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Keith PrickettMichelle Sintov
Keith Prickett
authored and
Michelle Sintov
committed
VIC-11554 On camera close, wait for streaming done (#76)
Fixes issue where opening and closing a streaming connection would put the gRPC stuff in a bad state and we could never get a picture again.
1 parent 53d19ab commit ec1bf39

7 files changed

Lines changed: 272 additions & 74 deletions

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‎anki_vector/camera.py‎

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@@ -28,6 +28,7 @@
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import asyncio
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from concurrent.futures import CancelledError
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import time
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import sys
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try:
@@ -130,8 +131,47 @@ def close_camera_feed(self) -> None:
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self._camera_feed_task.cancel()
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future = self.conn.run_coroutine(self._camera_feed_task)
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future.result()
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# wait for streaming to end, up to 10 seconds
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iterations = 0
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max_iterations = 100
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while self.image_streaming_enabled():
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time.sleep(0.1)
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iterations += 1
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if iterations > max_iterations:
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# leave loop, even if streaming is still enabled
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# because other SDK functions will still work and
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# the RPC should have had enough time to finish
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# which means we _should_ be in a good state.
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self.logger.info('Camera Feed closed, but streaming on'
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' robot remained enabled. This is unexpected.')
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break;
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self._camera_feed_task = None
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async def _image_streaming_enabled(self) -> bool:
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"""request streaming enabled status from the robot"""
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request = protocol.IsImageStreamingEnabledRequest()
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response = await self.conn.grpc_interface.IsImageStreamingEnabled(request)
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enabled = False
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if response:
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enabled = response.is_image_streaming_enabled
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return enabled
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def image_streaming_enabled(self) -> bool:
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"""True if image streaming is enabled on the robot
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.. testcode::
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import anki_vector
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with anki_vector.Robot() as robot:
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image_streaming_enabled = robot.camera.image_streaming_enabled()
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if image_streaming_enabled:
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print("Robot is streaming video")
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else:
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print("Robot is not streaming video")
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"""
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future = self.conn.run_coroutine(self._image_streaming_enabled())
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return future.result()
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def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
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"""Processes raw data from the robot into a more more useful image structure."""
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size = len(msg.data)

‎anki_vector/messaging/external_interface.proto‎

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@@ -154,28 +154,35 @@ service ExternalInterface {
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body: "*"
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};
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}
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rpc EnableMotionDetection(EnableMotionDetectionRequest) returns (EnableMotionDetectionResponse) {
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option (google.api.http) = {
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post: "/v1/enable_motion_detection",
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body: "*"
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};
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}
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rpc EnableMirrorMode(EnableMirrorModeRequest) returns (EnableMirrorModeResponse) {
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option (google.api.http) = {
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post: "/v1/enable_mirror_mode",
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body: "*"
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};
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}
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rpc EnableImageStreaming(EnableImageStreamingRequest) returns (EnableImageStreamingResponse) {
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option (google.api.http) = {
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post: "/v1/enable_image_streaming",
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body: "*"
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};
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}
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rpc IsImageStreamingEnabled(IsImageStreamingEnabledRequest) returns (IsImageStreamingEnabledResponse) {
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option (google.api.http) = {
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post: "/v1/is_image_streaming_enabled",
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body: "*"
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};
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}
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// Tells Vector to drive to the specified pose and orientation.
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rpc GoToPose(GoToPoseRequest) returns (GoToPoseResponse) {
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option (google.api.http) = {

‎anki_vector/messaging/external_interface_pb2.py‎

Lines changed: 42 additions & 33 deletions
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‎anki_vector/messaging/external_interface_pb2_grpc.py‎

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@@ -128,6 +128,11 @@ def __init__(self, channel):
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request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingRequest.SerializeToString,
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response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingResponse.FromString,
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)
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self.IsImageStreamingEnabled = channel.unary_unary(
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'/Anki.Vector.external_interface.ExternalInterface/IsImageStreamingEnabled',
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request_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.SerializeToString,
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response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.FromString,
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)
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self.GoToPose = channel.unary_unary(
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'/Anki.Vector.external_interface.ExternalInterface/GoToPose',
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request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.SerializeToString,
@@ -444,6 +449,13 @@ def EnableImageStreaming(self, request, context):
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context.set_details('Method not implemented!')
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raise NotImplementedError('Method not implemented!')
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def IsImageStreamingEnabled(self, request, context):
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# missing associated documentation comment in .proto file
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pass
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context.set_code(grpc.StatusCode.UNIMPLEMENTED)
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context.set_details('Method not implemented!')
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raise NotImplementedError('Method not implemented!')
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def GoToPose(self, request, context):
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"""Tells Vector to drive to the specified pose and orientation.
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"""
@@ -783,6 +795,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
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request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingRequest.FromString,
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response_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingResponse.SerializeToString,
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),
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'IsImageStreamingEnabled': grpc.unary_unary_rpc_method_handler(
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servicer.IsImageStreamingEnabled,
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request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.FromString,
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response_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.SerializeToString,
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),
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'GoToPose': grpc.unary_unary_rpc_method_handler(
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servicer.GoToPose,
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request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.FromString,

‎anki_vector/messaging/messages.proto‎

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@@ -874,6 +874,15 @@ message EnableImageStreamingResponse
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ResponseStatus status = 1;
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}
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// Request whether or not image streaming is enabled on the robot
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message IsImageStreamingEnabledRequest {
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}
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// Indicates whether or not image streaming is enabled on the robot
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message IsImageStreamingEnabledResponse {
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bool is_image_streaming_enabled = 1;
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}
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// Sent when vision modes are automatically disabled due to the SDK no longer having control
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// of the robot
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message VisionModesAutoDisabled

‎anki_vector/messaging/messages_pb2.py‎

Lines changed: 108 additions & 37 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎docs/source/proto.html‎

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@@ -410,6 +410,14 @@ <h2>Table of Contents</h2>
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<a href="#Anki.Vector.external_interface.ImageChunk"><span class="badge">M</span>ImageChunk</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.IsImageStreamingEnabledRequest"><span class="badge">M</span>IsImageStreamingEnabledRequest</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.IsImageStreamingEnabledResponse"><span class="badge">M</span>IsImageStreamingEnabledResponse</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.KeepAlivePing"><span class="badge">M</span>KeepAlivePing</a>
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</li>
@@ -2810,6 +2818,38 @@ <h3 id="Anki.Vector.external_interface.ImageChunk">ImageChunk</h3>
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<h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledRequest">IsImageStreamingEnabledRequest</h3>
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Request whether or not image streaming is enabled on the robot
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<p></p>
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<h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledResponse">IsImageStreamingEnabledResponse</h3>
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Indicates whether or not image streaming is enabled on the robot
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<p></p>
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<table class="field-table">
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<thead>
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<tr><td>Field</td><td>Type</td><td>Description</td></tr>
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</thead>
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<tbody>
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<tr>
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<td>is_image_streaming_enabled</td>
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<td><a href="#bool">bool</a> </td>
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<td><p> </p></td>
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</tr>
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</tbody>
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</table>
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<p></p>
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<h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
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A null message used by streams to verify that the client is
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still connected.
@@ -6227,6 +6267,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
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<td><p></p></td>
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</tr>
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<tr>
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<td>IsImageStreamingEnabled</td>
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<td><p></p></td>
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</tr>
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<tr>
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<td>GoToPose</td>
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<td><p>Tells Vector to drive to the specified pose and orientation.</p></td>

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