fix: Picamera2 CMA Memory Allocation Error (#17)

* fix: add exceptions to trigger restart

* fix: change image capture format and call stop

* fix: don't call configure each time

* fix: change close to stop

* fix: change yuv420 to xrgb8888 back

* feat: add memory information command

* fix: give command as str

Author: electricalgorithm

core/observers/subject/eye_subject.py

@@ -81,26 +81,39 @@ def _run_in_loop(self,
             wifi_lock = Lock()
 
         # Save an initial image.
-        initial_frame = eye_strategy.get_frame()
+        try:
+            initial_frame = eye_strategy.get_frame()
+        except RuntimeError as error:
+            logger.error(
+                "[EyeSubject] An error occurred while capturing the frame.")
+            raise RuntimeError from error
         file_location = f"{self._image_path}/initial_frame.jpg"
         cv2.imwrite(file_location, initial_frame)
         logger.debug("[EyeSubject] Initial frame has been saved.")
 
         while True:
             # If WiFi subject would give rights to use camera,
             # Check if any intruders detected.
-            logger.debug("[EyeSubject] WiFi Lock Status: %s", wifi_lock.locked())
+            logger.debug("[EyeSubject] WiFi Lock Status: %s",
+                         wifi_lock.locked())
             if not wifi_lock.locked():
-                result = eye_strategy.check_if_detected()
-                logger.debug("[EyeSubject] EyeStrategyResult: %s", str(result.result))
+                try:
+                    result = eye_strategy.check_if_detected()
+                except RuntimeError as error:
+                    logger.error(
+                        "[EyeSubject] An error occurred while checking if detected.")
+                    raise RuntimeError from error
+                logger.debug("[EyeSubject] EyeStrategyResult: %s",
+                             str(result.result))
 
                 if result.result:
                     logger.debug("[EyeSubject] Changing state to DETECTED...")
                     self._save_image(result)
                     self.set_state(EyeStates.DETECTED)
                     sleep_interval = EyeSubject.SLEEP_INTERVAL_DETECTED
                 else:
-                    logger.debug("[EyeSubject] Changing state to NOT_DETECTED...")
+                    logger.debug(
+                        "[EyeSubject] Changing state to NOT_DETECTED...")
                     self.set_state(EyeStates.NOT_DETECTED)
                     sleep_interval = EyeSubject.DEFAULT_SLEEP_INTERVAL
 

core/strategies/eye/base_eye_strategy.py

@@ -36,7 +36,10 @@ def _detect_humans(self, frame: ndarray) -> DetectorResult:
     def check_if_detected(self) -> EyeStrategyResult:
         """This method checks if there are any protectors around."""
         #  Get the frame from the camera.
-        frame = self.get_frame()
+        try:
+            frame = self.get_frame()
+        except RuntimeError as error:
+            raise RuntimeError from error
         # Detect humans in the frame.
         result = self._detect_humans(frame)
         return EyeStrategyResult(image=result.image, result=result.human_found)

core/strategies/eye/picamera_strategy.py

@@ -17,8 +17,14 @@ class PiCameraStrategy(BaseEyeStrategy):
     """
     The camera strategy for eye strategies.
     """
+
     def __init__(self):
         self._detector = None
+        self._picam2 = Picamera2()
+        still_configuration = self._picam2.create_still_configuration(
+            main={"format": 'XRGB8888'}
+        )
+        self._picam2.configure(still_configuration)
 
     # Interface methods.
     def set_detector(self, detector: BaseDetectorStrategy) -> None:
@@ -31,12 +37,13 @@ def get_detector(self) -> BaseDetectorStrategy:
 
     def get_frame(self) -> numpy.ndarray:
         """This method returns the frame from the camera."""
-        # Internal attributes
-        picam2 = Picamera2()
-        still_configuration = picam2.create_still_configuration(main={"format": 'XRGB8888'})
-        picam2.configure(still_configuration)
-        picam2.start()
-        frame = picam2.capture_array()
-        picam2.close()
-        del picam2
-        return cv2.rotate(frame, cv2.ROTATE_90_COUNTERCLOCKWISE)
+        try:
+            self._picam2.start()
+            frame = self._picam2.capture_array()
+            self._picam2.stop()
+        except Exception as error:
+            logger.error(
+                "An error occurred while capturing the frame: %s", error)
+            raise RuntimeError from error
+        return cv2.rotate(frame,
+                          cv2.ROTATE_90_COUNTERCLOCKWISE)

servicer.py

@@ -37,7 +37,8 @@ def read_configurations() -> tuple[dict[str, Any], dict[str, Any]]:
 
 # Definitations
 MAIN_CONIGS, STRATEGY_CONFIGS = read_configurations()
-SERVICER_BOT = AsyncTeleBot(token=STRATEGY_CONFIGS["telegram_strategy"]["bot_key"])
+SERVICER_BOT = AsyncTeleBot(
+    token=STRATEGY_CONFIGS["telegram_strategy"]["bot_key"])
 KNOWN_LOG_LOCATIONS: dict[str, str] = {
     "hss.service": "/home/raspberry/.home-security-system/logs/hss.log"
 }
@@ -57,6 +58,7 @@ async def info(message):
                                 "/logs hss.service:N - provides the latest N logs.\n"
                                 "/inhouse - provides if protectors are in house, and whose.\n"
                                 "/imageshot - captures an image and sends.\n"
+                                "/meminfo - provides the memory information.\n"
                                 "/reboot - reboots the hardware.\n"
                                 "/shell echo 'test'- provides a shell access to the hardware.\n"
                                 "/info, /help, /hi - this help text.\n")
@@ -147,6 +149,19 @@ async def image_shot(message):
     del frame, encoded_frame
 
 
+@SERVICER_BOT.message_handler(commands=['meminfo'])
+async def mem_info(message):
+    """
+    This method is called when the /meminfo command is sent.
+    """
+    process = await asyncio.create_subprocess_shell(
+        "cat /proc/meminfo",
+        stdout=asyncio.subprocess.PIPE,
+        stderr=asyncio.subprocess.PIPE)
+    stdout, _ = await process.communicate()
+    await SERVICER_BOT.reply_to(message, f"Memory Information: \n{stdout.decode()}")
+
+
 @SERVICER_BOT.message_handler(commands=['reboot'])
 async def reboot(message):
     """