Add UDP control protocol and IDS camera scripts
- Added UDP_CONTROL_PROTOCOL.md documenting the UDP control interface - Added launch-ids.py for IDS camera control - Added test_exposure_control.py for testing exposure settings - Added udp_backup.reg for UDP configuration backup - Added visualize_line_realtime.py for real-time visualization - Updated .gitignore and ROLLINGSUM_GUIDE.md - Removed ini/200fps-2456x4pix-cw.ini configuration file
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yair
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scripts/launch-ids.py
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341
scripts/launch-ids.py
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#!/usr/bin/env python3
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# /// script
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# requires-python = "==3.13"
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# dependencies = []
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# ///
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#
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# IDS uEye Camera Control Script with UDP Exposure Control
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#
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# This script streams video from an IDS uEye camera via UDP and provides
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# a UDP control interface for dynamically adjusting exposure and framerate.
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#
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# Setup:
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# Run with: . .\scripts\setup_gstreamer_env.ps1 && uv run .\scripts\launch-ids.py
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#
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# Features:
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# - Video streaming on UDP port 5000 (127.0.0.1)
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# - Control interface on UDP port 5001 (0.0.0.0)
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# - Dynamic exposure control (0.001-1.0 seconds)
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# - Dynamic framerate control (1-500 fps)
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#
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# Control Commands:
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# SET_EXPOSURE <value> - Set exposure in seconds (e.g., 0.016)
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# GET_EXPOSURE - Get current exposure value
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# SET_FRAMERATE <value> - Set framerate in Hz (e.g., 30)
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# GET_FRAMERATE - Get current framerate
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# STATUS - Get pipeline status and current settings
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#
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# Example Usage:
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# echo "SET_EXPOSURE 0.010" | nc -u 127.0.0.1 5001
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# echo "GET_EXPOSURE" | nc -u 127.0.0.1 5001
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#
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# Testing:
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# Run test client: uv run .\scripts\test_exposure_control.py
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#
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# Documentation:
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# See scripts/UDP_CONTROL_PROTOCOL.md for full protocol details
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#
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# Add GStreamer Python packages
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import os
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import sys
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import socket
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import threading
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# Check for required environment variable
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gst_root = os.environ.get("GSTREAMER_1_0_ROOT_MSVC_X86_64")
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if not gst_root:
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print("ERROR: GSTREAMER_1_0_ROOT_MSVC_X86_64 environment variable is not set")
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print("Expected: C:\\bin\\gstreamer\\1.0\\msvc_x86_64\\")
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print("Please run: . .\\scripts\\setup_gstreamer_env.ps1")
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sys.exit(1)
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else:
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# Remove trailing backslash if present
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gst_root = gst_root.rstrip("\\")
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gst_site_packages = os.path.join(gst_root, "lib", "site-packages")
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sys.path.insert(0, gst_site_packages)
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# Add GI typelibs
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os.environ["GI_TYPELIB_PATH"] = os.path.join(gst_root, "lib", "girepository-1.0")
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# Add GStreamer DLL bin directory
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os.environ["PATH"] = os.path.join(gst_root, "bin") + ";" + os.environ["PATH"]
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import gi
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gi.require_version("Gst", "1.0")
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from gi.repository import Gst
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class ControlServer:
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"""UDP server for controlling camera parameters during runtime"""
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def __init__(self, src, pipeline=None, port=5001):
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self.src = src
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self.pipeline = pipeline
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self.port = port
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self.running = False
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self.sock = None
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self.thread = None
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def start(self):
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"""Start the control server in a separate thread"""
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self.running = True
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self.thread = threading.Thread(target=self.run, daemon=True)
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self.thread.start()
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def stop(self):
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"""Stop the control server"""
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self.running = False
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if self.sock:
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try:
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self.sock.close()
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except:
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pass
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if self.thread:
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self.thread.join(timeout=2.0)
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def run(self):
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"""Main server loop"""
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try:
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# Create UDP socket
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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self.sock.settimeout(0.5) # Non-blocking with timeout
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try:
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self.sock.bind(("0.0.0.0", self.port))
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except OSError as e:
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print(f"ERROR: Could not bind control server to port {self.port}: {e}")
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print("Control server disabled. Video streaming will continue.")
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return
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print(f"Control server listening on UDP port {self.port}")
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print(" Commands: SET_EXPOSURE <val>, GET_EXPOSURE, SET_FRAMERATE <val>, GET_FRAMERATE, STATUS")
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while self.running:
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try:
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# Receive command
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data, addr = self.sock.recvfrom(1024)
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command = data.decode('utf-8', errors='ignore').strip()
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if command:
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# Process command
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response = self.process_command(command, addr)
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# Send response
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self.send_response(response, addr)
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except socket.timeout:
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# Normal timeout, continue loop
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continue
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except Exception as e:
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if self.running:
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print(f"Control server error: {e}")
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finally:
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if self.sock:
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try:
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self.sock.close()
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except:
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pass
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def process_command(self, command, addr):
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"""Process incoming command and return response"""
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try:
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parts = command.strip().upper().split()
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if not parts:
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return "ERROR INVALID_SYNTAX: Empty command"
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cmd = parts[0]
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if cmd == "SET_EXPOSURE":
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return self.handle_set_exposure(parts)
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elif cmd == "GET_EXPOSURE":
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return self.handle_get_exposure()
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elif cmd == "SET_FRAMERATE":
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return self.handle_set_framerate(parts)
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elif cmd == "GET_FRAMERATE":
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return self.handle_get_framerate()
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elif cmd == "STATUS":
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return self.handle_status()
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else:
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return f"ERROR INVALID_COMMAND: Unknown command '{cmd}'"
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except Exception as e:
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return f"ERROR PROCESSING: {str(e)}"
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def handle_set_exposure(self, parts):
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"""Handle SET_EXPOSURE command"""
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if len(parts) != 2:
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return "ERROR INVALID_SYNTAX: Usage: SET_EXPOSURE <value>"
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try:
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value = float(parts[1])
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if value < 0.001 or value > 1.0:
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return "ERROR OUT_OF_RANGE: Exposure must be 0.001-1.0 seconds"
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self.src.set_property("exposure", value)
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# Verify the value was set
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actual = self.src.get_property("exposure")
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return f"OK {actual}"
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except ValueError:
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return "ERROR INVALID_SYNTAX: Exposure must be a number"
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except Exception as e:
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return f"ERROR: {str(e)}"
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def handle_get_exposure(self):
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"""Handle GET_EXPOSURE command"""
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try:
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value = self.src.get_property("exposure")
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return f"OK {value}"
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except Exception as e:
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return f"ERROR: {str(e)}"
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def handle_set_framerate(self, parts):
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"""Handle SET_FRAMERATE command"""
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if len(parts) != 2:
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return "ERROR INVALID_SYNTAX: Usage: SET_FRAMERATE <value>"
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try:
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value = float(parts[1])
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if value < 1.0 or value > 500.0:
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return "ERROR OUT_OF_RANGE: Framerate must be 1.0-500.0 Hz"
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self.src.set_property("framerate", value)
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actual = self.src.get_property("framerate")
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return f"OK {actual}"
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except ValueError:
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return "ERROR INVALID_SYNTAX: Framerate must be a number"
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except Exception as e:
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return f"ERROR: {str(e)}"
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def handle_get_framerate(self):
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"""Handle GET_FRAMERATE command"""
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try:
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value = self.src.get_property("framerate")
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return f"OK {value}"
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except Exception as e:
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return f"ERROR: {str(e)}"
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def handle_status(self):
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"""Handle STATUS command"""
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try:
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exposure = self.src.get_property("exposure")
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framerate = self.src.get_property("framerate")
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# Get pipeline state
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state = "UNKNOWN"
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if self.pipeline:
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_, current_state, _ = self.pipeline.get_state(0)
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state = current_state.value_nick.upper()
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return f"OK exposure={exposure} framerate={framerate} state={state}"
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except Exception as e:
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return f"ERROR: {str(e)}"
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def send_response(self, response, addr):
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"""Send response back to client"""
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try:
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self.sock.sendto((response + '\n').encode(), addr)
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except Exception as e:
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print(f"Failed to send response: {e}")
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Gst.init(None)
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pipeline = Gst.Pipeline()
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src = Gst.ElementFactory.make("idsueyesrc", "src")
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src.set_property("config-file", "ini/100fps-10exp-2456x4pix-500top-cw-extragain.ini")
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# Exposure in seconds (e.g., 0.016)
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src.set_property("exposure", 0.016)
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# Frame rate
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src.set_property("framerate", 22)
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# Video crop to remove bottom 3 pixels
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videocrop = Gst.ElementFactory.make("videocrop", "crop")
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videocrop.set_property("bottom", 3)
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# Queue for buffering
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queue = Gst.ElementFactory.make("queue", "queue")
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# UDP sink to send the raw data
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udpsink = Gst.ElementFactory.make("udpsink", "sink")
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udpsink.set_property("host", "127.0.0.1")
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udpsink.set_property("port", 5000)
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# Add elements to pipeline
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pipeline.add(src)
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pipeline.add(videocrop)
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pipeline.add(queue)
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pipeline.add(udpsink)
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# Link elements: src -> videocrop -> queue -> udpsink
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if not src.link(videocrop):
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print("ERROR: Failed to link src to videocrop")
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exit(1)
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if not videocrop.link(queue):
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print("ERROR: Failed to link videocrop to queue")
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exit(1)
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if not queue.link(udpsink):
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print("ERROR: Failed to link queue to udpsink")
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exit(1)
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print("Pipeline created successfully")
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print(f"Video stream: UDP port 5000 (host: 127.0.0.1)")
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print("Pipeline: idsueyesrc -> videocrop (bottom=3) -> queue -> udpsink")
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print()
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# Create and start control server
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control_server = ControlServer(src, pipeline, port=5001)
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control_server.start()
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# Start the pipeline
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ret = pipeline.set_state(Gst.State.PLAYING)
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if ret == Gst.StateChangeReturn.FAILURE:
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print("ERROR: Unable to set the pipeline to the playing state")
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exit(1)
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print()
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print("Pipeline is PLAYING...")
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print("Press Ctrl+C to stop")
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# Wait until error or EOS
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bus = pipeline.get_bus()
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try:
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while True:
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# Use timeout to allow Ctrl+C to be caught quickly
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msg = bus.timed_pop_filtered(
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100 * Gst.MSECOND, # 100ms timeout
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Gst.MessageType.ERROR | Gst.MessageType.EOS | Gst.MessageType.STATE_CHANGED
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)
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if msg:
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t = msg.type
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if t == Gst.MessageType.ERROR:
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err, debug = msg.parse_error()
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print(f"ERROR: {err.message}")
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print(f"Debug info: {debug}")
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break
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elif t == Gst.MessageType.EOS:
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print("End-Of-Stream reached")
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break
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elif t == Gst.MessageType.STATE_CHANGED:
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if msg.src == pipeline:
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old_state, new_state, pending_state = msg.parse_state_changed()
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print(f"Pipeline state changed from {old_state.value_nick} to {new_state.value_nick}")
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except KeyboardInterrupt:
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print("\nInterrupted by user")
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# Cleanup
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print("Stopping control server...")
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control_server.stop()
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print("Stopping pipeline...")
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pipeline.set_state(Gst.State.NULL)
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print("Pipeline stopped")
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