Better controller code

.gitignore

@@ -1,3 +1,4 @@
 *.zip
 .vscode
 .idea
+*.bin

controller-client/draw.lua

@@ -4,12 +4,29 @@ local function getTextY(line)
 end
 
 function love.draw2()
+	local width, height = love.graphics.getDimensions()
+
 	-- Set background
 	love.graphics.setBackgroundColor(0, 0, 0)
 	love.graphics.setColor(1, 1, 1)
 
+	-- Draw camera feed
 	if BotState.camfeed then
-		love.graphics.draw(BotState.camfeed)
+		local imageWidth = BotState.camfeed:getWidth()
+		local imageHeight = BotState.camfeed:getHeight()
+
+		local scaleWidth = width / imageWidth
+		local scaleHeight = height / imageHeight
+		local scale = math.min(scaleWidth, scaleHeight)
+
+		local scaledWidth = imageWidth * scale
+		local scaledHeight = imageHeight * scale
+
+		love.graphics.draw(BotState.camfeed,
+			(width - scaledWidth) / 2, (height - scaledHeight) / 2,
+			0,
+			scale, scale
+		)
 	end
 
 	-- Draw time

controller-host/mqtt/client.lua

@@ -1074,7 +1074,6 @@ function client_mt:_apply_network_timeout()
 			-- replace connection recv_func with coroutine-based version
 			local sync_recv_func = conn.recv_func
 			conn.recv_func = function(totalSize, ...)
-				print("Args: ("..(1+#{...})..")", totalSize, ...)
 				while true do
 					local allData = ""
 					while true do
@@ -1178,7 +1177,6 @@ function client_mt:_receive_packet()
 		return false, "network connection is not opened"
 	end
 	-- parse packet
-	print("Calling ", conn.recv_func)
 	local packet, err = self._parse_packet(conn.recv_func)
 	if not packet then
 		return false, err

controller-host/mqtt/luasocket.lua

@@ -25,12 +25,7 @@ end
 -- Send data to network connection
 function luasocket.send(conn, data, i, j)
 	conn.sock:settimeout(nil, "t")
-	print("Sending bytes ", #data, i, j)
 	local ok, err = conn.sock:send(data, i, j)
-	if err == "timeout" then
-		print("Oops, got timeout")
-		print(debug.traceback())
-	end
 	conn.sock:settimeout(conn.timeout, "t")
 	-- print("    luasocket.send:", ok, err, require("mqtt.tools").hex(data))
 	return ok, err
@@ -39,25 +34,16 @@ end
 -- Receive given amount of data from network connection
 function luasocket.receive(conn, size)
 	local ok, err = conn.sock:receive(size)
-	 if ok then
-		if #ok ~= size then
-			assert(false, "bad size")
-		end
-		if #ok > 100 then
-	 		print("    luasocket.receive good:", size, #ok, "(long)")
-		else
-			--print(debug.traceback())
-			print("    luasocket.receive good:", size, #ok, require("mqtt.tools").hex(ok))
-		end
-	 elseif err ~= "timeout" then
-	 	print("    luasocket.receive fail:", ok, err)
-	 end
+	--if ok then
+	--	print("    luasocket.receive good:", size, #ok, require("mqtt.tools").hex(ok))
+	--elseif err ~= "timeout" then
+	--	print("    luasocket.receive fail:", ok, err)
+	--end
 	return ok, err
 end
 
 -- Set connection's socket to non-blocking mode and set a timeout for it
 function luasocket.settimeout(conn, timeout)
-	print("Setting timeout to " .. timeout)
 	conn.timeout = timeout
 	conn.sock:settimeout(timeout, "t")
 end

controller-host/mqtt/protocol.lua

@@ -490,16 +490,12 @@ function protocol.start_parse_packet(read_func)
 	len, err = parse_var_length(read_func)
 	if not len then
 		return false, "failed to parse remaining length: "..err
-	else
-		print("Variable length is: " .. len)
 	end
 
 	-- create packet parser instance (aka input)
 	local input = {1, available = 0} -- input data offset and available size
 	if len > 0 then
-		print("Reading payload body")
 		data, err = read_func(len)
-		print("Reading payload body done")
 	else
 		data = ""
 	end
@@ -520,7 +516,6 @@ function protocol.start_parse_packet(read_func)
 		return res
 	end
 
-	print("Available data is: " .. input.available)
 	return ptype, flags, input
 end
 

spider-cam/Dockerfile

@@ -2,13 +2,13 @@ FROM alpine:3.20.1
 
 RUN apk add --no-cache git meson alpine-sdk cmake linux-headers python3 python3-dev \
     py3-yaml py3-jinja2 py3-ply py3-pybind11 py3-pybind11-dev py3-paho-mqtt
-#RUN apk add --no-cache libcamera libcamera-tools libcamera-v4l2 python3 python3-dev \
-#    cython py3-setuptools alpine-sdk ffmpeg ffmpeg-dev
 
 WORKDIR /libcamera
 ADD libcamera /libcamera
 RUN meson setup --prefix /usr build && ninja -C build install
 
+RUN apk add --no-cache py3-pillow
+
 WORKDIR /app
 COPY mfb.py /app
 COPY spider-cam.py /app

spider-cam/spider-cam.py

@@ -3,10 +3,12 @@ import paho.mqtt.client as mqtt
 import selectors
 import sys
 import time
+import io
+from PIL import Image
 
 import mfb
 
-image_count = 0
+image_count = 9999
 
 def camera_name(camera):
 	return camera.id
@@ -16,12 +18,18 @@ def handle_camera_event(cm):
 	for req in reqs:
 		process_request(req)
 
+def sendImage(plane):
+	image = Image.frombytes("RGBA", (800, 600), plane.tobytes())
+	pngBytes = io.BytesIO()
+	image.save(pngBytes, "png")
+	mqttc.publish("spider/telemetry/camfeed", pngBytes.getvalue())
+
 def process_request(request):
 	global camera, image_count
 	global mqttc
 
 	image_count += 1
-	if image_count > 50:
+	if image_count > 30:
 		image_count = 0
 		print(f'Request completed: {request}')
 
@@ -37,7 +45,7 @@ def process_request(request):
 				'/'.join([str(p.bytes_used) for p in metadata.planes]))
 			with mfb.MappedFrameBuffer(buffer) as mappedBuffer:
 				for plane in mappedBuffer.planes:
-					mqttc.publish("spider/telemetry/camfeed", plane[0:256000].tobytes())
+					sendImage(plane)
 
 	request.reuse()
 	camera.queue_request(request)