node-red-node-rdk-tools

[ { "id": "mobilenet_unet_tab", "type": "tab", "label": "MobileNet_UNet Semantic Segmentation", "disabled": false, "info": "# MobileNet_UNet Semantic Segmentation\n\n## Introduction\n\nMobileNet_UNet semantic segmentation algorithm, supporting USB camera snapshot, USB video stream, and MIPI video stream modes.\n\n## Usage Process\n\n### Mode 1: USB Snapshot Segmentation\n1. **Take Photo**: Click the \"📷 Take USB Photo\" button.\n2. **Auto Segmentation**: The system automatically segments the photo using MobileNet_UNet.\n3. **View Result**: The segmentation result is displayed directly in the Node-RED editor.\n\n### Mode 2: USB Video Stream (Real-time)\n1. **Start Stream**: Click the \"🎥 USB Camera Stream\" button.\n2. **View Visuals**: Click \"Open Web Visualization\" to view real-time results in a browser.\n3. **Stop Service**: Click \"Stop Segmentation Service\" when finished.\n\n### Mode 3: MIPI Video Stream (Real-time)\n1. **Start Stream**: Click the \"📹 MIPI Camera Stream\" button.\n2. **View Visuals**: Click \"Open Web Visualization\" to view real-time results in a browser.\n3. **Stop Service**: Click \"Stop Segmentation Service\" when finished.\n\n## Supported Platforms\n\n- RDK X5\n- RDK S100\n- RDK X3\n\n## Core Communication Config\n\n### WebSocket Video Stream\n- **Stream URL**: `http://{host}:8000`\n- **Image Topic**: `/image` (JPEG encoded stream)\n- **Performance**: Real-time detection, low latency\n\n## Notes\n\n- Snapshot segmentation results are automatically saved to the `/tmp/mobilenet_unet/` directory.\n- For video stream modes, start the stream first before opening the visualization page.\n- The segmentation process takes a few seconds to initialize, please wait patiently.", "env": [] }, { "id": "comment_photo_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "📷 Snapshot Segmentation Workflow", "info": "Click the button to take a photo, automatically segment, and display the result.", "x": 150, "y": 40, "wires": [] }, { "id": "inject_take_photo", "type": "inject", "z": "mobilenet_unet_tab", "name": "📷 Take USB Photo", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 100, "wires": [ [ "rdk_camera_take_photo" ] ] }, { "id": "rdk_camera_take_photo", "type": "rdk-camera takephoto", "z": "mobilenet_unet_tab", "cameratype": "1", "filemode": "2", "filename": "photo.jpg", "filedefpath": "0", "filepath": "/tmp/mobilenet_unet", "fileformat": "jpeg", "resolution": "2", "rotation": "0", "fliph": "0", "flipv": "0", "brightness": "50", "contrast": "0", "sharpness": "0", "quality": "80", "imageeffect": "none", "exposuremode": "auto", "iso": "0", "agcwait": "1.0", "led": "0", "awb": "auto", "name": "Take Photo", "x": 350, "y": 100, "wires": [ [ "debug_camera_output", "function_prepare_segmentation" ] ] }, { "id": "debug_camera_output", "type": "debug", "z": "mobilenet_unet_tab", "name": "Debug: Camera Output", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "x": 550, "y": 60, "wires": [] }, { "id": "debug_prepare_seg", "type": "debug", "z": "mobilenet_unet_tab", "name": "Debug: Prepare Seg", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "x": 750, "y": 60, "wires": [] }, { "id": "function_prepare_segmentation", "type": "function", "z": "mobilenet_unet_tab", "name": "Prepare Segmentation", "func": "// Ensure directory exists and get photo path\nconst saveDir = '/tmp/mobilenet_unet';\n\nif (!fs.existsSync(saveDir)) {\n fs.mkdirSync(saveDir, { recursive: true });\n}\n\nlet photoPath = null;\nlet photoFileName = null;\n\n// Use file path from msg.payload\nif (msg.payload && typeof msg.payload === 'string' && msg.payload.trim()) {\n photoPath = msg.payload.trim();\n \n if (fs.existsSync(photoPath)) {\n photoFileName = path.basename(photoPath);\n node.status({ fill: 'green', shape: 'dot', text: 'Photo: ' + photoFileName });\n \n msg.photoPath = photoPath;\n msg.photoFileName = photoFileName;\n msg.photoDir = saveDir;\n \n return msg;\n } else {\n const self = node;\n let retryCount = 0;\n const maxRetries = 5;\n \n const checkFile = function() {\n if (fs.existsSync(photoPath)) {\n const newMsg = {\n photoPath: photoPath,\n photoFileName: path.basename(photoPath),\n photoDir: saveDir\n };\n self.status({ fill: 'green', shape: 'dot', text: 'Photo found' });\n self.send(newMsg);\n } else if (retryCount < maxRetries) {\n retryCount++;\n setTimeout(checkFile, 500);\n } else {\n self.error('Photo file not found: ' + photoPath);\n self.status({ fill: 'red', shape: 'dot', text: 'Photo Missing' });\n }\n };\n \n setTimeout(checkFile, 500);\n return null;\n }\n} else if (msg.payload && Buffer.isBuffer(msg.payload)) {\n // Save buffer to file\n photoFileName = 'photo.jpg';\n photoPath = path.join(saveDir, photoFileName);\n try {\n fs.writeFileSync(photoPath, msg.payload);\n node.status({ fill: 'green', shape: 'dot', text: 'Photo saved' });\n \n msg.photoPath = photoPath;\n msg.photoFileName = photoFileName;\n msg.photoDir = saveDir;\n \n return msg;\n } catch (err) {\n node.error('Failed to save photo: ' + err.message);\n return null;\n }\n} else {\n // Default fallback\n photoFileName = 'photo.jpg';\n photoPath = path.join(saveDir, photoFileName);\n if (!fs.existsSync(photoPath)) {\n node.error('Cannot find photo file, check camera config');\n node.status({ fill: 'red', shape: 'dot', text: 'Photo Missing' });\n return null;\n }\n node.status({ fill: 'green', shape: 'dot', text: 'Using default path' });\n \n msg.photoPath = photoPath;\n msg.photoFileName = photoFileName;\n msg.photoDir = saveDir;\n \n return msg;\n}", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [ { "var": "fs", "module": "fs" }, { "var": "path", "module": "path" } ], "x": 550, "y": 100, "wires": [ [ "debug_prepare_seg", "function_build_seg_command" ] ] }, { "id": "function_build_seg_command", "type": "function", "z": "mobilenet_unet_tab", "name": "Build Segmentation Command", "func": "// Build Segmentation Command\nconst photoDir = msg.photoDir || '/tmp/mobilenet_unet';\nconst photoFileName = msg.photoFileName || 'photo.jpg';\n\n// Build full launch command\nconst pwdCmd = 'pwd';\nmsg.payload = 'cd ' + photoDir + ' && source /opt/tros/humble/setup.bash && cp -r /opt/tros/humble/lib/dnn_node_example/config/ . 2>/dev/null || true && echo \"=== Starting MobileNet_UNet Segmentation ===\" && echo \"Work Dir: $(pwd)\" && echo \"Image File: ' + photoFileName + '\" && echo \"Checking image existence...\" && ls -lh ' + photoFileName + ' 2>&1 && echo \"Starting segmentation...\" && ros2 launch dnn_node_example dnn_node_example_feedback.launch.py dnn_example_config_file:=config/mobilenet_unet_workconfig.json dnn_example_image:=' + photoFileName + ' dnn_example_dump_render_img:=1';\n\nnode.status({ fill: 'blue', shape: 'dot', text: 'Command built' });\nreturn msg;", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 750, "y": 100, "wires": [ [ "debug_build_command", "exec_start_segmentation" ] ] }, { "id": "debug_build_command", "type": "debug", "z": "mobilenet_unet_tab", "name": "Debug: Built Command", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 950, "y": 60, "wires": [] }, { "id": "exec_start_segmentation", "type": "exec", "z": "mobilenet_unet_tab", "name": "Start Segmentation", "command": "", "addpay": true, "append": "", "useSpawn": true, "timer": "0", "oldrc": false, "x": 950, "y": 100, "wires": [ [ "debug_seg_output", "function_wait_and_refresh" ], [ "debug_seg_error" ], [] ] }, { "id": "debug_seg_output", "type": "debug", "z": "mobilenet_unet_tab", "name": "Segmentation Output", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 1180, "y": 80, "wires": [] }, { "id": "debug_seg_error", "type": "debug", "z": "mobilenet_unet_tab", "name": "Segmentation Error", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 1180, "y": 120, "wires": [] }, { "id": "comment_video_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "🎥 USB Stream Segmentation Workflow", "info": "Start real-time USB camera stream for continuous segmentation.", "x": 150, "y": 200, "wires": [] }, { "id": "inject_usb_video", "type": "inject", "z": "mobilenet_unet_tab", "name": "🎥 USB Camera Stream", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "usb_video", "payload": "start", "payloadType": "str", "x": 140, "y": 260, "wires": [ [ "exec_usb_video" ] ] }, { "id": "exec_usb_video", "type": "exec", "z": "mobilenet_unet_tab", "name": "USB Stream Launcher", "command": "source /opt/tros/humble/setup.bash && export CAM_TYPE=usb && ros2 launch dnn_node_example dnn_node_example.launch.py dnn_example_dump_render_img:=0 dnn_example_config_file:=config/mobilenet_unet_workconfig.json dnn_example_image_width:=640 dnn_example_image_height:=480", "addpay": false, "append": "", "useSpawn": true, "timer": "120", "oldrc": false, "x": 380, "y": 260, "wires": [ [ "debug_usb_video_output" ], [ "debug_usb_video_error" ], [] ] }, { "id": "debug_usb_video_output", "type": "debug", "z": "mobilenet_unet_tab", "name": "USB Stream Output", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 650, "y": 240, "wires": [] }, { "id": "debug_usb_video_error", "type": "debug", "z": "mobilenet_unet_tab", "name": "USB Stream Error", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 650, "y": 280, "wires": [] }, { "id": "comment_mipi_video_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "📹 MIPI Stream Segmentation Workflow", "info": "Start real-time MIPI camera stream for continuous segmentation.", "x": 150, "y": 320, "wires": [] }, { "id": "inject_mipi_video", "type": "inject", "z": "mobilenet_unet_tab", "name": "📹 MIPI Camera Stream", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "mipi_video", "payload": "start", "payloadType": "str", "x": 140, "y": 380, "wires": [ [ "exec_mipi_video" ] ] }, { "id": "exec_mipi_video", "type": "exec", "z": "mobilenet_unet_tab", "name": "MIPI Stream Launcher", "command": "source /opt/tros/humble/setup.bash && export CAM_TYPE=mipi && ros2 launch dnn_node_example dnn_node_example.launch.py dnn_example_dump_render_img:=1 dnn_example_config_file:=config/mobilenet_unet_workconfig.json dnn_example_image_width:=1920 dnn_example_image_height:=1080", "addpay": false, "append": "", "useSpawn": true, "timer": "120", "oldrc": false, "x": 380, "y": 380, "wires": [ [ "debug_mipi_video_output" ], [ "debug_mipi_video_error" ], [] ] }, { "id": "debug_mipi_video_output", "type": "debug", "z": "mobilenet_unet_tab", "name": "MIPI Stream Output", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 650, "y": 360, "wires": [] }, { "id": "debug_mipi_video_error", "type": "debug", "z": "mobilenet_unet_tab", "name": "MIPI Stream Error", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 650, "y": 400, "wires": [] }, { "id": "comment_browser_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "2️⃣ View Detection Results", "info": "View real-time detection feed in browser", "x": 200, "y": 440, "wires": [] }, { "id": "inject_browser", "type": "inject", "z": "mobilenet_unet_tab", "name": "Open Web Visualization", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "http://{host}:8000", "payloadType": "str", "x": 140, "y": 480, "wires": [ [ "openurl_browser" ] ] }, { "id": "openurl_browser", "type": "rdk-tools openurl", "z": "mobilenet_unet_tab", "name": "", "x": 380, "y": 480, "wires": [] }, { "id": "comment_display_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "🖼️ Snapshot Result Display", "info": "Automatically read latest segmentation result and display in editor", "x": 150, "y": 540, "wires": [] }, { "id": "inject_refresh_display", "type": "inject", "z": "mobilenet_unet_tab", "name": "Refresh Display", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "topic": "", "payload": "", "payloadType": "str", "x": 140, "y": 600, "wires": [ [ "exec_find_latest" ] ] }, { "id": "exec_find_latest", "type": "exec", "z": "mobilenet_unet_tab", "name": "Find Latest Result", "command": "cd /tmp/mobilenet_unet && ls -t render_*.jpg render_*.jpeg 2>/dev/null | head -1", "addpay": false, "append": "", "useSpawn": false, "timer": "", "oldrc": false, "x": 350, "y": 600, "wires": [ [ "function_check_file" ], [], [] ] }, { "id": "exec_list_dir", "type": "exec", "z": "mobilenet_unet_tab", "name": "List Directory (Debug)", "command": "cd /tmp/mobilenet_unet && echo \"Current Dir: $(pwd)\" && echo \"Content:\" && ls -lh 2>&1", "addpay": false, "append": "", "useSpawn": false, "timer": "", "oldrc": false, "x": 350, "y": 640, "wires": [ [ "debug_find_result" ], [], [] ] }, { "id": "debug_find_result", "type": "debug", "z": "mobilenet_unet_tab", "name": "Debug: Find Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 550, "y": 620, "wires": [] }, { "id": "function_check_file", "type": "function", "z": "mobilenet_unet_tab", "name": "Check File Path", "func": "// Extract file path\nvar output = msg.payload ? msg.payload.toString().trim() : '';\n\nif (!output) {\n node.status({ fill: 'yellow', shape: 'dot', text: 'File not found' });\n return null;\n}\n\n// Get first line\nvar lines = output.split('\\n').filter(line => line.trim().length > 0);\nvar filename = lines.length > 0 ? lines[0].trim() : '';\n\nif (filename && !filename.startsWith('/')) {\n filename = '/tmp/mobilenet_unet/' + filename;\n}\n\nif (!filename) {\n node.warn('Cannot extract file path');\n node.status({ fill: 'red', shape: 'dot', text: 'Extraction failed' });\n return null;\n}\n\nmsg.filename = filename;\nnode.status({ fill: 'green', shape: 'dot', text: 'Found: ' + path.basename(filename) });\nreturn msg;", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [ { "var": "path", "module": "path" } ], "x": 550, "y": 600, "wires": [ [ "debug_file_path", "file_read_image" ] ] }, { "id": "debug_file_path", "type": "debug", "z": "mobilenet_unet_tab", "name": "Debug: File Path", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "x": 750, "y": 620, "wires": [] }, { "id": "file_read_image", "type": "file in", "z": "mobilenet_unet_tab", "name": "Read Image", "filename": "", "format": "buffer", "chunk": false, "sendError": false, "encoding": "none", "allProps": false, "x": 750, "y": 600, "wires": [ [ "image_viewer_result" ] ] }, { "id": "image_viewer_result", "type": "image viewer", "z": "mobilenet_unet_tab", "name": "Display Segmentation Result", "width": "640", "data": "payload", "dataType": "msg", "active": true, "x": 950, "y": 600, "wires": [ [] ] }, { "id": "comment_control_section", "type": "comment", "z": "mobilenet_unet_tab", "name": "🎮 Controls", "info": "Stop Segmentation Service", "x": 150, "y": 680, "wires": [] }, { "id": "inject_stop", "type": "inject", "z": "mobilenet_unet_tab", "name": "Stop Segmentation Service", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "topic": "", "payload": "stop", "payloadType": "str", "x": 140, "y": 740, "wires": [ [ "exec_stop_all" ] ] }, { "id": "exec_stop_all", "type": "exec", "z": "mobilenet_unet_tab", "name": "Stop Service", "command": "sudo pkill -9 -f hobot_usb_cam; sudo pkill -9 -f dnn_node_example; sudo pkill -9 -f hobot_codec_republish; sudo pkill -9 -f websocket; sudo pkill -9 -f python3; sudo pkill -9 -f 'ros2 launch'; sudo pkill -9 -f 'ros2 run'; sleep 2; sudo rm -rf /dev/shm/*; ros2 daemon stop 2>/dev/null; sleep 1; echo '✓ Service stopped completely, resources released'", "addpay": false, "append": "", "useSpawn": false, "timer": "10", "oldrc": false, "x": 350, "y": 740, "wires": [ [ "debug_stop_info" ], [], [] ] }, { "id": "debug_stop_info", "type": "debug", "z": "mobilenet_unet_tab", "name": "Stop Status", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 550, "y": 740, "wires": [] }, { "id": "function_wait_and_refresh", "type": "function", "z": "mobilenet_unet_tab", "name": "Wait for Completion", "func": "// Poll check for segmentation result\nconst saveDir = '/tmp/mobilenet_unet';\n\nif (typeof global.refreshScheduled === 'undefined') {\n global.refreshScheduled = false;\n}\nif (typeof global.processedFiles === 'undefined') {\n global.processedFiles = new Set();\n}\n\nif (!global.refreshScheduled) {\n global.refreshScheduled = true;\n \n let checkCount = 0;\n const maxChecks = 40; // 40 * 500ms = 20s\n const self = node;\n let timerId = null;\n \n const checkFile = function() {\n checkCount++;\n \n try {\n if (!fs.existsSync(saveDir)) {\n self.warn('Dir Not Found: ' + saveDir);\n if (checkCount < maxChecks) {\n timerId = setTimeout(checkFile, 500);\n } else {\n global.refreshScheduled = false;\n self.status({ fill: 'red', shape: 'dot', text: 'Dir Not Found' });\n }\n return;\n }\n \n const files = fs.readdirSync(saveDir).filter(f => \n f.startsWith('render_') && (f.endsWith('.jpg') || f.endsWith('.jpeg') || f.endsWith('.JPG') || f.endsWith('.JPEG'))\n );\n \n if (files.length > 0) {\n files.sort((a, b) => {\n const statA = fs.statSync(path.join(saveDir, a));\n const statB = fs.statSync(path.join(saveDir, b));\n return statB.mtime - statA.mtime;\n });\n \n const latestFile = files[0];\n const filePath = path.join(saveDir, latestFile);\n const fileStat = fs.statSync(filePath);\n \n const now = Date.now();\n const fileTime = fileStat.mtime.getTime();\n const timeDiff = (now - fileTime) / 1000;\n \n if (global.processedFiles.has(filePath)) {\n if (timerId) clearTimeout(timerId);\n global.refreshScheduled = false;\n self.status({ fill: 'green', shape: 'dot', text: 'Result Displayed' });\n return;\n }\n \n if (timeDiff < 10) {\n global.processedFiles.add(filePath);\n if (timerId) clearTimeout(timerId);\n global.refreshScheduled = false;\n self.status({ fill: 'green', shape: 'dot', text: 'Result Generated: ' + latestFile });\n self.send({filename: filePath});\n return;\n } else {\n self.status({ fill: 'blue', shape: 'dot', text: 'Waiting for new file... (' + checkCount + '/' + maxChecks + ')' });\n }\n } else {\n self.status({ fill: 'yellow', shape: 'dot', text: 'Checking... (' + checkCount + '/' + maxChecks + ')' });\n }\n } catch (err) {\n self.warn('Check file failed: ' + err.message);\n }\n \n if (checkCount < maxChecks) {\n timerId = setTimeout(checkFile, 500);\n } else {\n global.refreshScheduled = false;\n self.status({ fill: 'yellow', shape: 'dot', text: 'Timeout, no result found' });\n }\n };\n \n timerId = setTimeout(checkFile, 3000);\n}\nreturn null;", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [ { "var": "fs", "module": "fs" }, { "var": "path", "module": "path" } ], "x": 1180, "y": 100, "wires": [ [ "debug_file_path", "file_read_image" ] ] }, { "id": "global_config_mobilenet_unet", "type": "global-config", "env": [], "modules": { "node-red-node-rdk-camera": "0.0.17", "node-red-contrib-image-tools": "2.1.1" } } ]