feat: réception flux H.264 Pi Zero → MJPEG Jetson

- receive_cam.py : pipeline GStreamer UDP 5600 → MJPEG HTTP 5601
- CLAUDE.md : Pi Zero IP, ports 5600/5601, commandes de session caméra

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

receive_cam.py

@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+"""
+Réception flux H.264 UDP depuis Pi Zero (port 5600) via GStreamer.
+Exposition MJPEG sur port 5601 pour consommation par YOLOv8 et l'interface web.
+"""
+
+import cv2
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, HTTPServer
+
+# Pipeline GStreamer : UDP RTP H.264 → frames décodées
+GSTREAMER_PIPELINE = (
+    "udpsrc port=5600 "
+    "! application/x-rtp,payload=96 "
+    "! rtph264depay "
+    "! avdec_h264 "
+    "! videoconvert "
+    "! video/x-raw,format=BGR "
+    "! appsink drop=true max-buffers=1"
+)
+
+MJPEG_PORT = 5601
+MJPEG_QUALITY = 70  # Compromis qualité/débit pour le réseau local
+
+# Frame partagée entre le thread GStreamer et le serveur MJPEG
+_frame_lock = threading.Lock()
+_current_frame = None
+_running = True
+
+
+def capture_loop():
+    """Lit les frames depuis GStreamer et met à jour _current_frame."""
+    global _current_frame, _running
+
+    cap = cv2.VideoCapture(GSTREAMER_PIPELINE, cv2.CAP_GSTREAMER)
+    if not cap.isOpened():
+        print("[CAM] Impossible d'ouvrir le pipeline GStreamer — Pi Zero connecté ?")
+        _running = False
+        return
+
+    print("[CAM] Pipeline GStreamer ouvert, réception flux...")
+    while _running:
+        ret, frame = cap.read()
+        if not ret:
+            print("[CAM] Flux perdu, nouvelle tentative...")
+            time.sleep(1)
+            continue
+        with _frame_lock:
+            _current_frame = frame
+
+    cap.release()
+    print("[CAM] Pipeline fermé.")
+
+
+class MJPEGHandler(BaseHTTPRequestHandler):
+    def log_message(self, format, *args):
+        pass  # Silencieux pour ne pas polluer les logs WireClaw
+
+    def do_GET(self):
+        if self.path != "/":
+            self.send_error(404)
+            return
+
+        self.send_response(200)
+        self.send_header("Content-Type", "multipart/x-mixed-replace; boundary=frame")
+        self.end_headers()
+
+        while _running:
+            with _frame_lock:
+                frame = _current_frame
+
+            if frame is None:
+                time.sleep(0.05)
+                continue
+
+            _, jpeg = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, MJPEG_QUALITY])
+            data = jpeg.tobytes()
+
+            try:
+                self.wfile.write(
+                    f"--frame\r\nContent-Type: image/jpeg\r\nContent-Length: {len(data)}\r\n\r\n".encode()
+                    + data
+                    + b"\r\n"
+                )
+                self.wfile.flush()
+            except (BrokenPipeError, ConnectionResetError):
+                break
+
+            time.sleep(1 / 30)  # ~30 fps max
+
+
+def main():
+    global _running
+
+    # Thread de capture GStreamer
+    t = threading.Thread(target=capture_loop, daemon=True)
+    t.start()
+
+    server = HTTPServer(("0.0.0.0", MJPEG_PORT), MJPEGHandler)
+    print(f"[CAM] MJPEG stream sur http://0.0.0.0:{MJPEG_PORT}/")
+
+    try:
+        server.serve_forever()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        _running = False
+        server.shutdown()
+        print("[CAM] Arrêt.")
+
+
+if __name__ == "__main__":
+    main()