitrate", metavar = "N",
+                        type = int, dest="vidBitrate",
+                        help="Video bitrate in bits per second. Default: 10000000",
+                        default=10000000
+                        )
+    args = parser.parse_args()
+
+captureMode = args.captureMode
+print("Mode is: ", captureMode)
+
+mediaPath = args.mediaPath
+print("Media storage directory is:", mediaPath)
+
+if captureMode == "video":
+    vidBitrate = args.vidBitrate
+    print("Video Bitrate is: ", vidBitrate, " (", vidBitrate / 1000000, " MBps)", sep = "")
+
+
+# Initialize the camera
+if captureMode == "photo":
+    # Initialize the camera
+    picam2_still = Picamera2()
+    # By default, use the full resolution of the sensor
+    config = picam2_still.create_still_configuration(
+        main={"size": picam2_still.sensor_resolution},
+        buffer_count=2
+    )
+    picam2_still.configure(config)
+    # Keep the camera active to make responses faster
+    picam2_still.start()
+    print("Waiting 2 seconds for camera to stabilize...")
+    time.sleep(2)
+    print("Camera is ready")
+
+elif captureMode == "video":
+    picam2_vid = Picamera2()
+    video_config = picam2_vid.create_video_configuration()
+    picam2_vid.configure(video_config)
+
+    encoder = H264Encoder(bitrate = vidBitrate)
+
+def startstop_video():
+    global VIDEO_ACTIVE
+
+    if VIDEO_ACTIVE:
+        picam2_vid.stop_recording()
+        VIDEO_ACTIVE = False
+        print ("Video recording stopped.")
+    else:
+        filename = time.strftime("RPN%Y%m%d_%H%M%S.h264")
+        filepath = os.path.join(mediaPath, filename)
+        print("Recording to ", filepath)
+
+        VIDEO_ACTIVE = True
+        output_video = picam2_vid.start_recording(encoder, filepath)
+
+try:
+    # Wait for a signal to arrive
+    while True:
+        if (GOT_SIGNAL and (captureMode == "photo")):
+            GOT_SIGNAL = False
+            print("Received signal.SIGUSR1. Capturing photo.")
+            filename = time.strftime("/home/pi/Rpanion-server/media/RPN%Y%m%d_%H%M%S.jpg")
+            print(filename)
+            output_orig = picam2_still.capture_file(filename)
+        elif (GOT_SIGNAL and (captureMode == "video")):
+            GOT_SIGNAL = False
+            print("Received signal.SIGUSR1.")
+            startstop_video()
+
+        # Wait for a signal
+        signal.pause()
+        #loop.run()
+except:
+    print("Exiting Photo/Video Server")