Send Camera Image To Webserver

Hello DJ! I want to thank you for your support! I was able to extract image frames from the camera in real time. I also managed to make a websocket client that sends a stream of frames to my django server.

This is your modified by me code:

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO;
using System.Runtime.InteropServices;
using ARC;
using System.Threading;
using System.Net.WebSockets;

namespace CameraCapture {

  public partial class MainForm : ARC.UCForms.FormPluginMaster {

    Configuration _config;
    ARC.UCForms.FormCameraDevice _cameraControl;
    bool _isClosing = false;

    [DllImport("kernel32.dll", SetLastError = true)]
    [return: MarshalAs(UnmanagedType.Bool)]
    static extern bool AllocConsole();
    CancellationTokenSource source = new CancellationTokenSource();
    ClientWebSocket wsClient = new ClientWebSocket();

    public MainForm() {

        InitializeComponent();

      // show a config button in the title bar. Set this to false if you do not have a config form.
        ConfigButton = true;
        detach();
        
    }

    /// 
    /// Set the configuration from the project file when loaded.
    /// We'll extract the _config class that's from the project file.
    /// 
    public override void SetConfiguration(ARC.Config.Sub.PluginV1 cf) {

        _config = (Configuration)cf.GetCustomObjectV2(typeof(Configuration));

        base.SetConfiguration(cf);
    }

    /// 
    /// When the project is saving, give it a copy of our config
    /// 
    public override ARC.Config.Sub.PluginV1 GetConfiguration() {

        _cf.SetCustomObjectV2(_config);

        return base.GetConfiguration();
    }

    /// 
    /// The user pressed the config button in the title bar. Show the config menu and handle the changes to the config.
    /// 
    public override void ConfigPressed() {

      using (var form = new ConfigForm()) {

        form.SetConfiguration(_config);

        if (form.ShowDialog() != DialogResult.OK)
          return;

        _config = form.GetConfiguration();
      }
    }

    private void button1_Click(object sender, EventArgs e)
    {

        
        if (_cameraControl == null)
        attach();
        else
            detach();
    }
    void detach()
    {

        if (_cameraControl != null)
        {

            if (!_isClosing)
                ARC.Invokers.SetAppendText(tbLog, true, "Detaching from {0}", _cameraControl.Text);

            _cameraControl.Camera.OnNewFrame -= Camera_OnNewFrame;

            _cameraControl = null;
        }

        if (!_isClosing)
            ARC.Invokers.SetText(btnAttach, "Attach");
    }

    void attach()
    {

        detach();

        Control[] cameras = ARC.EZBManager.FormMain.GetControlByType(typeof(ARC.UCForms.FormCameraDevice));

        //Task returnedTask = OpenConnectionAsync();
        
        if (cameras.Length == 0)
        {

            ARC.Invokers.SetAppendText(tbLog, true, "There are no camera controls in this project.");

            return;
        }

        _cameraControl = (ARC.UCForms.FormCameraDevice)cameras[0];

        _cameraControl.Camera.OnNewFrame += Camera_OnNewFrame;

        ARC.Invokers.SetAppendText(tbLog, true, "Attached to: {0}", _cameraControl.Text);

        ARC.Invokers.SetText(btnAttach, "Detach");
    }

    void Camera_OnNewFrame()
    {

        if (_cameraControl == null)
            return;
    
        try
        {
            using (Graphics g = Graphics.FromImage(_cameraControl.Camera.GetOutputBitmapManaged))
            {

                using (MemoryStream ms = new MemoryStream())
                {

                    _cameraControl.Camera.GetOutputBitmapManaged.Save(ms, System.Drawing.Imaging.ImageFormat.Jpeg);
                    // here is the image array
                    byte[] byteArray = ms.ToArray();
                    SendAsync(byteArray, source.Token);
                }

            }
        }
        catch (Exception eX)
        {

            Invokers.SetAppendText(tbLog, true, eX.ToString());

            detach();
        }
    }
    public async Task OpenConnectionAsync(CancellationToken token) {
        Uri serverUri = new Uri("ws://127.0.0.1:8000/ws/socket-server/");
        await wsClient.ConnectAsync(serverUri, source.Token).ConfigureAwait(false);
    }
    public async Task SendAsync(byte[] byteImage, CancellationToken token)
    {
        try
        {

                await wsClient.SendAsync(new ArraySegment(byteImage), WebSocketMessageType.Binary, true, source.Token);
                Console.WriteLine(wsClient.State);
        }
        catch (Exception eX) {
            Console.WriteLine(wsClient.State);
            Console.WriteLine(eX);
        }

    }

    private void MainForm_Load(object sender, EventArgs e)
    {
        AllocConsole();
        OpenConnectionAsync(source.Token);
    }
  }
}

This websocket server part on django:

import json
import cv2
from channels.generic.websocket import WebsocketConsumer
import os

bytes_arr = 0

class WSConsumerTest(WebsocketConsumer):
    def connect(self):
        self.accept()
        self.send(text_data = json.dumps({
            'message': 'created_socket',
        }))
        print('success connection')
    def receive(self, text_data=None, bytes_data=None):
        global bytes_arr
        if (bytes_data != None):
            bytes_arr = bytes_data
        elif(text_data != None):
            self.send(bytes_data=bytes_arr)

Next, I output the frame stream to the browser in real time in the same way, but unfortunately here for some reason I can’t publish the html / js code, I don’t know why to be honest. The next step is server-side image segmentation and automatic motion control of the robot based on segmented image analysis. If you are interested in the further fate of the development, I can publish further results.

Best wishes!

That’s great! Nice work in such a short period of time. Please keep me updated. I enjoy watching progress of what ppl make