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#!/usr/bin/env python
import xmlrpclib
import getopt
import time
import sys
import pygtk
pygtk.require('2.0')
import gtk
import gobject
import pygst
pygst.require('0.10')
import gst
import socket
KEY_EVENT_PRESS = (0)
KEY_EVENT_RELEASE = (1)
PULSE_HI = 1211
PULSE_LOW = 1183
PULSE_ARM = 1100
class ClientApp:
def __init__(self):
window = gtk.Window(gtk.WINDOW_TOPLEVEL)
window.set_title("meson | storm")
window.connect("destroy", gtk.main_quit, "WM destroy")
window.connect("key-press-event", self.key_event, KEY_EVENT_PRESS)
window.connect("key-release-event", self.key_event, KEY_EVENT_RELEASE)
vbox = gtk.VBox()
window.add(vbox)
self.movie_window = gtk.DrawingArea()
vbox.add(self.movie_window)
window.show_all()
src = gst.element_factory_make("udpsrc")
src.set_property("port", 4000)
caps = gst.Caps("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)MP4V-ES, profile-level-id=(string)5, config=(string)000001b005000001b509000001000000012000845d4c28bc21e0a31f, payload=(int)96, ssrc=(uint)2023770825, clock-base=(uint)2503951416, seqnum-base=(uint)23512")
capsFilter = gst.element_factory_make("capsfilter")
capsFilter.props.caps = caps
depay = gst.element_factory_make("rtpmp4vdepay")
dec = gst.element_factory_make("ffdec_mpeg4", "decoder")
sink = gst.element_factory_make("xvimagesink", "sink")
sink.set_property("sync", "false")
pipeline = gst.Pipeline("pipeline")
pipeline.add(src, capsFilter, depay, dec, sink)
src.link(capsFilter)
capsFilter.link(depay)
depay.link(dec)
dec.link(sink)
bus = pipeline.get_bus()
bus.add_signal_watch()
bus.enable_sync_message_emission()
bus.connect("sync-message::element", self.on_sync_message)
bus.connect("message", self.on_message)
self.window = window
self.pipeline = pipeline
self.sink = sink
self.last_keyval = None
self.last_direction = None
self.autopilot_flag = False
def on_sync_message(self, bus, message):
if message.structure is None:
return
message_name = message.structure.get_name()
if message_name == "prepare-xwindow-id":
imagesink = message.src
imagesink.set_property("force-aspect-ratio", True)
gtk.gdk.threads_enter()
imagesink.set_xwindow_id(self.movie_window.window.xid)
gtk.gdk.threads_leave()
def on_message(self, bus, message):
t = message.type
if t == gst.MESSAGE_STATE_CHANGED:
if message.parse_state_changed()[1] == gst.STATE_PAUSED:
for i in self.pipeline.get_by_name("decoder").src_pads():
structure_name = i.get_caps()[0].get_name()
if structure_name.startswith("video") and "width" in i.get_caps()[0].keys():
if len(str(i.get_caps()[0]["width"])) < 6:
w = i.get_caps()[0]["width"]
h = i.get_caps()[0]["height"]
self.window.resize(width=w, height=h)
break
elif t == gst.MESSAGE_ERROR:
err, debug = message.parse_error()
print "Error: %s" % err, debug
self.pipeline.set_state(gst.STATE_NULL)
def key_event(self, widget, event, direction):
if direction == KEY_EVENT_PRESS:
if event.keyval == gtk.keysyms.Escape:
gtk.main_quit()
# Start non-spammable buttons
if event.keyval == self.last_keyval and direction == self.last_direction:
return
if event.keyval == gtk.keysyms.p:
if self.pipeline.get_state()[1] == gst.STATE_PLAYING:
self.pipeline.set_state(gst.STATE_PAUSED)
self.cam_pause()
else:
self.cam_play()
self.pipeline.set_state(gst.STATE_PLAYING)
elif event.keyval == gtk.keysyms.space:
print "up"
self.up()
elif event.keyval == gtk.keysyms.o:
if self.autopilot_flag:
print "autopilot off"
self.autopilot_stop()
self.autopilot_flag = False
else:
print "autopilot on"
self.autopilot_run()
self.autopilot_flag = True
if event.keyval == gtk.keysyms.w:
print "forward"
self.forward()
elif event.keyval == gtk.keysyms.s:
print "back"
elif event.keyval == gtk.keysyms.a:
print "left"
self.left()
elif event.keyval == gtk.keysyms.d:
print "right"
self.right()
elif event.keyval == gtk.keysyms._1:
print "Arming channel 1, please wait..."
self.arm(1)
elif event.keyval == gtk.keysyms._2:
print "Arming channel 2, please wait..."
self.arm(2)
elif event.keyval == gtk.keysyms._3:
print "Arming channel 3, please wait..."
self.arm(3)
elif direction == KEY_EVENT_RELEASE:
if event.keyval == gtk.keysyms.space:
print "down"
self.down()
else:
print "hover"
self.hover()
self.last_keyval = event.keyval
self.last_direction = direction
def main(self):
gtk.gdk.threads_init()
self.pipeline.set_state(gst.STATE_PAUSED)
gtk.main()
class ProxyHandler:
def __init__(self, host):
self.proxy = xmlrpclib.ServerProxy(host)
#TODO ping host and do not allow further action until connected
def arm(self, channel):
self.send_pulse(channel, PULSE_ARM)
def forward(self):
self.proxy.move_forward()
def left(self):
self.proxy.move_left()
def right(self):
self.proxy.move_right()
def up(self):
self.proxy.move_up()
def down(self):
self.proxy.move_down()
def hover(self):
self.proxy.hover()
def cam_play(self):
self.proxy.cam_play()
def cam_pause(self):
self.proxy.cam_pause()
def cam_stop(self):
self.proxy.cam_stop()
def autopilot_run(self):
self.proxy.autopilot_run()
def autopilot_stop(self):
self.proxy.autopilot_stop()
def usage():
print """
Usage: %s [options]
Options:
-r, --remote <uri> - Connect to remote server
-h, --help - This help
""" % sys.argv[0]
if __name__ == '__main__':
try:
opts, args = getopt.getopt(sys.argv[1:], 'r:h', ['remote=', 'help'])
except getopt.GetoptError, e:
print str(e)
usage()
sys.exit(2)
action = 'local'
host = 'http://localhost:8000/'
for o, a in opts:
if o in ('-h', '--help'):
usage()
sys.exit(0)
elif o in ('-r', '--remote'):
action = 'remote'
host = a
proxy = ProxyHandler(host)
app = ClientApp()
app.forward = proxy.forward
app.left = proxy.left
app.right = proxy.right
app.arm = proxy.arm
app.cam_play = proxy.cam_play
app.cam_pause = proxy.cam_pause
app.cam_stop = proxy.cam_stop
app.hover = proxy.hover
app.up = proxy.up
app.down = proxy.down
app.autopilot_run = proxy.autopilot_run
app.autopilot_stop = proxy.autopilot_stop
app.main()
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