Verzögerung eingebaut

ExoMy_Software-master/scripts/exomy-video-delay.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=ExoMy Video Delay Proxy
+After=network.target exomy-camera-stream.service
+Requires=exomy-camera-stream.service
+
+[Service]
+Type=simple
+User=pi
+ExecStart=/usr/bin/python3 /home/pi/ExoMy_Software/scripts/video_delay_proxy.py
+Restart=always
+RestartSec=3
+
+[Install]
+WantedBy=multi-user.target

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -10,6 +10,7 @@ import time
 
 PORT = 8082
 EXOMY_CONTAINER = 'exomy_autostart'
+DELAY_FILE = '/tmp/exomy_delay.txt'
 MOTOR_TEST_LOCK = threading.Lock()
 
 
@@ -220,6 +221,33 @@ def collect_status():
     }
 
 
+def get_delay():
+    try:
+        with open(DELAY_FILE) as f:
+            return max(0.0, min(10.0, float(f.read().strip())))
+    except Exception:
+        return 0.0
+
+
+def set_delay(seconds):
+    seconds = max(0.0, min(10.0, float(seconds)))
+    data = str(seconds).encode()
+    try:
+        fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_TRUNC)
+    except FileNotFoundError:
+        fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
+    try:
+        os.write(fd, data)
+    finally:
+        os.close(fd)
+    subprocess.run(
+        ['docker', 'exec', EXOMY_CONTAINER, 'bash', '-c',
+         f'source /opt/ros/melodic/setup.bash && rosparam set /delay_seconds {seconds}'],
+        capture_output=True, check=False
+    )
+    return seconds
+
+
 def restart_camera_service():
     subprocess.Popen(['systemctl', 'restart', 'exomy-camera-stream.service'])
 
@@ -449,6 +477,9 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.end_headers()
 
     def do_GET(self):
+        if self.path == '/api/delay':
+            self.write_json(200, {'delay_seconds': get_delay()})
+            return
         if self.path == '/api/status':
             self.write_json(200, collect_status())
             return
@@ -469,6 +500,24 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.write_json(404, {'status': 'Unbekannt'})
 
     def do_POST(self):
+        if self.path == '/api/delay':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+            try:
+                seconds = set_delay(payload.get('delay_seconds', 0))
+                self.write_json(200, {'status': 'Delay gesetzt', 'delay_seconds': seconds})
+            except Exception as exc:
+                self.write_json(500, {'status': str(exc)})
+            return
+
         if self.path == '/api/motor-test/drive-neutral/preview':
             try:
                 content_length = int(self.headers.get('Content-Length', '0'))

ExoMy_Software-master/scripts/video_delay_proxy.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+"""
+MJPEG Video Delay Proxy
+Puffert Frames vom Kamerastream (Port 8081) und liefert sie
+mit einstellbarer Verzögerung auf Port 8083.
+Delay wird aus /tmp/exomy_delay.txt gelesen (Sekunden als float).
+"""
+import collections
+import http.server
+import os
+import socketserver
+import threading
+import time
+import urllib.request
+
+DELAY_FILE = '/tmp/exomy_delay.txt'
+SOURCE_URL = 'http://localhost:8081/stream.mjpg'
+PORT = 8083
+BOUNDARY = b'--frame'
+
+# Deque: (timestamp_float, jpeg_bytes)
+frame_buffer = collections.deque()
+buffer_lock = threading.Lock()
+latest_frame = None
+latest_lock = threading.Lock()
+
+
+def read_delay():
+    try:
+        with open(DELAY_FILE) as f:
+            return max(0.0, float(f.read().strip()))
+    except Exception:
+        return 0.0
+
+
+def camera_reader():
+    global latest_frame
+    while True:
+        try:
+            req = urllib.request.urlopen(SOURCE_URL, timeout=5)
+            buf = bytearray()
+            while True:
+                chunk = req.read(4096)
+                if not chunk:
+                    break
+                buf.extend(chunk)
+                while True:
+                    start = buf.find(b'\xff\xd8')
+                    if start == -1:
+                        if len(buf) > 1024 * 1024:
+                            del buf[:-2]
+                        break
+                    end = buf.find(b'\xff\xd9', start + 2)
+                    if end == -1:
+                        if start > 0:
+                            del buf[:start]
+                        break
+                    jpeg = bytes(buf[start:end + 2])
+                    del buf[:end + 2]
+                    ts = time.monotonic()
+                    with buffer_lock:
+                        frame_buffer.append((ts, jpeg))
+                        # Puffer auf 12 Sekunden begrenzen
+                        cutoff = ts - 12.0
+                        while frame_buffer and frame_buffer[0][0] < cutoff:
+                            frame_buffer.popleft()
+                    with latest_lock:
+                        latest_frame = jpeg
+        except Exception:
+            time.sleep(1)
+
+
+def get_delayed_frame():
+    delay = read_delay()
+    if delay <= 0:
+        with latest_lock:
+            return latest_frame
+    target_ts = time.monotonic() - delay
+    with buffer_lock:
+        if not frame_buffer:
+            return None
+        best = frame_buffer[0][1]
+        for ts, jpeg in frame_buffer:
+            if ts <= target_ts:
+                best = jpeg
+            else:
+                break
+        return best
+
+
+class ReusableTCPServer(socketserver.ThreadingTCPServer):
+    allow_reuse_address = True
+
+
+class Handler(http.server.BaseHTTPRequestHandler):
+    def do_GET(self):
+        if self.path != '/stream.mjpg':
+            self.send_error(404)
+            return
+        self.send_response(200)
+        self.send_header('Age', '0')
+        self.send_header('Cache-Control', 'no-cache, private')
+        self.send_header('Pragma', 'no-cache')
+        self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=frame')
+        self.end_headers()
+        fps = 10
+        while True:
+            frame = get_delayed_frame()
+            if frame is None:
+                time.sleep(0.1)
+                continue
+            try:
+                self.wfile.write(BOUNDARY + b'\r\n')
+                self.wfile.write(b'Content-Type: image/jpeg\r\n')
+                self.wfile.write(f'Content-Length: {len(frame)}\r\n\r\n'.encode())
+                self.wfile.write(frame)
+                self.wfile.write(b'\r\n')
+                self.wfile.flush()
+                time.sleep(1.0 / fps)
+            except (BrokenPipeError, ConnectionResetError):
+                break
+
+    def log_message(self, fmt, *args):
+        return
+
+
+if __name__ == '__main__':
+    # Delay-Datei initialisieren (world-writable damit Admin-API schreiben kann)
+    try:
+        fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
+        os.write(fd, b'0.0')
+        os.close(fd)
+    except Exception:
+        pass
+
+    threading.Thread(target=camera_reader, daemon=True).start()
+    with ReusableTCPServer(('0.0.0.0', PORT), Handler) as server:
+        server.daemon_threads = True
+        print(f'Video-Delay-Proxy läuft auf Port {PORT}')
+        server.serve_forever()