Record videos

control/command.py

@@ -1,5 +1,6 @@
 """Class to control the RC car."""
 
+import datetime
 import math
 import queue
 import random
@@ -15,6 +16,19 @@
 from messaging.async_producers import CommandForwardProducer
 
 
+try:
+    import picamera
+except ImportError:
+    class Dummy(object):  # pylint: disable=missing-docstring,too-few-public-methods
+        def __getattr__(self, attr):
+            time.sleep(0.01)
+            return Dummy()
+        def __call__(self, *args, **kwargs):
+            time.sleep(0.01)
+            return Dummy()
+    picamera = Dummy()
+
+
 class Command(threading.Thread):  # pylint: disable=too-many-instance-attributes
     """Processes telemetry data and controls the RC car."""
     VALID_COMMANDS = {'start', 'stop', 'reset', 'calibrate-compass'}
@@ -51,6 +65,8 @@ def __init__(
         self._wake_time = None
         self._start_time = None
 
+        self._camera = picamera.PiCamera()
+
         # If the car is on the starting line (not started yet)
         self._on_starting_line = True
 
@@ -93,12 +109,29 @@ def _handle_message(self, command):
             return
 
         if command == 'start':
+            try:
+                now = datetime.datetime.now()
+                file_name = '/data/{}-{}-{}_{}:{}:{}.h264'.format(
+                    now.year,
+                    now.month,
+                    now.day,
+                    now.hour,
+                    now.minute,
+                    now.second
+                )
+                self._camera.start_recording(file_name)
+            except Exception as exc:  # pylint: disable=broad-except
+                self._logger.warning('Unable to save video: {}'.format(exc))
             self.run_course()
+
         elif command == 'stop':
+            threading.Thread(target=self._stop_recording).start()
             self.stop()
+
         elif command == 'reset':
             self._on_starting_line = True
             self.reset()
+
         elif command == 'calibrate-compass':
             self.calibrate_compass(10)
 
@@ -118,6 +151,7 @@ def run(self):
         """Run in a thread, controls the RC car."""
         error_count = 0
         if self._waypoint_generator.done():
+            threading.Thread(target=self._stop_recording).start()
             self._logger.info('All waypoints reached')
             return
 
@@ -470,3 +504,8 @@ def _unstuck_yourself_iterator(self, seconds):
             yield True
 
         yield False
+
+    def _stop_recording(self):
+        """Stops recording after a little while."""
+        time.sleep(5)
+        self._camera.stop_recording()

main.py

@@ -343,13 +343,13 @@ def main():
     parser = make_parser()
     args = parser.parse_args()
 
-    try:
-        global POPEN
-        POPEN = subprocess.Popen((
-            'raspivid', '-o', args.video, '-w', '1024', '-h', '576', '-b', '6000000', '-t', '300000'
-        ))
-    except Exception:
-        logging.warning('Unable to save video')
+    #try:
+    #    global POPEN
+    #    POPEN = subprocess.Popen((
+    #        'raspivid', '-o', args.video, '-w', '1024', '-h', '576', '-b', '6000000', '-t', '300000'
+    #    ))
+    #except Exception:
+    #    logging.warning('Unable to save video')
 
     concrete_logger = logging.Logger('sparkfun')
     concrete_logger.setLevel(logging.DEBUG)