2dda633412
- 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>
115 lines
3.0 KiB
Python
115 lines
3.0 KiB
Python
#!/usr/bin/env python3
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"""
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Réception flux H.264 UDP depuis Pi Zero (port 5600) via GStreamer.
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Exposition MJPEG sur port 5601 pour consommation par YOLOv8 et l'interface web.
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"""
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import cv2
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import threading
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import time
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from http.server import BaseHTTPRequestHandler, HTTPServer
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# Pipeline GStreamer : UDP RTP H.264 → frames décodées
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GSTREAMER_PIPELINE = (
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"udpsrc port=5600 "
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"! application/x-rtp,payload=96 "
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"! rtph264depay "
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"! avdec_h264 "
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"! videoconvert "
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"! video/x-raw,format=BGR "
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"! appsink drop=true max-buffers=1"
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)
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MJPEG_PORT = 5601
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MJPEG_QUALITY = 70 # Compromis qualité/débit pour le réseau local
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# Frame partagée entre le thread GStreamer et le serveur MJPEG
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_frame_lock = threading.Lock()
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_current_frame = None
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_running = True
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def capture_loop():
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"""Lit les frames depuis GStreamer et met à jour _current_frame."""
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global _current_frame, _running
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cap = cv2.VideoCapture(GSTREAMER_PIPELINE, cv2.CAP_GSTREAMER)
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if not cap.isOpened():
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print("[CAM] Impossible d'ouvrir le pipeline GStreamer — Pi Zero connecté ?")
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_running = False
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return
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print("[CAM] Pipeline GStreamer ouvert, réception flux...")
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while _running:
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ret, frame = cap.read()
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if not ret:
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print("[CAM] Flux perdu, nouvelle tentative...")
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time.sleep(1)
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continue
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with _frame_lock:
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_current_frame = frame
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cap.release()
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print("[CAM] Pipeline fermé.")
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class MJPEGHandler(BaseHTTPRequestHandler):
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def log_message(self, format, *args):
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pass # Silencieux pour ne pas polluer les logs WireClaw
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def do_GET(self):
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if self.path != "/":
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self.send_error(404)
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return
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self.send_response(200)
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self.send_header("Content-Type", "multipart/x-mixed-replace; boundary=frame")
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self.end_headers()
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while _running:
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with _frame_lock:
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frame = _current_frame
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if frame is None:
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time.sleep(0.05)
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continue
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_, jpeg = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, MJPEG_QUALITY])
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data = jpeg.tobytes()
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try:
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self.wfile.write(
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f"--frame\r\nContent-Type: image/jpeg\r\nContent-Length: {len(data)}\r\n\r\n".encode()
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+ data
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+ b"\r\n"
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)
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self.wfile.flush()
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except (BrokenPipeError, ConnectionResetError):
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break
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time.sleep(1 / 30) # ~30 fps max
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def main():
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global _running
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# Thread de capture GStreamer
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t = threading.Thread(target=capture_loop, daemon=True)
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t.start()
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server = HTTPServer(("0.0.0.0", MJPEG_PORT), MJPEGHandler)
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print(f"[CAM] MJPEG stream sur http://0.0.0.0:{MJPEG_PORT}/")
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try:
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server.serve_forever()
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except KeyboardInterrupt:
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pass
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finally:
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_running = False
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server.shutdown()
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print("[CAM] Arrêt.")
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if __name__ == "__main__":
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main()
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