lack of camera resilience CoderBotOrg#47

Author: previ

main.py

@@ -23,6 +23,7 @@
 import time
 import logging.handlers
 import subprocess
+import picamera
 
 from coderbot import CoderBot, PIN_PUSHBUTTON
 from camera import Camera
@@ -68,7 +69,8 @@ def get_locale():
 
 @app.route("/")
 def handle_home():
-    return render_template('main.html', host=request.host[:request.host.find(':')], stream_port=cam.stream_port, locale = get_locale(), config=app.bot_config, program_level=app.bot_config.get("prog_level", "std"))
+    stream_port = cam.stream_port if cam else "" 
+    return render_template('main.html', host=request.host[:request.host.find(':')], stream_port=stream_port, locale = get_locale(), config=app.bot_config, program_level=app.bot_config.get("prog_level", "std"), cam=cam!=None)
 
 @app.route("/config", methods=["POST"])
 def handle_config():
@@ -111,17 +113,32 @@ def handle_bot():
         motion.turn(angle=float(param2))
     elif cmd == "stop":
         bot.stop()
-        motion.stop()
+        try:
+          motion.stop()
+        except:
+          logging.warning("Camera not present")
+          pass
     elif cmd == "take_photo":
-        cam.photo_take()
-        audio.say(app.bot_config.get("sound_shutter"))
+        try:
+	  cam.photo_take()
+          audio.say(app.bot_config.get("sound_shutter"))
+        except:
+          logging.warning("Camera not present")
+          pass
     elif cmd == "video_rec":
-        cam.video_rec()
-        audio.say(app.bot_config.get("sound_shutter"))
+        try:
+          cam.video_rec()
+          audio.say(app.bot_config.get("sound_shutter"))
+        except:
+          logging.warning("Camera not present")
+          pass
     elif cmd == "video_stop":
-        cam.video_stop()
-        audio.say(app.bot_config.get("sound_shutter"))
-
+        try:
+          cam.video_stop()
+          audio.say(app.bot_config.get("sound_shutter"))
+        except:
+          logging.warning("Camera not present")
+          pass
     elif cmd == "say":
         logging.info("say: " + str(param1) + " in: " + str(get_locale()))
 	audio.say(param1, get_locale())
@@ -190,7 +207,7 @@ def handle_photo(filename):
     video = None
     try:
       video = cam.get_photo_file(filename)
-    except:
+    except picamera.exc.PiCameraError:
       pass
 
     return send_file(video, mimetype.get(filename[:-3],'image'), cache_timeout=0)
@@ -292,8 +309,12 @@ def run_server():
       bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode")=="servo"), motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)))
       audio = Audio.get_instance()
       audio.say(app.bot_config.get("sound_start"))
-      cam = Camera.get_instance()
-      motion = Motion.get_instance()
+      try:
+	cam = Camera.get_instance()
+        motion = Motion.get_instance()
+      except picamera.exc.PiCameraError:
+        logging.error("Camera not present")
+      
       if app.bot_config.get('load_at_start') and len(app.bot_config.get('load_at_start')):
         app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
         app.prog.execute()

program.py

@@ -141,18 +141,25 @@ def run(self):
     try:
       #print "run.1"
       bot = coderbot.CoderBot.get_instance()
-      cam = camera.Camera.get_instance()
       program = self
-      if config.Config.get().get("prog_video_rec") == "true":
-        get_cam().video_rec(program.name)
-        logging.debug("starting video")
+      try:
+	cam = camera.Camera.get_instance()
+        if config.Config.get().get("prog_video_rec") == "true":
+          get_cam().video_rec(program.name)
+          logging.debug("starting video")
+      except:
+        logging.error("Camera not available")
+      
       exec(self._code)
       #print "run.2"
     except RuntimeError as re:
       logging.info("quit: " + str(re))
     finally:
-      get_cam().video_stop() #if video is running, stop it
-      get_motion().stop()
+      try:
+        get_cam().video_stop() #if video is running, stop it
+        get_motion().stop()
+      except:
+        logging.error("Camera not available")
       self._running = False
 
   def as_json(self):

templates/blocks_adv.xml

@@ -225,7 +225,7 @@
           </block>
         </value>
       </block>
-    </category>
+    </category>{%if cam%}
     <category name="{% trans %}Camera{% endtrans %}" colour="120">
       <block type="coderbot_camera_photoTake"></block>
       <block type="coderbot_camera_videoRec"></block>
@@ -251,7 +251,7 @@
       </block>
       <block type="coderbot_adv_findCode"></block>
       <block type="coderbot_sonar_get_distance"></block>
-    </category>
+    </category>{%endif%}
     <category name="{% trans %}Sound{% endtrans %}" colour="220">
       <block type="coderbot_audio_say"></block>
       <block type="coderbot_audio_record"></block>

templates/blocks_basic.xml

@@ -9,10 +9,10 @@
             <field name="TEXT">Ciao</field>
           </block>
         </value>
-      </block>
+      </block>{%if cam%}
       <block type="coderbot_camera_photoTake"></block>
       <block type="coderbot_camera_videoRec"></block>
-      <block type="coderbot_camera_videoStop"></block>
+      <block type="coderbot_camera_videoStop"></block>{%endif%}
       <block type="coderbot_repeat"></block>
         <value name="TIMES">
           <block type="math_number">

templates/blocks_std.xml

@@ -57,7 +57,7 @@
           </block>
         </value>
       </block>
-    </category>
+    </category>{%if cam%}
     <category name="{% trans %}Sensor{% endtrans %}" colour="290">
       <block type="coderbot_adv_pathAhead"></block>
       <block type="coderbot_adv_findLine"></block>
@@ -69,7 +69,7 @@
           </block>
         </value>
       </block>
-    </category>
+    </category>{%endif%}
     <category name="{% trans %}Sound{% endtrans %}" colour="290">
       <block type="coderbot_audio_say"></block>
     </category>      

templates/control.html

@@ -38,17 +38,17 @@ <h1>CoderBot</h1>
      </div>
     </div>
     <div class="ui-grid-solo">
-     <div class="ui-block-a">
-      <button id="b_camera" class="ui-btn ui-btn-inline ui-icon-camera ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photo{% endtrans %}</button>
+     <div class="ui-block-a">{%if stream_port%}
+      <button id="b_camera" class="ui-btn ui-btn-inline ui-icon-camera ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photo{% endtrans %}</button>{%endif%}
      </div>
     </div>
     <div class="ui-grid-solo">
-     <div class="ui-block-a">
+     <div class="ui-block-a">{%if stream_port%}
       <button id="b_video_rec" class="ui-btn ui-btn-inline ui-icon-video ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Rec{% endtrans %}</button>
-      <button id="b_video_stop" class="ui-btn ui-btn-inline ui-icon-cb-stop ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Stop{% endtrans %}</button>
+      <button id="b_video_stop" class="ui-btn ui-btn-inline ui-icon-cb-stop ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Stop{% endtrans %}</button>{%endif%}
      </div>
-     <div class="ui-block-a">
-      <button id="b_photos" class="ui-btn ui-btn-inline ui-icon-grid ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photos{% endtrans %}</button>
+     <div class="ui-block-a">{%if stream_port%}
+      <button id="b_photos" class="ui-btn ui-btn-inline ui-icon-grid ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photos{% endtrans %}</button>{%endif%}
      </div>
     </div>
    </div>