From 1a7efcfa23f7c16a18e80bcbd872fb24cb532c0e Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Fri, 2 Jun 2023 15:33:22 +0200
Subject: [PATCH] change from asyncio to normal thread

---
 src/camera/camera/camera_controller.py |  4 ---
 test_stream.py                         | 46 ++++++++++++++++++++++++++
 2 files changed, 46 insertions(+), 4 deletions(-)
 create mode 100644 test_stream.py

diff --git a/src/camera/camera/camera_controller.py b/src/camera/camera/camera_controller.py
index 9fe411fd..dab35e37 100644
--- a/src/camera/camera/camera_controller.py
+++ b/src/camera/camera/camera_controller.py
@@ -57,10 +57,6 @@ class CameraController(Node):
         return response
 
     def handle_video_connection(self):
-        self.get_logger().info('Starting video thread')
-        asyncio.run(self.send_video())
-    
-    async def send_video(self):
         self.get_logger().info('Starting sending video')
         vid = cv2.VideoCapture(0)
 
diff --git a/test_stream.py b/test_stream.py
new file mode 100644
index 00000000..25822610
--- /dev/null
+++ b/test_stream.py
@@ -0,0 +1,46 @@
+import cv2
+import requests
+
+video_url = "http://10.1.1.41:8080/video"
+# Set the headers for the POST request
+headers = {'Content-Type': 'application/octet-stream'}
+
+vid = cv2.VideoCapture(0)
+
+# vid.set(cv2.CAP_PROP_FRAME_WIDTH, RES_4K_W)
+# vid.set(cv2.CAP_PROP_FRAME_HEIGHT, RES_4K_H)
+while True:
+    try:
+        while vid.isOpened():
+            pass
+            ret, frame = vid.read()
+
+            if not ret:
+                # If reading the frame failed, break the loop
+                break
+
+            # Convert the frame to bytes
+            _, img_encoded = cv2.imencode('.jpg', frame)
+            frame_data = img_encoded.tobytes()
+
+            # Send the frame data as the request body
+            response = requests.post(video_url, data=frame_data, headers=headers)
+
+            # Check the response status
+            if response.status_code == 200:
+                print('Frame sent successfully.')
+            else:
+                print('Failed to send frame.')
+            # if self.websocket is not None:
+            #     img,frame = vid.read()
+            #     frame = cv2.resize(frame,(640,480))
+            #     encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 65]
+            #     man = cv2.imencode('.jpg', frame, encode_param)[1]
+            #     self.get_logger().info('Sending video')
+            #     asyncio.ensure_future(self.websocket.send(man.tobytes()),loop=self.event_loop)
+            #     await asyncio.sleep(1)
+            # else:
+            #     self.get_logger().info('No websocket connection')
+
+    except Exception as e:
+        print('Something went wrong while reading and sending video: ' + str(e))
\ No newline at end of file