Package: hikrobotcamlib
Package HIK Robotics camera drivers and a Pythonic wrappers to the data. You still need to install the SDK to get the
drivers/libraries.This supports a subset of the platforms HIKRobotics’ supports:Linux: glibc (notMUSL, ie not Alpine) x86_64, aarch64 and armhf (probably, only tested on aarch64)MacOS (idk if the dynlibs from vendor are both for Apple silicon and x86_64 but at least x86_64 works)I’ve tried to make nice wrappers that should mostly handle things cleanly but this uses ctypes and calls external libraries
that are not real Python bindings (via cddl). One wrong move and everything crashes hard.UsageThe wrappers are documented and type-hinted, enjoy. TLDR:fromtypingimportOptionalimporttimefromhikrobotcamlibCamera,DeviceList,Frame,DeviceTransportdefframe_callback(frame:Frame,cam:Camera)->None:"""Handle frames from camera"""# TODO: Do something with the framecam:Optional[Camera]=NonefordevinfoinDeviceList(DeviceTransport.GIGE|DeviceTransport.USB):cam=Camera(devinfo)breakifnotcam:raiseRuntimeError("No camera")cam.open()cam.frame_callback=frame_callbackcam.trigger_enable(False)cam.set_framerate(10.0)cam.start()time.sleep(2.5)cam.stop()cam.close()DockerFor more controlled deployments and to get rid of “works on my computer” -syndrome, we always
make sure our software works under docker.It’s also a quick way to get started with a standard development environment.SSH agent forwardingWe needbuildkit:export DOCKER_BUILDKIT=1And also the exact way for forwarding agent to running instance is different on OSX:export DOCKER_SSHAGENT="-v /run/host-services/ssh-auth.sock:/run/host-services/ssh-auth.sock -e SSH_AUTH_SOCK=/run/host-services/ssh-auth.sock"and Linux:export DOCKER_SSHAGENT="-v $SSH_AUTH_SOCK:$SSH_AUTH_SOCK -e SSH_AUTH_SOCK"Creating a development containerBuild image, create container and start it:docker build --ssh default --target devel_shell -t hikrobotcamlib:devel_shell .
docker create --name hikrobotcamlib_devel -v `pwd`":/app" -it `echo $DOCKER_SSHAGENT` hikrobotcamlib:devel_shell
docker start -i hikrobotcamlib_develpre-commit considerationsIf working in Docker instead of native env you need to run the pre-commit checks in docker too:docker exec -i hikrobotcamlib_devel /bin/bash -c "pre-commit install"
docker exec -i hikrobotcamlib_devel /bin/bash -c "pre-commit run --all-files"You need to have the container running, see above. Or alternatively use the docker run syntax but using
the running container is faster:docker run --rm -it -v `pwd`":/app" hikrobotcamlib:devel_shell -c "pre-commit run --all-files"Test suiteYou can use the devel shell to run py.test when doing development, for CI use
the “tox” target in the Dockerfile:docker build --ssh default --target tox -t hikrobotcamlib:tox .
docker run --rm -it -v `pwd`":/app" `echo $DOCKER_SSHAGENT` hikrobotcamlib:toxProduction dockerTODO: Remove this section if this is a library and not an applicationThere’s a “production” target as well for running the application, remember to change that
architecture tag to arm64 if building on ARM:docker build --ssh default --target production -t hikrobotcamlib:amd64-latest .
docker run --rm --network host -it --name hikrobotcamlib hikrobotcamlib:amd64-latestDevelopmentTODO: Remove the repo init from this document after you have done it.TLDR:Create and activate a Python 3.11 virtualenv (assuming virtualenvwrapper):mkvirtualenv -p `which python3.11` my_virtualenvchange to a branch:git checkout -b my_branchinstall Poetry:https://python-poetry.org/docs/#installationInstall project deps and pre-commit hooks:poetry install
pre-commit install
pre-commit run --all-filesReady to go.Remember to activate your virtualenv whenever working on the repo, this is needed
because pylint and mypy pre-commit hooks use the “system” python for now (because reasons).