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https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
Merge pull request #2267 from openmv/usbdbg_state
misc/usbdbg: Implement USB debug GET_STATE command.
This commit is contained in:
commit
674cb76499
@ -191,6 +191,49 @@ void usbdbg_data_in(void *buffer, int length) {
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_GET_STATE:
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// Clear flags
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((uint32_t *) buffer)[0] = 0;
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// Set script running flag
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if (script_running) {
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((uint32_t *) buffer)[0] |= USBDBG_STATE_FLAGS_SCRIPT;
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}
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// Set text buf valid flag.
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uint32_t tx_buf_len = usb_cdc_buf_len();
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if (tx_buf_len) {
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((uint32_t *) buffer)[0] |= USBDBG_STATE_FLAGS_TEXT;
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}
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// Try to lock FB. If header size == 0 frame is not ready
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if (mutex_try_lock_alternate(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
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// If header size == 0 frame is not ready
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if (JPEG_FB()->size == 0) {
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// unlock FB
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mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
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} else {
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// Set frame width, height and size/bpp
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((uint32_t *) buffer)[1] = JPEG_FB()->w;
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((uint32_t *) buffer)[2] = JPEG_FB()->h;
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((uint32_t *) buffer)[3] = JPEG_FB()->size;
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// Set valid frame flag.
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((uint32_t *) buffer)[0] |= USBDBG_STATE_FLAGS_FRAME;
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}
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}
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// The rest of this packet is packed with text buffer.
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if (tx_buf_len) {
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tx_buf_len = OMV_MIN(tx_buf_len, (40 - 1));
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usb_cdc_get_buf((uint8_t *) buffer + 24, tx_buf_len);
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((uint8_t *) buffer)[24 + tx_buf_len] = 0; // Null-terminate
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}
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cmd = USBDBG_NONE;
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break;
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default: /* error */
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break;
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}
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@ -431,6 +474,11 @@ void usbdbg_control(void *buffer, uint8_t request, uint32_t length) {
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xfer_length = length;
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break;
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case USBDBG_GET_STATE:
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xfer_bytes = 0;
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xfer_length = length;
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break;
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default: /* error */
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cmd = USBDBG_NONE;
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break;
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@ -49,6 +49,13 @@ enum usbdbg_cmd {
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USBDBG_SENSOR_ID =0x90,
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USBDBG_TX_INPUT =0x11,
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USBDBG_SET_TIME =0x12,
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USBDBG_GET_STATE =0x93,
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};
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enum usbdbg_state_flags {
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USBDBG_STATE_FLAGS_SCRIPT = (1 << 0),
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USBDBG_STATE_FLAGS_TEXT = (1 << 1),
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USBDBG_STATE_FLAGS_FRAME = (1 << 2),
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};
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void usbdbg_init();
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@ -37,6 +37,11 @@ __USBDBG_SYS_RESET_TO_BL= 0x0E
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__USBDBG_FB_ENABLE = 0x0D
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__USBDBG_TX_BUF_LEN = 0x8E
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__USBDBG_TX_BUF = 0x8F
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__USBDBG_GET_STATE = 0x93
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__USBDBG_STATE_FLAGS_SCRIPT = (1 << 0)
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__USBDBG_STATE_FLAGS_TEXT = (1 << 1)
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__USBDBG_STATE_FLAGS_FRAME = (1 << 2)
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ATTR_CONTRAST =0
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ATTR_BRIGHTNESS =1
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@ -70,6 +75,44 @@ def fb_size():
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__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_SIZE, __FB_HDR_SIZE))
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return struct.unpack("III", __serial.read(12))
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def read_state():
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__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_GET_STATE, 64))
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flags, w, h, size, res0, res1, text_buf = struct.unpack("IIIIII40s", __serial.read(64))
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text = None
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if flags & __USBDBG_STATE_FLAGS_TEXT:
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text = text_buf.split(b'\0', 1)[0].decode()
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if flags & __USBDBG_STATE_FLAGS_FRAME == 0:
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return 0, 0, None, text
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num_bytes = size if size > 2 else (w * h * size)
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# read fb data
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__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_DUMP, num_bytes))
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buff = __serial.read(num_bytes)
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if size == 1: # Grayscale
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y = np.fromstring(buff, dtype=np.uint8)
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buff = np.column_stack((y, y, y))
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elif size == 2: # RGB565
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arr = np.fromstring(buff, dtype=np.uint16).newbyteorder('S')
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r = (((arr & 0xF800) >>11)*255.0/31.0).astype(np.uint8)
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g = (((arr & 0x07E0) >>5) *255.0/63.0).astype(np.uint8)
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b = (((arr & 0x001F) >>0) *255.0/31.0).astype(np.uint8)
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buff = np.column_stack((r,g,b))
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else: # JPEG
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try:
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buff = np.asarray(Image.frombuffer("RGB", (w, h), buff, "jpeg", "RGB", ""))
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except Exception as e:
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raise ValueError(f"JPEG decode error (%e)")
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if (buff.size != (w*h*3)):
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raise ValueError(f"Unexpected frame size. Expected: {w*h*3} received: {buff.size}")
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return w, h, buff.reshape((h, w, 3)), text
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def fb_dump():
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size = fb_size()
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@ -28,8 +28,10 @@ sensor.skip_frames(time = 2000) # Wait for settings take effect.
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clock = time.clock() # Create a clock object to track the FPS.
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while(True):
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clock.tick()
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img = sensor.snapshot() # Take a picture and return the image.
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sensor.flush()
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print(clock.fps(), " FPS")
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"""
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# init pygame
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@ -55,10 +57,10 @@ for i in range(10):
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sleep(0.100)
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if not connected:
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print ( "Failed to connect to OpenMV's serial port.\n"
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"Please install OpenMV's udev rules first:\n"
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"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
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"sudo udevadm control --reload-rules\n\n")
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print("Failed to connect to OpenMV's serial port.\n"
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"Please install OpenMV's udev rules first:\n"
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"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
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"sudo udevadm control --reload-rules\n\n")
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sys.exit(1)
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# Set higher timeout after connecting for lengthy transfers.
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@ -73,39 +75,42 @@ screen = None
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IMAGE_SCALE = 4
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Clock = pygame.time.Clock()
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font = pygame.font.SysFont("monospace", 15)
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font = pygame.font.SysFont("monospace", 25)
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while running:
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Clock.tick(100)
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try:
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while running:
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Clock.tick(30)
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# Read state
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w, h, data, text = pyopenmv.read_state()
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# read framebuffer
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fb = pyopenmv.fb_dump()
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if fb is not None:
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fps = Clock.get_fps()
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w, h, data = fb[0], fb[1], fb[2]
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if text is not None:
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print(text, end="")
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# create image from RGB888
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image = pygame.image.frombuffer(data.flat[0:], (w, h), 'RGB')
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image = pygame.transform.scale(image, (w * IMAGE_SCALE, h * IMAGE_SCALE))
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if data is not None:
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fps = Clock.get_fps()
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# Create image from RGB888
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image = pygame.image.frombuffer(data.flat[0:], (w, h), 'RGB')
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image = pygame.transform.scale(image, (w * IMAGE_SCALE, h * IMAGE_SCALE))
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if screen is None:
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screen = pygame.display.set_mode((w * IMAGE_SCALE, h * IMAGE_SCALE), pygame.DOUBLEBUF, 32)
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if screen is None:
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screen = pygame.display.set_mode((w * IMAGE_SCALE, h * IMAGE_SCALE), pygame.DOUBLEBUF, 32)
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# blit stuff
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screen.blit(image, (0, 0))
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screen.blit(font.render("FPS %.2f"%(fps), 1, (255, 0, 0)), (0, 0))
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# blit stuff
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screen.blit(image, (0, 0))
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screen.blit(font.render("FPS %.2f"%(fps), 1, (255, 0, 0)), (0, 0))
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# update display
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pygame.display.flip()
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# update display
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pygame.display.flip()
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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running = False
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elif event.type == pygame.KEYDOWN:
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if event.key == pygame.K_ESCAPE:
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running = False
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if event.key == pygame.K_c:
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pygame.image.save(image, "capture.png")
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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running = False
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elif event.type == pygame.KEYDOWN:
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if event.key == pygame.K_ESCAPE:
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running = False
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if event.key == pygame.K_c:
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pygame.image.save(image, "capture.png")
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except KeyboardInterrupt:
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pass
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pygame.quit()
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pyopenmv.stop_script()
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